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127 lines
3.6 KiB
Arduino
127 lines
3.6 KiB
Arduino
/*
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Reading distance from the laser based VL53L1X
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By: Nathan Seidle
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Revised by: Andy England and Ricardo Ramos
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SparkFun Electronics
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Date: January 21st, 2022
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License: This code is public domain but you buy me a beer if you use this and we meet someday (Beerware license).
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SparkFun labored with love to create this code. Feel like supporting open source hardware?
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Buy a board from SparkFun! https://www.sparkfun.com/products/14667
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This example sets high and low thresholds for detection.
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Are you getting weird readings? Be sure the vacuum tape has been removed from the sensor.
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*/
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#include <Wire.h>
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#include "SparkFun_VL53L1X.h" //Click here to get the library: http://librarymanager/All#SparkFun_VL53L1X
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//Optional interrupt and shutdown pins.
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#define SHUTDOWN_PIN 2
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#define INTERRUPT_PIN 3
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SFEVL53L1X distanceSensor;
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//Uncomment the following line to use the optional shutdown and interrupt pins.
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//SFEVL53L1X distanceSensor(Wire, SHUTDOWN_PIN, INTERRUPT_PIN);
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void setup(void)
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{
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Wire.begin();
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Serial.begin(115200);
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Serial.println("VL53L1X Qwiic Test");
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if (distanceSensor.begin() != 0) //Begin returns 0 on a good init
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{
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Serial.println("Sensor failed to begin. Please check wiring. Freezing...");
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while (1)
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;
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}
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Serial.println("Sensor online!");
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DetectionConfig dc; // struct instance which holds the detection configuration
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dc.IntOnNoTarget = 1; // No longer used - just use 1 per ST
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dc.distanceMode = DISTANCE_SHORT; // short distance mode
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dc.thresholdHigh = 300; // high threshold of 300 mm
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dc.thresholdLow = 70; // low threshold of 70 mm
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dc.windowMode = WINDOW_IN; // will measure and trigger interrrupt when measurement fall between 70 and 300 mm
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if(distanceSensor.setThresholdConfig(&dc) == true)
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{
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Serial.println("Thresholds programmed. Reading configuration back...");
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dc = {};
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if(distanceSensor.getThresholdConfig(&dc) == true)
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{
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Serial.print("IntOnNoTarget: ");
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Serial.println(dc.IntOnNoTarget);
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Serial.print("Distance Mode: ");
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if(dc.distanceMode == DISTANCE_SHORT)
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Serial.println("DISTANCE_SHORT (0)");
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else
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Serial.println("DISTANCE_LONG (1)");
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Serial.print("Threshold High: ");
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Serial.println(dc.thresholdHigh);
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Serial.print("Threshold Low: ");
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Serial.println(dc.thresholdLow);
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Serial.print("Window mode: ");
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switch (dc.windowMode)
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{
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case WINDOW_BELOW:
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Serial.println("WINDOW_BELOW (0)");
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break;
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case WINDOW_ABOVE:
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Serial.println("WINDOW_ABOVE (1)");
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break;
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case WINDOW_OUT:
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Serial.println("WINDOW_OUT (2)");
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break;
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case WINDOW_IN:
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Serial.println("WINDOW_IN (3)");
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break;
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default:
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break;
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}
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}
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}
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else
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{
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Serial.println("Could not set threshold configuration.");
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}
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Serial.println("Starting measurements in 2 seconds.");
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delay(2000);
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Serial.println("Measurements started!");
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}
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void loop(void)
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{
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distanceSensor.startRanging(); //Write configuration bytes to initiate measurement
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while (!distanceSensor.checkForDataReady())
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{
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delay(1);
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}
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int distance = distanceSensor.getDistance(); //Get the result of the measurement from the sensor
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distanceSensor.clearInterrupt();
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distanceSensor.stopRanging();
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Serial.print("Distance(mm): ");
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Serial.print(distance);
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float distanceInches = distance * 0.0393701;
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float distanceFeet = distanceInches / 12.0;
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Serial.print("\tDistance(ft): ");
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Serial.print(distanceFeet, 2);
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Serial.println();
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}
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