TFMiniS_I2C_Hub.ino

/*
 * TFMini-SとM5StickCで距離を測る（I2C通信版）
 * I2C Hubで複数のTFMiniーSを制御する
 */

#include <M5StickC.h>
#include <Wire.h>     // Arduino standard I2C/Two-Wire Library
#include "ClosedCube_TCA9548A.h"
#include <TFMPI2C.h>  // TFMini-Plus I2C Library v1.5.0

#define PaHub_I2C_ADDRESS    0x70
ClosedCube::Wired::TCA9548A tca9548a;

#define NTFMini 5     // TFMini-Sの台数
TFMPI2C tfmP;         // Create a TFMini-Plus I2C object

void setup() {
    M5.begin();
    Wire.begin();

    tca9548a.address(PaHub_I2C_ADDRESS);

    M5.Lcd.setTextSize(2);
    M5.Lcd.setRotation(3);
}

int16_t tfDist = 0;       // Distance to object in centimeters
int16_t tfFlux = 0;       // Signal strength or quality of return signal
int16_t tfTemp = 0;       // Internal temperature of Lidar sensor chip

void loop() {
    for (int ch = 0; ch < NTFMini; ch++) {
        tca9548a.selectChannel(ch);
        tfmP.getData(tfDist, tfFlux, tfTemp); // Get a frame of data
        M5.Lcd.fillScreen(BLACK);
        if (tfmP.status == TFMP_READY) {       // If no error...
            M5.Lcd.setCursor(0, 20);
            M5.Lcd.printf("ch: %d\r\n", ch);
            M5.Lcd.printf("%4dcm\r\n", tfDist);
            M5.Lcd.printf("s: %d", tfFlux);
        }
        delay(500);
    }
}