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https://github.com/whowechina/chu_pico.git
synced 2025-02-17 18:49:18 +01:00
VL53L0x driver integrated but not fully tested
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whowe
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@ -4,7 +4,7 @@ set(LWIP_ROOT ${PICO_SDK_PATH}/lib/lwip)
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function(make_firmware board board_def)
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pico_sdk_init()
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add_executable(${board}
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main.c slider.c air.c rgb.c save.c config.c cmd.c lzfx.c usb_descriptors.c)
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main.c slider.c air.c rgb.c save.c config.c cmd.c lzfx.c vl53l0x.c usb_descriptors.c)
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target_compile_definitions(${board} PUBLIC ${board_def})
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pico_enable_stdio_usb(${board} 1)
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pico_enable_stdio_uart(${board} 0)
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@ -17,6 +17,7 @@
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#include "config.h"
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#include "gp2y0e.h"
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#include "vl53l0x.h"
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#include "i2c_hub.h"
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static const uint8_t TOF_LIST[] = TOF_MUX_LIST;
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@ -31,12 +32,18 @@ void air_init()
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gpio_pull_up(I2C_SCL);
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i2c_hub_init();
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vl53l0x_init(I2C_PORT, 0);
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for (int i = 0; i < sizeof(TOF_LIST); i++) {
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i2c_select(I2C_PORT, 1 << TOF_LIST[i]);
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#if defined(TOF_VL53L0X)
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vl53l0x_init_tof(true);
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vl53l0x_start_continuous(0);
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#elif defined(TOF_GP2Y0E03)
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gp2y0e_write(I2C_PORT, 0xa8, 0); // Accumulation 0:1, 1:5, 2:30, 3:10
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gp2y0e_write(I2C_PORT, 0x3f, 0x30); // Filter 0x00:7, 0x10:5, 0x20:9, 0x30:1
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gp2y0e_write(I2C_PORT, 0x13, 5); // Pulse [3..7]:[40, 80, 160, 240, 320] us
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#endif
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}
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}
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@ -95,7 +102,11 @@ void air_update()
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{
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for (int i = 0; i < sizeof(TOF_LIST); i++) {
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i2c_select(I2C_PORT, 1 << TOF_LIST[i]);
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#if defined(TOF_VL53L0X)
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distances[i] = readRangeContinuousMillimeters() * 10;
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#elif defined(TOF_GP2Y0E03)
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distances[i] = gp2y0e_dist16(I2C_PORT);
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#endif
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}
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}
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@ -12,6 +12,8 @@
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#define I2C_HUB_EN 19
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//#define TOF_GP2Y0E03
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#define TOF_VL53L0X
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#define TOF_MUX_LIST { 1, 2, 0, 4, 5 }
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#define RGB_PIN 2
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File diff suppressed because it is too large
Load Diff
@ -7,9 +7,153 @@
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#define VL53L0X_H
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#include <stdint.h>
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#include <stdbool.h>
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int tofGetModel(int *model, int *revision);
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int vl53l0x_distance();
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int vl53l0x_init();
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#include "hardware/i2c.h"
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// register addresses from API vl53l0x_device.h (ordered as listed there)
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enum regAddr
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{
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SYSRANGE_START = 0x00,
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SYSTEM_THRESH_HIGH = 0x0C,
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SYSTEM_THRESH_LOW = 0x0E,
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SYSTEM_SEQUENCE_CONFIG = 0x01,
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SYSTEM_RANGE_CONFIG = 0x09,
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SYSTEM_INTERMEASUREMENT_PERIOD = 0x04,
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SYSTEM_INTERRUPT_CONFIG_GPIO = 0x0A,
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GPIO_HV_MUX_ACTIVE_HIGH = 0x84,
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SYSTEM_INTERRUPT_CLEAR = 0x0B,
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RESULT_INTERRUPT_STATUS = 0x13,
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RESULT_RANGE_STATUS = 0x14,
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RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN = 0xBC,
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RESULT_CORE_RANGING_TOTAL_EVENTS_RTN = 0xC0,
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RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF = 0xD0,
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RESULT_CORE_RANGING_TOTAL_EVENTS_REF = 0xD4,
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RESULT_PEAK_SIGNAL_RATE_REF = 0xB6,
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ALGO_PART_TO_PART_RANGE_OFFSET_MM = 0x28,
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I2C_SLAVE_DEVICE_ADDRESS = 0x8A,
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MSRC_CONFIG_CONTROL = 0x60,
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PRE_RANGE_CONFIG_MIN_SNR = 0x27,
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PRE_RANGE_CONFIG_VALID_PHASE_LOW = 0x56,
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PRE_RANGE_CONFIG_VALID_PHASE_HIGH = 0x57,
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PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT = 0x64,
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FINAL_RANGE_CONFIG_MIN_SNR = 0x67,
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FINAL_RANGE_CONFIG_VALID_PHASE_LOW = 0x47,
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FINAL_RANGE_CONFIG_VALID_PHASE_HIGH = 0x48,
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FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT = 0x44,
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PRE_RANGE_CONFIG_SIGMA_THRESH_HI = 0x61,
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PRE_RANGE_CONFIG_SIGMA_THRESH_LO = 0x62,
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PRE_RANGE_CONFIG_VCSEL_PERIOD = 0x50,
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PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x51,
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PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x52,
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SYSTEM_HISTOGRAM_BIN = 0x81,
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HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT = 0x33,
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HISTOGRAM_CONFIG_READOUT_CTRL = 0x55,
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FINAL_RANGE_CONFIG_VCSEL_PERIOD = 0x70,
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FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x71,
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FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x72,
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CROSSTALK_COMPENSATION_PEAK_RATE_MCPS = 0x20,
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MSRC_CONFIG_TIMEOUT_MACROP = 0x46,
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SOFT_RESET_GO2_SOFT_RESET_N = 0xBF,
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IDENTIFICATION_MODEL_ID = 0xC0,
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IDENTIFICATION_REVISION_ID = 0xC2,
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OSC_CALIBRATE_VAL = 0xF8,
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GLOBAL_CONFIG_VCSEL_WIDTH = 0x32,
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GLOBAL_CONFIG_SPAD_ENABLES_REF_0 = 0xB0,
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GLOBAL_CONFIG_SPAD_ENABLES_REF_1 = 0xB1,
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GLOBAL_CONFIG_SPAD_ENABLES_REF_2 = 0xB2,
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GLOBAL_CONFIG_SPAD_ENABLES_REF_3 = 0xB3,
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GLOBAL_CONFIG_SPAD_ENABLES_REF_4 = 0xB4,
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GLOBAL_CONFIG_SPAD_ENABLES_REF_5 = 0xB5,
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GLOBAL_CONFIG_REF_EN_START_SELECT = 0xB6,
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DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD = 0x4E,
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DYNAMIC_SPAD_REF_EN_START_OFFSET = 0x4F,
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POWER_MANAGEMENT_GO1_POWER_FORCE = 0x80,
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VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV = 0x89,
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ALGO_PHASECAL_LIM = 0x30,
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ALGO_PHASECAL_CONFIG_TIMEOUT = 0x30,
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};
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typedef enum {
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VcselPeriodPreRange, VcselPeriodFinalRange
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} vcselPeriodType;
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void vl53l0x_init(i2c_inst_t *i2c_port, uint8_t i2c_addr);
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bool vl53l0x_init_tof(bool io_2v8);
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void write_reg(uint8_t reg, uint8_t value);
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void write_reg16(uint8_t reg, uint16_t value);
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void write_reg32(uint8_t reg, uint32_t value);
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uint8_t read_reg(uint8_t reg);
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uint16_t read_reg16(uint8_t reg);
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uint32_t read_reg32(uint8_t reg);
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void write_many(uint8_t reg, uint8_t const * src, uint8_t count);
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void read_many(uint8_t reg, uint8_t * dst, uint8_t count);
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bool setSignalRateLimit(float limit_Mcps);
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float getSignalRateLimit();
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bool setMeasurementTimingBudget(uint32_t budget_us);
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uint32_t getMeasurementTimingBudget();
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bool setVcselPulsePeriod(vcselPeriodType type, uint8_t period_pclks);
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uint8_t getVcselPulsePeriod(vcselPeriodType type);
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void startContinuous(uint32_t period_ms);
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void stopContinuous();
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uint16_t readRangeContinuousMillimeters();
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uint16_t readRangeSingleMillimeters();
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// TCC: Target CentreCheck
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// MSRC: Minimum Signal Rate Check
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// DSS: Dynamic Spad Selection
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typedef struct {
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bool tcc, msrc, dss, pre_range, final_range;
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} SequenceStepEnables;
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typedef struct {
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uint16_t pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks;
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uint16_t msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks;
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uint32_t msrc_dss_tcc_us, pre_range_us, final_range_us;
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} SequenceStepTimeouts;
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bool getSpadInfo(uint8_t * count, bool * type_is_aperture);
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void getSequenceStepEnables(SequenceStepEnables * enables);
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void getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts);
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bool performSingleRefCalibration(uint8_t vhv_init_byte);
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static uint16_t decodeTimeout(uint16_t value);
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static uint16_t encodeTimeout(uint32_t timeout_mclks);
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static uint32_t timeoutMclksToMicroseconds(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks);
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static uint32_t timeoutMicrosecondsToMclks(uint32_t timeout_period_us, uint8_t vcsel_period_pclks);
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#endif
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