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Explicitly identify both TOF

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whowe 2023-09-21 23:01:13 +08:00
parent 1067cc7171
commit 7b1c41d3ca
2 changed files with 18 additions and 5 deletions
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16
firmware/src/air.c
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@ -37,11 +37,17 @@ void air_init()
for (int i = 0; i < sizeof(TOF_LIST); i++) { for (int i = 0; i < sizeof(TOF_LIST); i++) {
i2c_select(I2C_PORT, 1 << TOF_LIST[i]); i2c_select(I2C_PORT, 1 << TOF_LIST[i]);
tof_model[i] = vl53l0x_is_present() ? 0 : 1; if (vl53l0x_is_present()) {
if (tof_model[i] == 0) { tof_model[i] = 1;
} else if (gp2y0e_is_present(I2C_PORT)) {
tof_model[i] = 2;
} else {
tof_model[i] = 0;
}
if (tof_model[i] == 1) {
vl53l0x_init_tof(true); vl53l0x_init_tof(true);
vl53l0x_start_continuous(0); vl53l0x_start_continuous(0);
} else if (tof_model[i] == 1) { } else if (tof_model[i] == 2) {
gp2y0e_write(I2C_PORT, 0xa8, 0); // Accumulation 0:1, 1:5, 2:30, 3:10 gp2y0e_write(I2C_PORT, 0xa8, 0); // Accumulation 0:1, 1:5, 2:30, 3:10
gp2y0e_write(I2C_PORT, 0x3f, 0x30); // Filter 0x00:7, 0x10:5, 0x20:9, 0x30:1 gp2y0e_write(I2C_PORT, 0x3f, 0x30); // Filter 0x00:7, 0x10:5, 0x20:9, 0x30:1
gp2y0e_write(I2C_PORT, 0x13, 5); // Pulse [3..7]:[40, 80, 160, 240, 320] us gp2y0e_write(I2C_PORT, 0x13, 5); // Pulse [3..7]:[40, 80, 160, 240, 320] us
@ -104,9 +110,9 @@ void air_update()
{ {
for (int i = 0; i < sizeof(TOF_LIST); i++) { for (int i = 0; i < sizeof(TOF_LIST); i++) {
i2c_select(I2C_PORT, 1 << TOF_LIST[i]); i2c_select(I2C_PORT, 1 << TOF_LIST[i]);
if (tof_model[i] == 0) { if (tof_model[i] == 1) {
distances[i] = readRangeContinuousMillimeters() * 10; distances[i] = readRangeContinuousMillimeters() * 10;
} else if (tof_model[i] == 1) { } else if (tof_model[i] == 2) {
distances[i] = gp2y0e_dist16(I2C_PORT); distances[i] = gp2y0e_dist16(I2C_PORT);
} }
} }

7
firmware/src/gp2y0e.h
View File

@ -11,6 +11,13 @@
#define GP2Y0E_DEF_ADDR 0x40 #define GP2Y0E_DEF_ADDR 0x40
static inline bool gp2y0e_is_present(i2c_inst_t *i2c_port)
{
uint8_t cmd[] = {0x5e};
return i2c_write_blocking_until(i2c_port, GP2Y0E_DEF_ADDR, cmd, 1, true,
time_us_64() + 1000) == 1;
}
static inline uint16_t gp2y0e_write(i2c_inst_t *i2c_port, uint8_t addr, uint8_t val) static inline uint16_t gp2y0e_write(i2c_inst_t *i2c_port, uint8_t addr, uint8_t val)
{ {
uint8_t cmd[] = {addr, val}; uint8_t cmd[] = {addr, val};