Fermion: VL53L3CX ToF激光测距传感器

简介

VL53L3CX是意法半导体新推出的一款激光测距传感器,搭配ST的第三代FlightSense算法,在提高了检测精度的同时,测距范围覆盖了25mm到3000mm,还具有自动污迹校正,抗玻璃盖板串扰等特性。VL53L3CX借助算法和巧妙的模块构造,VL53L3CX还能够通过深度了解来检测视场内的不同对象。
注1:由于算法文件较大,目前只在M0和ESP32上验证通过
注2:多目标检测在特定条件下才能触发,具体看官方

特性

应用场景

技术规格

测量精度

SEN0378测量精度

引脚说明

序号 丝印 功能描述
1 + 电源正极
2 - 电源负极
3 SCL I2C时钟线
4 SDA I2C数据线
5 XSHUT 复位
6 GPIO1 中断

使用教程

准备

关于如何安装库文件,点击链接

如果使用ESP32驱动VL53L3CX,需要更改I2C Buffer大小。FireBeetle ESP32更改方法:
1.进入文件目录
%USERPROFILE%\AppData\Local\Arduino15\packages\firebeetle32\hardware\esp32\0.1.1\libraries\Wire\src
2.打开Wire.h文件
3.将I2C_BUFFER_LENGTH 宏的值改为256

详细的解释请看该手册第四章

/**********Status**********/
#define  VL53LX_RANGESTATUS_RANGE_VALID       0
/*!<测量正常有效*/
#define  VL53LX_RANGESTATUS_SIGMA_FAIL        1
/*!<Sigma故障. */
#define  VL53LX_RANGESTATUS_SIGNAL_FAIL       2
/*!<信号故障 */
#define  VL53LX_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED 3
/*!<目标小于最低检测域值 */
#define  VL53LX_RANGESTATUS_OUTOFBOUNDS_FAIL      4
/*!<超出有效范围-不同于换行退出 */
#define  VL53LX_RANGESTATUS_HARDWARE_FAIL     5
/*!<硬件故障*/
#define  VL53LX_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL  6
/*!<范围有效,但未执行环绕检查(wraparound check)  */
#define VL53LX_RANGESTATUS_WRAP_TARGET_FAIL     7
/*!<目标被环绕- 其他VCSEL周期定时中无匹配相位  */
#define VL53LX_RANGESTATUS_PROCESSING_FAIL      8
/*!<lite测距中的内部algo下溢或溢出 */
#define VL53LX_RANGESTATUS_XTALK_SIGNAL_FAIL      9
/*!<特定于lite测距 */
#define VL53LX_RANGESTATUS_SYNCRONISATION_INT     10
/*!<返回back模式下开始测距时第一个中断, 忽略数据 */
#define VL53LX_RANGESTATUS_RANGE_VALID_MERGED_PULSE   11
/*!<测距正常,但获得的是多个脉冲合在一起的结果
 * RQL用于合并脉冲检测
 */
#define VL53LX_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL  12
/*!<用于RQL 与相位故障不同  */
#define VL53LX_RANGESTATUS_MIN_RANGE_FAIL     13
/*!<SPAD数组中出现意外错误 */
#define VL53LX_RANGESTATUS_RANGE_INVALID      14
/*!<lld 返回范围有效,但值为负数 ! */
#define  VL53LX_RANGESTATUS_NONE        255

/**********Count**********/
uint8_t StreamCount;
/*!<8位计数器. */

/*#Objs*/
uint8_t NumberOfObjectsFound;
/*!< Indicate the number of objects found.
 * This is used to know how many ranging data should be get.
 * NumberOfObjectsFound is in the range 0 to
 * VL53LX_MAX_RANGE_RESULTS.
 */

/**********D**********/
int16_t RangeMinMilliMeter;
/*!< Tells what is the minimum detection distance of the object
 * in current setup and environment conditions (Filled when
 *  applicable)
 */

/**********Signal**********/
FixPoint1616_t SignalRateRtnMegaCps;
/*!< Return signal rate (MCPS)\n these is a 16.16 fix point
 *  value, which is effectively a measure of target
 *   reflectance.
 */

/**********Ambient**********/
FixPoint1616_t AmbientRateRtnMegaCps;
/*!< Return ambient rate (MCPS)\n these is a 16.16 fix point
 *  value, which is effectively a measure of the ambien
 *  t light.
 */

接线图

样例代码1 - 读取数据

读读取当前传感器的数据

/**
 ******************************************************************************
 * @file    VL53L3CX_Sat_HelloWorld.ino
 * @author  SRA
 * @version V1.0.0
 * @date    30 July 2020
 * @brief   Arduino test application for the STMicrolectronics VL53L3CX
 *          proximity sensor satellite based on FlightSense.
 *          This application makes use of C++ classes obtained from the C
 *          components' drivers.
 ******************************************************************************
 * @attention
 *
 * <h2><center>© COPYRIGHT(c) 2020 STMicroelectronics</center></h2>
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *   1. Redistributions of source code must retain the above copyright notice,
 *      this list of conditions and the following disclaimer.
 *   2. Redistributions in binary form must reproduce the above copyright notice,
 *      this list of conditions and the following disclaimer in the documentation
 *      and/or other materials provided with the distribution.
 *   3. Neither the name of STMicroelectronics nor the names of its contributors
 *      may be used to endorse or promote products derived from this software
 *      without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 ******************************************************************************
 */
/*
 * To use this sketch you need to connect the VL53L3CX satellite sensor directly to the Nucleo board with wires in this way:
 * pin 1 (Interrupt) of the VL53L3CX satellite connected to pin A2 of the Nucleo board 
 * pin 2 (SCL_I) of the VL53L3CX satellite connected to pin D15 (SCL) of the Nucleo board with a Pull-Up resistor of 4.7 KOhm
 * pin 3 (XSDN_I) of the VL53L3CX satellite connected to pin A1 of the Nucleo board
 * pin 4 (SDA_I) of the VL53L3CX satellite connected to pin D14 (SDA) of the Nucleo board with a Pull-Up resistor of 4.7 KOhm
 * pin 5 (VDD) of the VL53L3CX satellite connected to 3V3 pin of the Nucleo board
 * pin 6 (GND) of the VL53L3CX satellite connected to GND of the Nucleo board
 * pins 7, 8, 9 and 10 are not connected.
 */
/* Includes ------------------------------------------------------------------*/
#include <Arduino.h>
#include <Wire.h>
#include <vl53lx_class.h>
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdint.h>
#include <assert.h>
#include <stdlib.h>

#define DEV_I2C Wire
#define SerialPort Serial

#ifndef LED_BUILTIN
#define LED_BUILTIN 13
#endif
#define LedPin LED_BUILTIN

// Components.
VL53LX *sensor_vl53lx_sat;


/* Setup ---------------------------------------------------------------------*/

void setup()
{
   // Led.
   pinMode(LedPin, OUTPUT);

   // Initialize serial for output.
   SerialPort.begin(115200);
   SerialPort.println("Starting...");

   // Initialize I2C bus.
   DEV_I2C.begin();

   // Create VL53LX satellite component.
   sensor_vl53lx_sat = new VL53LX(&DEV_I2C, A1, A2);

   // Switch off VL53LX satellite component.
   sensor_vl53lx_sat->VL53LX_Off();

   //Initialize VL53LX satellite component.
   sensor_vl53lx_sat->InitSensor(0x12);

   // Start Measurements
   sensor_vl53lx_sat->VL53LX_StartMeasurement();
}

void loop()
{
   VL53LX_MultiRangingData_t MultiRangingData;
   VL53LX_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
   uint8_t NewDataReady = 0;
   int no_of_object_found = 0, j;
   char report[64];
   int status;

   do
   {
      status = sensor_vl53lx_sat->VL53LX_GetMeasurementDataReady(&NewDataReady);
   } while (!NewDataReady);

   //Led on
   digitalWrite(LedPin, HIGH);

   if((!status)&&(NewDataReady!=0))
   {
      status = sensor_vl53lx_sat->VL53LX_GetMultiRangingData(pMultiRangingData);
      no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
      snprintf(report, sizeof(report), "VL53LX Satellite: Count=%d, #Objs=%1d ", pMultiRangingData->StreamCount, no_of_object_found);
      SerialPort.print(report);
      for(j=0;j<no_of_object_found;j++)
      {
         if(j!=0)SerialPort.print("\r\n                               ");
         SerialPort.print("status=");
         SerialPort.print(pMultiRangingData->RangeData[j].RangeStatus);
         SerialPort.print(", D=");
         SerialPort.print(pMultiRangingData->RangeData[j].RangeMilliMeter);
         SerialPort.print("mm");
         SerialPort.print(", Signal=");
         SerialPort.print((float)pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0);
         SerialPort.print(" Mcps, Ambient=");
         SerialPort.print((float)pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
         SerialPort.print(" Mcps");
      }
      SerialPort.println("");
      if (status==0)
      {
         status = sensor_vl53lx_sat->VL53LX_ClearInterruptAndStartMeasurement();
      }
   }

   digitalWrite(LedPin, LOW);
}

结果

SEN0378result1

样例代码2 - 中断

传感器中断输出

/**
 ******************************************************************************
 * @file    VL53L3CX_Sat_HelloWorld_Interrupt.ino
 * @author  SRA
 * @version V1.0.0
 * @date    30 July 2020
 * @brief   Arduino test application for the STMicrolectronics VL53L3CX
 *          proximity sensor satellite based on FlightSense.
 *          This application makes use of C++ classes obtained from the C
 *          components' drivers.
 ******************************************************************************
 * @attention
 *
 * <h2><center>© COPYRIGHT(c) 2020 STMicroelectronics</center></h2>
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *   1. Redistributions of source code must retain the above copyright notice,
 *      this list of conditions and the following disclaimer.
 *   2. Redistributions in binary form must reproduce the above copyright notice,
 *      this list of conditions and the following disclaimer in the documentation
 *      and/or other materials provided with the distribution.
 *   3. Neither the name of STMicroelectronics nor the names of its contributors
 *      may be used to endorse or promote products derived from this software
 *      without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 ******************************************************************************
 */


//On some boards like the Arduino Uno the pin used by the sensor to raise interrupts (A2)
//can't be mapped as an interrupt pin. For this this reason this sketch will not work
//unless some additional cabling is done and the interrupt pin is changed.
/*
 * To use this sketch you need to connect the VL53L3CX satellite sensor directly to the Nucleo board with wires in this way:
 * pin 1 (Interrupt) of the VL53L3CX satellite connected to pin A2 of the Nucleo board 
 * pin 2 (SCL_I) of the VL53L3CX satellite connected to pin D15 (SCL) of the Nucleo board with a Pull-Up resistor of 4.7 KOhm
 * pin 3 (XSDN_I) of the VL53L3CX satellite connected to pin A1 of the Nucleo board
 * pin 4 (SDA_I) of the VL53L3CX satellite connected to pin D14 (SDA) of the Nucleo board with a Pull-Up resistor of 4.7 KOhm
 * pin 5 (VDD) of the VL53L3CX satellite connected to 3V3 pin of the Nucleo board
 * pin 6 (GND) of the VL53L3CX satellite connected to GND of the Nucleo board
 * pins 7, 8, 9 and 10 are not connected.
 */
/* Includes ------------------------------------------------------------------*/
#include <Arduino.h>
#include <Wire.h>
#include <vl53lx_class.h>
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdint.h>
#include <assert.h>
#include <stdlib.h>

#define DEV_I2C Wire
#define SerialPort Serial

#ifndef LED_BUILTIN
#define LED_BUILTIN 13
#endif
#define LedPin LED_BUILTIN

#define interruptPin A2

// Components.
VL53LX *sensor_vl53lx_sat;

volatile int interruptCount=0;

void measure()
{
   interruptCount=1;
}

void setup()
{
   VL53LX_Error status;
   // Led.
   pinMode(LedPin, OUTPUT);
   pinMode(interruptPin, INPUT_PULLUP);
   attachInterrupt(interruptPin, measure, FALLING);

   // Initialize serial for output.
   SerialPort.begin(115200);
   SerialPort.println("Starting...");

   // Initialize I2C bus.
   DEV_I2C.begin();

   // Create VL53LX satellite component.
   sensor_vl53lx_sat = new VL53LX(&DEV_I2C, A1, A2);

   // Switch off VL53LX satellite component.
   sensor_vl53lx_sat->VL53LX_Off();

   // Initialize VL53LX satellite component.
   status = sensor_vl53lx_sat->InitSensor(0x12);
   if(status)
   {
      SerialPort.println("Init sensor_vl53lx_sat failed...");
   }

   sensor_vl53lx_sat->VL53LX_StartMeasurement();
}

void loop()
{
   VL53LX_MultiRangingData_t MultiRangingData;
   VL53LX_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
   uint8_t NewDataReady = 0;
   int no_of_object_found = 0, j;
   char report[64];
   if (interruptCount)
   {
      int status;

      interruptCount=0;
      // Led blinking.
      digitalWrite(LedPin, HIGH);

      status = sensor_vl53lx_sat->VL53LX_GetMeasurementDataReady(&NewDataReady);
      if((!status)&&(NewDataReady!=0))
      {
         status = sensor_vl53lx_sat->VL53LX_GetMultiRangingData(pMultiRangingData);
         no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
         snprintf(report, sizeof(report), "Count=%d, #Objs=%1d ", pMultiRangingData->StreamCount, no_of_object_found);
         SerialPort.print(report);
         for(j=0;j<no_of_object_found;j++)
         {
            if(j!=0)SerialPort.print("\r\n                   ");
            SerialPort.print("status=");
            SerialPort.print(pMultiRangingData->RangeData[j].RangeStatus);
            SerialPort.print(", D=");
            SerialPort.print(pMultiRangingData->RangeData[j].RangeMilliMeter);
            SerialPort.print("mm");
            SerialPort.print(", Signal=");
            SerialPort.print((float)pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0);
            SerialPort.print(" Mcps, Ambient=");
            SerialPort.print((float)pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
            SerialPort.print(" Mcps");
         }
         SerialPort.println("");
         if (status==0)
         {
            status = sensor_vl53lx_sat->VL53LX_ClearInterruptAndStartMeasurement();
         }
      }

      digitalWrite(LedPin, LOW);
   }
}

结果

SEN0378result2

常见问题

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