SPMOD - TOF

Overview

SPMOD_TOF(TOF module) uses VL53L0X .

SPMOD - TOF Introduction

• Using Sipeed-SPMOD interface(2.54mm * 8PIN )，unified MaixPy board interface
• Using SP-MOD I2C to communicate with TOF module
• ToF module:The VL53L0X sensor used in this module is an I2C interface and a long distance single point flight time measurement (ToF) sensor. It has high performance and high reliability,
• With the longest distance of 4m and the highest refresh rate of 50Hz
• With the red laser pointer, the laser is activated through XSHUT and connected by SP_MOD.
• Size:25.0*10*3.15mm

VL53L0X Introduction:

SPMOD_TOF pin description:

• Mode of connection:

Usage

• Process

  1. Initializatin
  2. Adjust(option)
  3. Get distance

C:

  //set io mux
    fpioa_set_function(VL53L0X_SCL, FUNC_I2C0_SCLK + VL53L0X_I2C_DEVICE * 2);
    fpioa_set_function(VL53L0X_SDA, FUNC_I2C0_SDA + VL53L0X_I2C_DEVICE * 2);
    fpioa_set_function(VL53L0X_SHT, FUNC_GPIOHS0 + VL53L0X_SHT);

    gpiohs_set_drive_mode(VL53L0X_SHT, GPIO_DM_OUTPUT);

    //i2c init
    maix_i2c_init(VL53L0X_I2C_DEVICE, 7, VL53L0X_I2C_FREQ_KHZ * 1000);

    while (vl53l0x_init(&vl53l0x_dev)) {
          printf("VL53L0X init error!!!\r\n");
          msleep(500);
    }

    printf("VL53L0X init success!\r\n");

    // adjusting
    printf("VL53L0X adjusting\r\n");
    vl53l0x_calibration_test(&vl53l0x_dev);

    // get distance
    printf("VL53L0X start work\r\n");
    vl53l0x_general_test(&vl53l0x_dev);

MaixPy:

```python| 工作电压 | 2.6V~3.5V (选用红色激光时： 2.8V~3.3V) |

fm.register(VL53L0X_SHT, fm.fpioa.GPIOHS0, force=True)
XSHUT = GPIO(GPIO.GPIOHS0, GPIO.OUT)

i2c = I2C(VL53L0X_I2C_NUM, freq=VL53L0X_FREQ, scl=VL53L0X_SCL, sda=VL53L0X_SDA)

# create obj and read distance
  tof = VL53L0X(i2c)
  while True:
  mm = tof.read()
  utime.sleep_ms(100)
  print(mm)

## Runtime enviroments

| Language |  Boards  |      SDK/firmware version      |
| :------: | :------: | :----------------------------: |
|    C     | MaixCube | kendryte-standalone-sdk v0.5.6 |
|  MaixPy  | MaixCube |         maixpy v0.5.1          |

### Result

* C

  <img src="../../assets/spmod/spmod_tof/log_c.png" height="200" />

* MaixPy

  - [None]

## Transplant

Modify the following parameters to fit other K210 boards.

* C

```c
  // board_config.h
  #define VL53L0X_I2C_DEVICE 0 // i2c device number
  #define VL53L0X_I2C_FREQ_KHZ 100 // i2c frequence
  #define VL53L0X_SCL 6 // scl
  #define VL53L0X_SDA 7 // sda
  #define VL53L0X_SHT 8 // sht

• MaixPy

  ################### config ###################
  VL53L0X_I2C_NUM = const(I2C.I2C0)
  VL53L0X_FREQ = const(100000)
  VL53L0X_SCL = const(6)
  VL53L0X_SDA = const(7)
  VL53L0X_SHT = const(8)
  ##############################################

Outlook

• SPMOD_TOF Size drawing:

Resource Link