編集履歴

質問編集履歴

現在変更したコードをアップしました。

2019/09/06 16:23

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man_

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@@ -504,6 +504,24 @@
 	i2c_write16_8(vl6180x_addr, 0x0030, 0x00);
+	i2c_write16_8(vl6180x_addr, 0x0011, 0x10);
+	i2c_write16_8(vl6180x_addr, 0x010a, 0x30);
+	i2c_write16_8(vl6180x_addr, 0x003f, 0x46);
+	i2c_write16_8(vl6180x_addr, 0x0031, 0xFF);
+	i2c_write16_8(vl6180x_addr, 0x0040, 0x63);
+	i2c_write16_8(vl6180x_addr, 0x002e, 0x01);
+	i2c_write16_8(vl6180x_addr, 0x001b, 0x09);
+	i2c_write16_8(vl6180x_addr, 0x003e, 0x31);
+	i2c_write16_8(vl6180x_addr, 0x0014, 0x24);
@@ -568,7 +586,7 @@
 		//start single-shot mode
-		if((i2c_write16_8(vl6180x_addr, 0x18,0x01)) < 0) {
+		if((i2c_write16_8(vl6180x_addr, 0x018,0x001)) < 0) {
         printf("error: power on\n");
@@ -584,7 +602,7 @@
-			ret = i2c_read16_8(vl6180x_addr, 0x4f, &data);
+			ret = i2c_read16_8(vl6180x_addr, 0x04f, &data);
 			usleep(500*1000);
@@ -634,6 +652,8 @@
 ```
 修正済み
@@ -642,11 +662,13 @@
 ・(i2c_rw()関数の部分で　"ioctl(I2C_RDWR) in i2c_rw: Remote I/O error"というエラーが出ています。)
+・(main()関数の" wait to {0x4f} register till bit 2 is set to 1"の部分で常に"data:00"と出力され、計測が開始されない状態です。改定のアドバイスよろしくお願いいたします。)
 現在
-main()関数の" wait to {0x4f} register till bit 2 is set to 1"の部分で常に"data:00"と出力され、計測が開始されない状態です。改定のアドバイスよろしくお願いいたします。
+　{0x62}の値が0と出力されてしまいます。
@@ -664,33 +686,33 @@
 ```
-data:0x00
+data:0xb4
-0000:00 00 03 00 00 70 4c b1 84 b5 56 10 00 00 00 00
+0000:b4 01 03 01 02 72 4c b1 84 b5 56 10 00 00 00 00
-0010:60 20 00 00 00 07 00 00 00 ff 00 ff 31 00 00 00
+0010:60 20 00 00 00 00 00 00 00 ff 00 ff 31 00 00 00
-0020:00 14 00 00 00 00 00 cb 03 fb 32 8f a0 11 00 74
+0020:00 14 00 00 0a 00 00 cb 03 fb 32 8f a0 11 00 74
-0030:00 00 0a 28 00 00 00 ff 00 00 ff ff 00 00 00 06
+0030:00 00 0a 28 00 00 00 ff 00 00 ff ff 00 00 ff 06
-0040:00 00 00 00 00 00 00 00 00 00 00 00 00 b3 01 00
+0040:00 00 00 00 00 00 00 00 00 00 00 00 00 73 01 00
 0050:00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
-0060:00 00 ff ff ff 00 00 07 00 00 00 00 00 00 0b 26
+0060:00 00 ff ff ff 00 00 0c 28 fa 00 00 00 00 12 c2
-0070:00 00 00 00 00 00 42 c7 00 00 00 00 00 00 bf 6c
+0070:00 3d 40 9d 00 00 04 ec 00 00 0a 57 00 00 bf 52
-0080:00 00 bf 6c 00 01 02 09 0d 0b 00 00 00 00 00 00
+0080:00 00 bf 52 00 01 02 09 0d 0b 00 00 00 00 00 00
 0090:00 00 00 00 00 00 00 fd 00 00 00 00 00 00 00 00
-00a0:00 00 00 3c 00 00 00 00 00 00 00 00 00 00 00 00
+00a0:00 00 00 3c 00 00 0a 57 00 3d 7e a7 00 3d 40 9d
-00b0:09 0f 09 06 00 00 00 00 00 00 00 3c 00 00 42 c7
+00b0:09 0f 09 06 00 00 00 00 00 00 00 3c 00 00 04 ec
-00c0:00 01 9b d0 00 00 0b 26 09 0f 09 06 01 01 0b 00
+00c0:00 00 30 4a 00 00 12 c2 09 0f 09 06 03 01 0b 00
 00d0:01 03 01 01 00 00 00 00 00 05 00 ce 03 f8 06 00
@@ -700,47 +722,25 @@
 data:00
+data:04
+mesurement start
+distance:0
 data:00
+data:04
+mesurement start
+distance:0
 data:00
-data:00
+data:04
-data:00
-data:00
-data:00
-data:00
-data:00
-data:00
-data:00
-data:00
-data:00
-data:00
-data:00
-data:00
-data:00
-data:00
-data:00
-data:00
-data:00
-data:00

現在変更したコードをアップしました。

2019/09/06 16:23

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man_

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@@ -396,6 +396,44 @@
+int i2c_dump16(u8 slave_addr, u16 reg, u32 in_len)
+{
+    u8 out[2] = { (u8)(reg >> 8), (u8)reg};
+    u8 in[256];
+    u32 i;
+    int retval;
+    if(in_len > sizeof(in)) { in_len = sizeof(in); }
+    for(i = 0;i < in_len;i++) { in[i] = 0xaa; }
+    retval = i2c_rw(slave_addr, out, sizeof(out), in , in_len);
+    if(retval >= 0){
+        for(i = 0;i < in_len;i++){
+            if ((i & 0xf) ==0) { printf("%04x:", reg + i); }
+            printf("%02x%c", in[i], ((i & 0xf) == 0xf) ? '\n' : ' ');
+        }
+        if ((i & 0xf) !=0) { printf("\n"); }
+    }
+    return retval;
+}
 int vl6180x_initialisation(void){
@@ -512,6 +550,10 @@
+    i2c_dump16(vl6180x_addr,0,256);
     vl6180x_initialisation();
@@ -592,8 +634,6 @@
 ```
 修正済み
@@ -620,6 +660,94 @@
+###現段階での出力
+```
+data:0x00
+0000:00 00 03 00 00 70 4c b1 84 b5 56 10 00 00 00 00
+0010:60 20 00 00 00 07 00 00 00 ff 00 ff 31 00 00 00
+0020:00 14 00 00 00 00 00 cb 03 fb 32 8f a0 11 00 74
+0030:00 00 0a 28 00 00 00 ff 00 00 ff ff 00 00 00 06
+0040:00 00 00 00 00 00 00 00 00 00 00 00 00 b3 01 00
+0050:00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
+0060:00 00 ff ff ff 00 00 07 00 00 00 00 00 00 0b 26
+0070:00 00 00 00 00 00 42 c7 00 00 00 00 00 00 bf 6c
+0080:00 00 bf 6c 00 01 02 09 0d 0b 00 00 00 00 00 00
+0090:00 00 00 00 00 00 00 fd 00 00 00 00 00 00 00 00
+00a0:00 00 00 3c 00 00 00 00 00 00 00 00 00 00 00 00
+00b0:09 0f 09 06 00 00 00 00 00 00 00 3c 00 00 42 c7
+00c0:00 01 9b d0 00 00 0b 26 09 0f 09 06 01 01 0b 00
+00d0:01 03 01 01 00 00 00 00 00 05 00 ce 03 f8 06 00
+00e0:00 00 03 00 04 02 01 03 00 00 00 00 00 00 06 00
+00f0:00 00 01 01 00 02 01 03 00 00 00 00 00 00 02 05
+data:00
+data:00
+data:00
+data:00
+data:00
+data:00
+data:00
+data:00
+data:00
+data:00
+data:00
+data:00
+data:00
+data:00
+data:00
+data:00
+data:00
+data:00
+data:00
+data:00
+data:00
+data:00
+```
 ### 試したこと

現在変更したコードをアップしました。

2019/09/06 13:09

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man_

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@@ -308,7 +308,7 @@
         msgs[1].addr = slave_addr;
-        msgs[1].flags = I2C_M_RD | I2C_M_NOSTART;
+        msgs[1].flags = I2C_M_RD;
         msgs[1].len = in_len;
@@ -396,15 +396,15 @@
-int vl6180x_initialisation(void){
+int vl6180x_initialisation(void){
-	//センサを使用するための設定
+	//センサの初期化
 	i2c_write16_8(vl6180x_addr, 0x0207, 0x01);
@@ -466,35 +466,35 @@
 	i2c_write16_8(vl6180x_addr, 0x0030, 0x00);
 	i2c_write16_8(vl6180x_addr, 0x16, 0x00);
 }
 int main(){
 	int ret, result;
 	u8 data;
 	i2c_init();
 	 if (ioctl(i2c_fd, I2C_SLAVE, vl6180x_addr) < 0) {
         perror("ioctl(I2C_SLAVE) in i2c_rw");
@@ -502,27 +502,27 @@
     }
     ret = i2c_read16_8(vl6180x_addr, 0x000, &data);
     printf("data:0x%02x\n",data);
     vl6180x_initialisation();
     // repeat rang mesurement
-    while(1){
+    while(1){
 		//start single-shot mode
@@ -532,15 +532,15 @@
 		}
 		// wait to {0x4f} register till bit 2 is set to 1
 		while(1){
 			ret = i2c_read16_8(vl6180x_addr, 0x4f, &data);
@@ -548,43 +548,43 @@
 			printf("data:%02x\n",data);
 			if(data ==  0x04){
 				printf("mesurement start\n");
 				break;
 			}
 		}
 		// get value
 		ret = i2c_read16_8(vl6180x_addr, 0x62, &data);
 		// clear interruput status
 		i2c_write16_8(vl6180x_addr, 0x15, 0x07);
 		printf("distance:%d\n", result);
 	}
 	i2c_close();
@@ -592,6 +592,8 @@
 ```
 修正済み

現在のコードの修正

2019/09/06 06:30

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man_

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@@ -396,13 +396,13 @@
-int vl6180x_initialisation(void){
+int vl6180x_initialisation(void){
 	//センサを使用するための設定
@@ -466,35 +466,35 @@
 	i2c_write16_8(vl6180x_addr, 0x0030, 0x00);
 	i2c_write16_8(vl6180x_addr, 0x16, 0x00);
 }
 int main(){
 	int ret, result;
 	u8 data;
 	i2c_init();
 	 if (ioctl(i2c_fd, I2C_SLAVE, vl6180x_addr) < 0) {
         perror("ioctl(I2C_SLAVE) in i2c_rw");
@@ -502,19 +502,27 @@
     }
+    ret = i2c_read16_8(vl6180x_addr, 0x000, &data);
+    printf("data:0x%02x\n",data);
     vl6180x_initialisation();
     // repeat rang mesurement
-    while(1){
+    while(1){
 		//start single-shot mode
@@ -524,15 +532,15 @@
 		}
 		// wait to {0x4f} register till bit 2 is set to 1
 		while(1){
 			ret = i2c_read16_8(vl6180x_addr, 0x4f, &data);
@@ -540,43 +548,43 @@
 			printf("data:%02x\n",data);
 			if(data ==  0x04){
 				printf("mesurement start\n");
 				break;
 			}
 		}
 		// get value
 		ret = i2c_read16_8(vl6180x_addr, 0x62, &data);
 		// clear interruput status
 		i2c_write16_8(vl6180x_addr, 0x15, 0x07);
 		printf("distance:%d\n", result);
 	}
 	i2c_close();

現在のコードの修正

2019/09/05 19:06

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man_

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test CHANGED Viewed

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test CHANGED Viewed

@@ -398,79 +398,83 @@
 int vl6180x_initialisation(void){
 	//センサを使用するための設定
-	i2c_write16_16(i2c_fd, 0x0207, 0x01);
-	i2c_write16_16(i2c_fd, 0x0208, 0x01);
-	i2c_write16_16(i2c_fd, 0x0096, 0x00);
-	i2c_write16_16(i2c_fd, 0x0097, 0xfd);
-	i2c_write16_16(i2c_fd, 0x00e3, 0x00);
-	i2c_write16_16(i2c_fd, 0x00e4, 0x04);
-	i2c_write16_16(i2c_fd, 0x00e5, 0x02);
-	i2c_write16_16(i2c_fd, 0x00e6, 0x01);
-	i2c_write16_16(i2c_fd, 0x00e7, 0x03);
-	i2c_write16_16(i2c_fd, 0x00f5, 0x02);
-	i2c_write16_16(i2c_fd, 0x00d9, 0x05);
-	i2c_write16_16(i2c_fd, 0x00db, 0xce);
-	i2c_write16_16(i2c_fd, 0x00dc, 0x03);
-	i2c_write16_16(i2c_fd, 0x00dd, 0xf8);
-	i2c_write16_16(i2c_fd, 0x009f, 0x00);
-	i2c_write16_16(i2c_fd, 0x00a3, 0x3c);
-	i2c_write16_16(i2c_fd, 0x00b7, 0x00);
-	i2c_write16_16(i2c_fd, 0x00bb, 0x3c);
-	i2c_write16_16(i2c_fd, 0x00b2, 0x09);
-	i2c_write16_16(i2c_fd, 0x00ca, 0x09);
-	i2c_write16_16(i2c_fd, 0x0198, 0x01);
-	i2c_write16_16(i2c_fd, 0x01b0, 0x17);
-	i2c_write16_16(i2c_fd, 0x01ad, 0x00);
-	i2c_write16_16(i2c_fd, 0x00ff, 0x05);
-	i2c_write16_16(i2c_fd, 0x0100, 0x05);
-	i2c_write16_16(i2c_fd, 0x0199, 0x05);
-	i2c_write16_16(i2c_fd, 0x01a6, 0x1b);
-	i2c_write16_16(i2c_fd, 0x01ac, 0x3e);
-	i2c_write16_16(i2c_fd, 0x01a7, 0x1f);
-	i2c_write16_16(i2c_fd, 0x0030, 0x00);
-	i2c_write16_8(i2c_fd, 0x16, 0x00);
-}
+	i2c_write16_8(vl6180x_addr, 0x0207, 0x01);
+	i2c_write16_8(vl6180x_addr, 0x0208, 0x01);
+	i2c_write16_8(vl6180x_addr, 0x0096, 0x00);
+	i2c_write16_8(vl6180x_addr, 0x0097, 0xfd);
+	i2c_write16_8(vl6180x_addr, 0x00e3, 0x00);
+	i2c_write16_8(vl6180x_addr, 0x00e4, 0x04);
+	i2c_write16_8(vl6180x_addr, 0x00e5, 0x02);
+	i2c_write16_8(vl6180x_addr, 0x00e6, 0x01);
+	i2c_write16_8(vl6180x_addr, 0x00e7, 0x03);
+	i2c_write16_8(vl6180x_addr, 0x00f5, 0x02);
+	i2c_write16_8(vl6180x_addr, 0x00d9, 0x05);
+	i2c_write16_8(vl6180x_addr, 0x00db, 0xce);
+	i2c_write16_8(vl6180x_addr, 0x00dc, 0x03);
+	i2c_write16_8(vl6180x_addr, 0x00dd, 0xf8);
+	i2c_write16_8(vl6180x_addr, 0x009f, 0x00);
+	i2c_write16_8(vl6180x_addr, 0x00a3, 0x3c);
+	i2c_write16_8(vl6180x_addr, 0x00b7, 0x00);
+	i2c_write16_8(vl6180x_addr, 0x00bb, 0x3c);
+	i2c_write16_8(vl6180x_addr, 0x00b2, 0x09);
+	i2c_write16_8(vl6180x_addr, 0x00ca, 0x09);
+	i2c_write16_8(vl6180x_addr, 0x0198, 0x01);
+	i2c_write16_8(vl6180x_addr, 0x01b0, 0x17);
+	i2c_write16_8(vl6180x_addr, 0x01ad, 0x00);
+	i2c_write16_8(vl6180x_addr, 0x00ff, 0x05);
+	i2c_write16_8(vl6180x_addr, 0x0100, 0x05);
+	i2c_write16_8(vl6180x_addr, 0x0199, 0x05);
+	i2c_write16_8(vl6180x_addr, 0x01a6, 0x1b);
+	i2c_write16_8(vl6180x_addr, 0x01ac, 0x3e);
+	i2c_write16_8(vl6180x_addr, 0x01a7, 0x1f);
+	i2c_write16_8(vl6180x_addr, 0x0030, 0x00);
+	i2c_write16_8(vl6180x_addr, 0x16, 0x00);
+}
 int main(){
@@ -490,7 +494,9 @@
 	 if (ioctl(i2c_fd, I2C_SLAVE, vl6180x_addr) < 0) {
-        perror("ioctl(I2C_RDWR) in i2c_rw");
+        perror("ioctl(I2C_SLAVE) in i2c_rw");
         return -1;
@@ -508,64 +514,66 @@
     while(1){
+		//start single-shot mode
+		if((i2c_write16_8(vl6180x_addr, 0x18,0x01)) < 0) {
+        printf("error: power on\n");
+		}
-		//start single-shot mode
+		// wait to {0x4f} register till bit 2 is set to 1
+		while(1){
-		if((i2c_write16_8(i2c_fd, 0x18,0x01)) < 0) {
+			ret = i2c_read16_8(vl6180x_addr, 0x4f, &data);
+			usleep(500*1000);
+			printf("data:%02x\n",data);
+			if(data ==  0x04){
-        printf("error: power on\n");
+				printf("mesurement start\n");
+				break;
+			}
 		}
+		// get value
+		ret = i2c_read16_8(vl6180x_addr, 0x62, &data);
-		// wait to {0x4f} register till bit 2 is set to 1
+		// clear interruput status
-		while(1){
-			ret = i2c_read16_8(i2c_fd, 0x4f, &data);
+		i2c_write16_8(vl6180x_addr, 0x15, 0x07);
-			printf("ret:%d\n",ret);
-			if(ret ==  0x04){
-				printf("mesurement start\n");
-				break;
-			}
-		}
-		// get value
-		ret = i2c_read16_8(i2c_fd, 0x62, &data);
+		printf("distance:%d\n", result);
-		// clear interruput status
-		i2c_write16_8(i2c_fd, 0x15, 0x07);
-		printf("distance:%d\n", result);
 	}
@@ -580,13 +588,15 @@
 修正済み
-（現在のコードではmain関数のiotclの部分で"ioctl(I2C_RDWR) in i2c_rw: Bad address"というエラーが出ている状態です。）
+・（現在のコードではmain関数のiotclの部分で"ioctl(I2C_RDWR) in i2c_rw: Bad address"というエラーが出ている状態です。）
+・(i2c_rw()関数の部分で　"ioctl(I2C_RDWR) in i2c_rw: Remote I/O error"というエラーが出ています。)
 現在
-i2c_rw()関数の部分で　"ioctl(I2C_RDWR) in i2c_rw: Remote I/O error"というエラーが出ています。改定のアドバイスよろしくお願いいたします。
+main()関数の" wait to {0x4f} register till bit 2 is set to 1"の部分で常に"data:00"と出力され、計測が開始されない状態です。改定のアドバイスよろしくお願いいたします。

現在のソースコードの変更

2019/09/05 18:20

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man_

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test CHANGED Viewed

@@ -488,7 +488,7 @@
-	 if (ioctl(i2c_fd, I2C_RDWR, vl6180x_addr) < 0) {
+	 if (ioctl(i2c_fd, I2C_SLAVE, vl6180x_addr) < 0) {
         perror("ioctl(I2C_RDWR) in i2c_rw");
@@ -578,7 +578,15 @@
 ```
+修正済み
-現在のコードではmain関数のiotclの部分で"ioctl(I2C_RDWR) in i2c_rw: Bad address"というエラーが出ている状態です。改定のアドバイスよろしくお願い致します。
+（現在のコードではmain関数のiotclの部分で"ioctl(I2C_RDWR) in i2c_rw: Bad address"というエラーが出ている状態です。）
+現在
+i2c_rw()関数の部分で　"ioctl(I2C_RDWR) in i2c_rw: Remote I/O error"というエラーが出ています。改定のアドバイスよろしくお願いいたします。

コードの若干の修正

2019/09/05 17:12

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test CHANGED Viewed

@@ -222,7 +222,7 @@
-#define vl6180x_addr  0x29; //vl6180xのI2Cアドレス
+#define vl6180x_addr  0x29 //vl6180xのI2Cアドレス

現在のコードの状態と作成にあたり参考にしたサイトを載せました。

2019/09/05 16:51

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@@ -582,6 +582,16 @@
+こちらのサイトとデータシートを参考に作成しました。
+サイト：https://qiita.com/shigeru-yokochi/items/ac2138feb74a7ef7ffc6
+データシート：https://cdn.sparkfun.com/datasheets/Sensors/Proximity/VL6180_ApplicationNote.pdf
 ### 試したこと

現在変更したコードをアップしました。

2019/09/05 16:19

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@@ -196,6 +196,392 @@
+###現在のコード
+```
+#include <stdio.h>
+#include <string.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include <linux/i2c-dev.h>
+#ifndef I2C_M_RD
+#include <linux/i2c.h>
+#endif
+#define vl6180x_addr  0x29; //vl6180xのI2Cアドレス
+typedef unsigned char   u8;
+typedef unsigned short  u16;
+typedef unsigned int    u32;
+int i2c_fd = -1;
+const char *i2c_fname = "/dev/i2c-1";
+int i2c_init(void)
+{
+    if ((i2c_fd = open(i2c_fname, O_RDWR)) < 0) {
+        char err[200];
+        sprintf(err, "open('%s') in i2c_init", i2c_fname);
+        perror(err);
+        return -1;
+    }
+    return i2c_fd;
+}
+void i2c_close(void)
+{
+    close(i2c_fd);
+    i2c_fd = -1;
+}
+int i2c_rw(u8 slave_addr, u8 *out, u32 out_len, u8 *in, u32 in_len)
+{
+    int retval;
+    struct i2c_msg msgs[2];
+    struct i2c_rdwr_ioctl_data msgset;
+    msgset.msgs = msgs;
+    msgset.nmsgs = 1;
+    msgs[0].addr = slave_addr;
+    msgs[0].flags = 0;
+    msgs[0].len = out_len;
+    msgs[0].buf = out;
+    if(in_len > 0U){
+        msgs[1].addr = slave_addr;
+        msgs[1].flags = I2C_M_RD | I2C_M_NOSTART;
+        msgs[1].len = in_len;
+        msgs[1].buf = in;
+        msgset.nmsgs = 2;
+    }
+    if (ioctl(i2c_fd, I2C_RDWR, &msgset) < 0) {
+        perror("ioctl(I2C_RDWR) in i2c_rw");
+        return -1;
+    }
+    return 0;
+}
+int i2c_write16_8(u8 slave_addr, u16 reg, u8 data)
+{
+    u8 out[3] = { (u8)(reg >> 8), (u8)reg, data };
+    return i2c_rw(slave_addr, out, sizeof(out), NULL, 0);
+}
+int i2c_write16_16(u8 slave_addr, u16 reg, u16 data)
+{
+    u8 out[4] = { (u8)(reg >> 8), (u8)reg, (u8)(data >> 8), (u8)data };
+    return i2c_rw(slave_addr, out, sizeof(out), NULL, 0);
+}
+int i2c_read16_8(u8 slave_addr, u16 reg, u8 *data)
+{
+    u8 out[2] = { (u8)(reg >> 8), (u8)reg};
+    return i2c_rw(slave_addr, out, sizeof(out), data, 1);
+}
+int i2c_read16_16(u8 slave_addr, u16 reg, u16 *data)
+{
+    u8 out[2] = { (u8)(reg >> 8), (u8)reg};
+    u8 in[2];
+    int retval = i2c_rw(slave_addr, out, sizeof(out), in, sizeof(in));
+    if(retval >= 0){
+        *data = (((u16)in[0]) << 8) | in[1];
+    }
+    return retval;
+}
+int vl6180x_initialisation(void){
+	//センサを使用するための設定
+	i2c_write16_16(i2c_fd, 0x0207, 0x01);
+	i2c_write16_16(i2c_fd, 0x0208, 0x01);
+	i2c_write16_16(i2c_fd, 0x0096, 0x00);
+	i2c_write16_16(i2c_fd, 0x0097, 0xfd);
+	i2c_write16_16(i2c_fd, 0x00e3, 0x00);
+	i2c_write16_16(i2c_fd, 0x00e4, 0x04);
+	i2c_write16_16(i2c_fd, 0x00e5, 0x02);
+	i2c_write16_16(i2c_fd, 0x00e6, 0x01);
+	i2c_write16_16(i2c_fd, 0x00e7, 0x03);
+	i2c_write16_16(i2c_fd, 0x00f5, 0x02);
+	i2c_write16_16(i2c_fd, 0x00d9, 0x05);
+	i2c_write16_16(i2c_fd, 0x00db, 0xce);
+	i2c_write16_16(i2c_fd, 0x00dc, 0x03);
+	i2c_write16_16(i2c_fd, 0x00dd, 0xf8);
+	i2c_write16_16(i2c_fd, 0x009f, 0x00);
+	i2c_write16_16(i2c_fd, 0x00a3, 0x3c);
+	i2c_write16_16(i2c_fd, 0x00b7, 0x00);
+	i2c_write16_16(i2c_fd, 0x00bb, 0x3c);
+	i2c_write16_16(i2c_fd, 0x00b2, 0x09);
+	i2c_write16_16(i2c_fd, 0x00ca, 0x09);
+	i2c_write16_16(i2c_fd, 0x0198, 0x01);
+	i2c_write16_16(i2c_fd, 0x01b0, 0x17);
+	i2c_write16_16(i2c_fd, 0x01ad, 0x00);
+	i2c_write16_16(i2c_fd, 0x00ff, 0x05);
+	i2c_write16_16(i2c_fd, 0x0100, 0x05);
+	i2c_write16_16(i2c_fd, 0x0199, 0x05);
+	i2c_write16_16(i2c_fd, 0x01a6, 0x1b);
+	i2c_write16_16(i2c_fd, 0x01ac, 0x3e);
+	i2c_write16_16(i2c_fd, 0x01a7, 0x1f);
+	i2c_write16_16(i2c_fd, 0x0030, 0x00);
+	i2c_write16_8(i2c_fd, 0x16, 0x00);
+}
+int main(){
+	int ret, result;
+	u8 data;
+	i2c_init();
+	 if (ioctl(i2c_fd, I2C_RDWR, vl6180x_addr) < 0) {
+        perror("ioctl(I2C_RDWR) in i2c_rw");
+        return -1;
+    }
+    vl6180x_initialisation();
+    // repeat rang mesurement
+    while(1){
+		//start single-shot mode
+		if((i2c_write16_8(i2c_fd, 0x18,0x01)) < 0) {
+        printf("error: power on\n");
+		}
+		// wait to {0x4f} register till bit 2 is set to 1
+		while(1){
+			ret = i2c_read16_8(i2c_fd, 0x4f, &data);
+			printf("ret:%d\n",ret);
+			if(ret ==  0x04){
+				printf("mesurement start\n");
+				break;
+			}
+		}
+		// get value
+		ret = i2c_read16_8(i2c_fd, 0x62, &data);
+		// clear interruput status
+		i2c_write16_8(i2c_fd, 0x15, 0x07);
+		printf("distance:%d\n", result);
+	}
+	i2c_close();
+}
+```
+現在のコードではmain関数のiotclの部分で"ioctl(I2C_RDWR) in i2c_rw: Bad address"というエラーが出ている状態です。改定のアドバイスよろしくお願い致します。
 ### 試したこと