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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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drivers/distance_sensor: new driver for ST VL53L1x
Co-authored-by: Alexey Matveev <>
This commit is contained in:
Alexey
@@ -45,3 +45,4 @@ add_subdirectory(teraranger)
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add_subdirectory(tfmini)
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add_subdirectory(ulanding_radar)
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add_subdirectory(vl53l0x)
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add_subdirectory(vl53l1x)
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@@ -0,0 +1,43 @@
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############################################################################
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#
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# Copyright (c) 2020 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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||||
# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE drivers__distance_sensor__vl53l1x
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MAIN vl53l1x
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SRCS
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vl53l1x.cpp
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vl53l1x.hpp
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DEPENDS
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drivers_rangefinder
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px4_work_queue
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)
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@@ -0,0 +1,717 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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||||
* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**********
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* Based on the driver from ST: Ultra lite driver. UM2510; en.STSW-IMG009
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***********/
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#include "vl53l1x.hpp"
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#define VL53L1X_SAMPLE_RATE 20 // ms
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/* ST */
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const uint8_t VL51L1X_DEFAULT_CONFIGURATION[] = {
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0x00, /* 0x2d : set bit 2 and 5 to 1 for fast plus mode (1MHz I2C), else don't touch */
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0x00, /* 0x2e : bit 0 if I2C pulled up at 1.8V, else set bit 0 to 1 (pull up at AVDD) */
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0x00, /* 0x2f : bit 0 if GPIO pulled up at 1.8V, else set bit 0 to 1 (pull up at AVDD) */
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0x01, /* 0x30 : set bit 4 to 0 for active high interrupt and 1 for active low (bits 3:0 must be 0x1), use SetInterruptPolarity() */
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0x02, /* 0x31 : bit 1 = interrupt depending on the polarity, use CheckForDataReady() */
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0x00, /* 0x32 : not user-modifiable */
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0x02, /* 0x33 : not user-modifiable */
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0x08, /* 0x34 : not user-modifiable */
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0x00, /* 0x35 : not user-modifiable */
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0x08, /* 0x36 : not user-modifiable */
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0x10, /* 0x37 : not user-modifiable */
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0x01, /* 0x38 : not user-modifiable */
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0x01, /* 0x39 : not user-modifiable */
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0x00, /* 0x3a : not user-modifiable */
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0x00, /* 0x3b : not user-modifiable */
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0x00, /* 0x3c : not user-modifiable */
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0x00, /* 0x3d : not user-modifiable */
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0xff, /* 0x3e : not user-modifiable */
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0x00, /* 0x3f : not user-modifiable */
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0x0F, /* 0x40 : not user-modifiable */
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0x00, /* 0x41 : not user-modifiable */
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0x00, /* 0x42 : not user-modifiable */
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0x00, /* 0x43 : not user-modifiable */
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0x00, /* 0x44 : not user-modifiable */
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0x00, /* 0x45 : not user-modifiable */
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0x20, /* 0x46 : interrupt configuration 0->level low detection, 1-> level high, 2-> Out of window, 3->In window, 0x20-> New sample ready , TBC */
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0x0b, /* 0x47 : not user-modifiable */
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0x00, /* 0x48 : not user-modifiable */
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0x00, /* 0x49 : not user-modifiable */
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0x02, /* 0x4a : not user-modifiable */
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0x0a, /* 0x4b : not user-modifiable */
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0x21, /* 0x4c : not user-modifiable */
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0x00, /* 0x4d : not user-modifiable */
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0x00, /* 0x4e : not user-modifiable */
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0x05, /* 0x4f : not user-modifiable */
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0x00, /* 0x50 : not user-modifiable */
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0x00, /* 0x51 : not user-modifiable */
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0x00, /* 0x52 : not user-modifiable */
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0x00, /* 0x53 : not user-modifiable */
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0xc8, /* 0x54 : not user-modifiable */
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0x00, /* 0x55 : not user-modifiable */
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0x00, /* 0x56 : not user-modifiable */
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0x38, /* 0x57 : not user-modifiable */
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0xff, /* 0x58 : not user-modifiable */
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0x01, /* 0x59 : not user-modifiable */
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0x00, /* 0x5a : not user-modifiable */
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0x08, /* 0x5b : not user-modifiable */
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0x00, /* 0x5c : not user-modifiable */
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0x00, /* 0x5d : not user-modifiable */
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0x01, /* 0x5e : not user-modifiable */
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0xcc, /* 0x5f : not user-modifiable */
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0x0f, /* 0x60 : not user-modifiable */
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0x01, /* 0x61 : not user-modifiable */
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0xf1, /* 0x62 : not user-modifiable */
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0x0d, /* 0x63 : not user-modifiable */
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0x01, /* 0x64 : Sigma threshold MSB (mm in 14.2 format for MSB+LSB), use SetSigmaThreshold(), default value 90 mm */
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0x68, /* 0x65 : Sigma threshold LSB */
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0x00, /* 0x66 : Min count Rate MSB (MCPS in 9.7 format for MSB+LSB), use SetSignalThreshold() */
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0x80, /* 0x67 : Min count Rate LSB */
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0x08, /* 0x68 : not user-modifiable */
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0xb8, /* 0x69 : not user-modifiable */
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0x00, /* 0x6a : not user-modifiable */
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0x00, /* 0x6b : not user-modifiable */
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0x00, /* 0x6c : Intermeasurement period MSB, 32 bits register, use SetIntermeasurementInMs() */
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0x00, /* 0x6d : Intermeasurement period */
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0x0f, /* 0x6e : Intermeasurement period */
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0x89, /* 0x6f : Intermeasurement period LSB */
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0x00, /* 0x70 : not user-modifiable */
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0x00, /* 0x71 : not user-modifiable */
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0x00, /* 0x72 : distance threshold high MSB (in mm, MSB+LSB), use SetD:tanceThreshold() */
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0x00, /* 0x73 : distance threshold high LSB */
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0x00, /* 0x74 : distance threshold low MSB ( in mm, MSB+LSB), use SetD:tanceThreshold() */
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0x00, /* 0x75 : distance threshold low LSB */
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0x00, /* 0x76 : not user-modifiable */
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0x01, /* 0x77 : not user-modifiable */
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0x0f, /* 0x78 : not user-modifiable */
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0x0d, /* 0x79 : not user-modifiable */
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0x0e, /* 0x7a : not user-modifiable */
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0x0e, /* 0x7b : not user-modifiable */
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0x00, /* 0x7c : not user-modifiable */
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0x00, /* 0x7d : not user-modifiable */
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0x02, /* 0x7e : not user-modifiable */
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0xc7, /* 0x7f : ROI center, use SetROI() */
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0xff, /* 0x80 : XY ROI (X=Width, Y=Height), use SetROI() */
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0x9B, /* 0x81 : not user-modifiable */
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0x00, /* 0x82 : not user-modifiable */
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0x00, /* 0x83 : not user-modifiable */
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0x00, /* 0x84 : not user-modifiable */
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0x01, /* 0x85 : not user-modifiable */
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0x00, /* 0x86 : clear interrupt, use ClearInterrupt() */
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0x00 /* 0x87 : start ranging, use StartRanging() or StopRanging(), If you want an automatic start after VL53L1X_init() call, put 0x40 in location 0x87 */
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};
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static const uint8_t status_rtn[24] = { 255, 255, 255, 5, 2, 4, 1, 7, 3, 0,
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255, 255, 9, 13, 255, 255, 255, 255, 10, 6,
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255, 255, 11, 12
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};
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/* end ST */
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VL53L1X::VL53L1X(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, int address) :
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I2C(DRV_DIST_DEVTYPE_VL53L1X, MODULE_NAME, bus, address, bus_frequency),
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I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
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_px4_rangefinder(0 /* device id not yet used */, rotation)
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{
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// VL53L1X typical range 0-2 meters with 25 degree field of view
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_px4_rangefinder.set_min_distance(0.f);
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_px4_rangefinder.set_max_distance(2.f);
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_px4_rangefinder.set_fov(math::radians(25.f));
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// Allow 3 retries as the device typically misses the first measure attempts.
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I2C::_retries = 3;
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}
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VL53L1X::~VL53L1X()
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{
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// free perf counters
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perf_free(_sample_perf);
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perf_free(_comms_errors);
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}
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int VL53L1X::collect()
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{
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uint8_t ret = 0;
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uint8_t rangeStatus;
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uint16_t distance_mm = 0;
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perf_begin(_sample_perf);
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const hrt_abstime timestamp_sample = hrt_absolute_time();
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ret = VL53L1X_GetRangeStatus(&rangeStatus);
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if ((ret != PX4_OK) | (rangeStatus != PX4_OK)) {
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perf_count(_comms_errors);
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perf_end(_sample_perf);
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return PX4_ERROR;
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}
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ret = VL53L1X_GetDistance(&distance_mm);
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ret |= VL53L1X_ClearInterrupt();
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if (ret != PX4_OK) {
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perf_count(_comms_errors);
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perf_end(_sample_perf);
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return PX4_ERROR;
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}
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perf_end(_sample_perf);
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float distance_m = distance_mm / 1000.f;
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_px4_rangefinder.update(timestamp_sample, distance_m);
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return PX4_OK;
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}
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void VL53L1X::print_status()
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{
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I2CSPIDriverBase::print_status();
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perf_print_counter(_comms_errors);
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perf_print_counter(_sample_perf);
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}
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int VL53L1X::probe()
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{
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uint8_t ret, data;
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ret = VL53L1_RdByte(1, &data);
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if ((ret != PX4_OK) | (data != _device_id.devid_s.address)) {
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return -EIO;
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}
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return PX4_OK;
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}
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void VL53L1X::RunImpl()
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{
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uint8_t dataReady = 0;
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VL53L1X_CheckForDataReady(&dataReady);
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if (dataReady == 1) {
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collect();
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}
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ScheduleDelayed(VL53L1X_SAMPLE_RATE);
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}
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void VL53L1X::start()
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{
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// Schedule the first cycle.
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ScheduleNow();
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}
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int VL53L1X::init()
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{
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int ret = PX4_OK;
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ret = device::I2C::init();
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if (ret != PX4_OK) {
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perf_count(_comms_errors);
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return PX4_ERROR;
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}
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ret |= VL53L1X_SensorInit();
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ret |= VL53L1X_ConfigBig(2, VL53L1X_SAMPLE_RATE);
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ret |= VL53L1X_SetInterMeasurementInMs(VL53L1X_SAMPLE_RATE);
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ret |= VL53L1X_StartRanging();
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if (ret != PX4_OK) {
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perf_count(_comms_errors);
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return PX4_ERROR;
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}
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PX4_INFO("vl53l1x init success");
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return PX4_OK;
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}
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void VL53L1X::stop()
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{
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VL53L1X_StopRanging();
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}
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void VL53L1X::print_usage()
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{
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PRINT_MODULE_USAGE_NAME("vl53l1x", "driver");
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PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
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PRINT_MODULE_USAGE_PARAM_INT('R', 25, 1, 25, "Sensor rotation - downward facing by default", true);
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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}
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/* ST */
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int8_t VL53L1X::VL53L1_RdByte(uint16_t index, uint8_t *data)
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{
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int8_t ret;
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uint8_t data_local[2];
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// Convert
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data_local[0] = (index >> 8) & 0xff;
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data_local[1] = index & 0xff;
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// Write register address to the sensor.
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ret = transfer(&data_local[0], sizeof(data_local), nullptr, 0);
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if (ret != PX4_OK) {
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perf_count(_comms_errors);
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return ret;
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}
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// Read from the sensor.
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ret = transfer(nullptr, 0, data, 1);
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if (ret != PX4_OK) {
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perf_count(_comms_errors);
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return ret;
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}
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||||
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return PX4_OK;
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}
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||||
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int8_t VL53L1X::VL53L1_RdWord(uint16_t index, uint16_t *data)
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{
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int8_t ret;
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uint8_t data_local[2], data_out[2];
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// Convert
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data_local[0] = (index >> 8) & 0xff;
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data_local[1] = index & 0xff;
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// Write register address to the sensor.
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ret = transfer(&data_local[0], sizeof(data_local), nullptr, 0);
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if (ret != PX4_OK) {
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perf_count(_comms_errors);
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return ret;
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}
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// Read from the sensor.
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ret = transfer(nullptr, 0, data_out, 2);
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if (ret != PX4_OK) {
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perf_count(_comms_errors);
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return ret;
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}
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*data = ((uint16_t)data_out[0] << 8) + (uint16_t)data_out[1];
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|
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return PX4_OK;
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}
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int8_t VL53L1X::VL53L1_WrByte(uint16_t index, uint8_t data)
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{
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int8_t ret;
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uint8_t data_local[3];
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// Convert
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data_local[0] = (index >> 8) & 0xff;
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data_local[1] = index & 0xff;
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data_local[2] = data;
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// Write register address to the sensor.
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ret = transfer(&data_local[0], sizeof(data_local), nullptr, 0);
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if (ret != PX4_OK) {
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perf_count(_comms_errors);
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return ret;
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}
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|
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return PX4_OK;
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}
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int8_t VL53L1X::VL53L1_WrWord(uint16_t index, uint16_t data)
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{
|
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int8_t ret;
|
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uint8_t data_local[4];
|
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|
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// Convert
|
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data_local[0] = (index >> 8) & 0xff;
|
||||
data_local[1] = index & 0xff;
|
||||
data_local[2] = (data >> 8) & 0xff;
|
||||
data_local[3] = data & 0xff;
|
||||
|
||||
// Write register address to the sensor.
|
||||
ret = transfer(&data_local[0], sizeof(data_local), nullptr, 0);
|
||||
|
||||
if (ret != PX4_OK) {
|
||||
perf_count(_comms_errors);
|
||||
return ret;
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int8_t VL53L1X::VL53L1_WrDWord(uint16_t index, uint32_t data)
|
||||
{
|
||||
int8_t ret;
|
||||
uint8_t data_local[6];
|
||||
|
||||
// Convert
|
||||
data_local[0] = (index >> 8) & 0xff;
|
||||
data_local[1] = index & 0xff;
|
||||
data_local[2] = (data >> 24) & 0xff;
|
||||
data_local[3] = (data >> 16) & 0xff;
|
||||
data_local[4] = (data >> 8) & 0xff;
|
||||
data_local[5] = data & 0xff;
|
||||
|
||||
// Write register address to the sensor.
|
||||
ret = transfer(&data_local[0], sizeof(data_local), nullptr, 0);
|
||||
|
||||
if (ret != PX4_OK) {
|
||||
perf_count(_comms_errors);
|
||||
return ret;
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
// __more
|
||||
int8_t VL53L1X::VL53L1X_SensorInit()
|
||||
{
|
||||
int8_t status = 0;
|
||||
uint8_t tmp = 0;
|
||||
uint16_t Addr = 0x0000;
|
||||
|
||||
for (Addr = 0x2D; Addr <= 0x87; Addr++) {
|
||||
status |= VL53L1_WrByte(Addr, VL51L1X_DEFAULT_CONFIGURATION[Addr - 0x2D]);
|
||||
}
|
||||
|
||||
status |= VL53L1X_StartRanging();
|
||||
|
||||
while (tmp == 0) {
|
||||
status = VL53L1X_CheckForDataReady(&tmp);
|
||||
}
|
||||
|
||||
status = VL53L1X_ClearInterrupt();
|
||||
status = VL53L1X_StopRanging();
|
||||
status = VL53L1_WrByte(VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, 0x09); /* two bounds VHV */
|
||||
status = VL53L1_WrByte(0x0B, 0); /* start VHV from the previous temperature */
|
||||
return status;
|
||||
}
|
||||
|
||||
int8_t VL53L1X::VL53L1X_StartRanging()
|
||||
{
|
||||
int8_t status = 0;
|
||||
|
||||
status = VL53L1_WrByte(SYSTEM__MODE_START, 0x40); /* Enable VL53L1X */
|
||||
return status;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function checks if the new ranging data is available by polling the dedicated register.
|
||||
* @param : isDataReady==0 -> not ready; isDataReady==1 -> ready
|
||||
*/
|
||||
int8_t VL53L1X::VL53L1X_CheckForDataReady(uint8_t *isDataReady)
|
||||
{
|
||||
uint8_t Temp;
|
||||
uint8_t IntPol;
|
||||
int8_t status = 0;
|
||||
|
||||
status = VL53L1X_GetInterruptPolarity(&IntPol);
|
||||
status = VL53L1_RdByte(GPIO__TIO_HV_STATUS, &Temp);
|
||||
|
||||
/* Read in the register to check if a new value is available */
|
||||
if (status == 0) {
|
||||
if ((Temp & 1) == IntPol) {
|
||||
*isDataReady = 1;
|
||||
|
||||
} else {
|
||||
*isDataReady = 0;
|
||||
}
|
||||
}
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
int8_t VL53L1X::VL53L1X_GetInterruptPolarity(uint8_t *pInterruptPolarity)
|
||||
{
|
||||
uint8_t Temp;
|
||||
int8_t status = 0;
|
||||
|
||||
status = VL53L1_RdByte(GPIO_HV_MUX__CTRL, &Temp);
|
||||
Temp = Temp & 0x10;
|
||||
*pInterruptPolarity = !(Temp >> 4);
|
||||
return status;
|
||||
}
|
||||
|
||||
int8_t VL53L1X::VL53L1X_ClearInterrupt()
|
||||
{
|
||||
int8_t status = 0;
|
||||
|
||||
status = VL53L1_WrByte(SYSTEM__INTERRUPT_CLEAR, 0x01);
|
||||
return status;
|
||||
}
|
||||
|
||||
int8_t VL53L1X::VL53L1X_StopRanging()
|
||||
{
|
||||
int8_t status = 0;
|
||||
|
||||
status = VL53L1_WrByte(SYSTEM__MODE_START, 0x00); /* Disable VL53L1X */
|
||||
return status;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function programs the Intermeasurement period in ms\n
|
||||
* Intermeasurement period must be >/= timing budget.
|
||||
* This condition is not checked by the API,
|
||||
* the customer has the duty to check the condition. Default = 100 ms
|
||||
*/
|
||||
int8_t VL53L1X::VL53L1X_SetInterMeasurementInMs(uint32_t InterMeasMs)
|
||||
{
|
||||
uint16_t ClockPLL = 0;
|
||||
int8_t status = 0;
|
||||
|
||||
status = VL53L1_RdWord(VL53L1_RESULT__OSC_CALIBRATE_VAL, &ClockPLL);
|
||||
ClockPLL = ClockPLL & 0x3FF;
|
||||
VL53L1_WrDWord(VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD,
|
||||
(uint32_t)(ClockPLL * InterMeasMs * 1.075));
|
||||
return status;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function returns the ranging status error \n
|
||||
* (0:no error, 1:sigma failed, 2:signal failed, ..., 7:wrap-around)
|
||||
*/
|
||||
int8_t VL53L1X::VL53L1X_GetRangeStatus(uint8_t *rangeStatus)
|
||||
{
|
||||
int8_t status = 0;
|
||||
uint8_t RgSt;
|
||||
|
||||
*rangeStatus = 255;
|
||||
status = VL53L1_RdByte(VL53L1_RESULT__RANGE_STATUS, &RgSt);
|
||||
RgSt = RgSt & 0x1F;
|
||||
|
||||
if (RgSt < 24) {
|
||||
*rangeStatus = status_rtn[RgSt];
|
||||
}
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function returns the distance measured by the sensor in mm
|
||||
*/
|
||||
int8_t VL53L1X::VL53L1X_GetDistance(uint16_t *distance)
|
||||
{
|
||||
int8_t status = 0;
|
||||
uint16_t tmp = 0;
|
||||
|
||||
status = (VL53L1_RdWord(VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0, &tmp));
|
||||
*distance = tmp;
|
||||
return status;
|
||||
}
|
||||
|
||||
/**
|
||||
* Config
|
||||
* @brief This function programs the distance mode (1=short, 2=long(default)).
|
||||
* Short mode max distance is limited to 1.3 m but better ambient immunity.\n
|
||||
* Long mode can range up to 4 m in the dark with 200 ms timing budget.
|
||||
*/
|
||||
int8_t VL53L1X::VL53L1X_ConfigBig(uint16_t DM, uint16_t TimingBudgetInMs)
|
||||
{
|
||||
int8_t status = 0;
|
||||
|
||||
switch (DM) {
|
||||
case 1:
|
||||
status |= VL53L1_WrByte(PHASECAL_CONFIG__TIMEOUT_MACROP, 0x14);
|
||||
status |= VL53L1_WrByte(RANGE_CONFIG__VCSEL_PERIOD_A, 0x07);
|
||||
status |= VL53L1_WrByte(RANGE_CONFIG__VCSEL_PERIOD_B, 0x05);
|
||||
status |= VL53L1_WrByte(RANGE_CONFIG__VALID_PHASE_HIGH, 0x38);
|
||||
status |= VL53L1_WrWord(SD_CONFIG__WOI_SD0, 0x0705);
|
||||
status |= VL53L1_WrWord(SD_CONFIG__INITIAL_PHASE_SD0, 0x0606);
|
||||
break;
|
||||
|
||||
case 2:
|
||||
status |= VL53L1_WrByte(PHASECAL_CONFIG__TIMEOUT_MACROP, 0x0A);
|
||||
status |= VL53L1_WrByte(RANGE_CONFIG__VCSEL_PERIOD_A, 0x0F);
|
||||
status |= VL53L1_WrByte(RANGE_CONFIG__VCSEL_PERIOD_B, 0x0D);
|
||||
status |= VL53L1_WrByte(RANGE_CONFIG__VALID_PHASE_HIGH, 0xB8);
|
||||
status |= VL53L1_WrWord(SD_CONFIG__WOI_SD0, 0x0F0D);
|
||||
status |= VL53L1_WrWord(SD_CONFIG__INITIAL_PHASE_SD0, 0x0E0E);
|
||||
break;
|
||||
|
||||
default:
|
||||
status = 1;
|
||||
break;
|
||||
}
|
||||
|
||||
// ----
|
||||
|
||||
if (DM == 0) {
|
||||
return 1;
|
||||
|
||||
} else if (DM == 1) { /* Short DistanceMode */
|
||||
switch (TimingBudgetInMs) {
|
||||
case 15: /* only available in short distance mode */
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_A_HI, 0x01D);
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_B_HI, 0x0027);
|
||||
break;
|
||||
|
||||
case 20:
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_A_HI, 0x0051);
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_B_HI, 0x006E);
|
||||
break;
|
||||
|
||||
case 33:
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_A_HI, 0x00D6);
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_B_HI, 0x006E);
|
||||
break;
|
||||
|
||||
case 50:
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_A_HI, 0x1AE);
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_B_HI, 0x01E8);
|
||||
break;
|
||||
|
||||
case 100:
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_A_HI, 0x02E1);
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_B_HI, 0x0388);
|
||||
break;
|
||||
|
||||
case 200:
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_A_HI, 0x03E1);
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_B_HI, 0x0496);
|
||||
break;
|
||||
|
||||
default:
|
||||
status = 1;
|
||||
break;
|
||||
}
|
||||
|
||||
} else {
|
||||
switch (TimingBudgetInMs) {
|
||||
case 20:
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_A_HI, 0x001E);
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_B_HI, 0x0022);
|
||||
break;
|
||||
|
||||
case 33:
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_A_HI, 0x0060);
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_B_HI, 0x006E);
|
||||
break;
|
||||
|
||||
case 50:
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_A_HI, 0x00AD);
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_B_HI, 0x00C6);
|
||||
break;
|
||||
|
||||
case 100:
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_A_HI, 0x01CC);
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_B_HI, 0x01EA);
|
||||
break;
|
||||
|
||||
case 200:
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_A_HI, 0x02D9);
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_B_HI, 0x02F8);
|
||||
break;
|
||||
|
||||
case 500:
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_A_HI, 0x048F);
|
||||
VL53L1_WrWord(RANGE_CONFIG__TIMEOUT_MACROP_B_HI, 0x04A4);
|
||||
break;
|
||||
|
||||
default:
|
||||
status = 1;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
/* end ST */
|
||||
|
||||
I2CSPIDriverBase *VL53L1X::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
|
||||
int runtime_instance)
|
||||
{
|
||||
VL53L1X *instance = new VL53L1X(iterator.configuredBusOption(), iterator.bus(), cli.orientation, cli.bus_frequency);
|
||||
|
||||
if (instance == nullptr) {
|
||||
PX4_ERR("alloc failed");
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
if (instance->init() != PX4_OK) {
|
||||
delete instance;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
instance->start();
|
||||
return instance;
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int vl53l1x_main(int argc, char *argv[])
|
||||
{
|
||||
int ch;
|
||||
using ThisDriver = VL53L1X;
|
||||
BusCLIArguments cli{true, false};
|
||||
cli.default_i2c_frequency = 400000;
|
||||
cli.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
|
||||
|
||||
while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'R':
|
||||
cli.orientation = atoi(cli.optarg());
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
const char *verb = cli.optarg();
|
||||
|
||||
if (!verb) {
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIST_DEVTYPE_VL53L1X);
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
return ThisDriver::module_start(cli, iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "stop")) {
|
||||
return ThisDriver::module_stop(iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "status")) {
|
||||
return ThisDriver::module_status(iterator);
|
||||
}
|
||||
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
@@ -0,0 +1,164 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file VL53L1X.hpp
|
||||
*
|
||||
* Driver for the ST VL53L1X ToF Sensor connected via I2C.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <px4_log.h>
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/i2c_spi_buses.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <drivers/device/i2c.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <lib/perf/perf_counter.h>
|
||||
#include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
|
||||
|
||||
/* ST */
|
||||
#define SOFT_RESET 0x0000
|
||||
#define VL53L1_I2C_SLAVE__DEVICE_ADDRESS 0x0001
|
||||
#define VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND 0x0008
|
||||
#define ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS 0x0016
|
||||
#define ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS 0x0018
|
||||
#define ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS 0x001A
|
||||
#define ALGO__PART_TO_PART_RANGE_OFFSET_MM 0x001E
|
||||
#define MM_CONFIG__INNER_OFFSET_MM 0x0020
|
||||
#define MM_CONFIG__OUTER_OFFSET_MM 0x0022
|
||||
#define GPIO_HV_MUX__CTRL 0x0030
|
||||
#define GPIO__TIO_HV_STATUS 0x0031
|
||||
#define SYSTEM__INTERRUPT_CONFIG_GPIO 0x0046
|
||||
#define PHASECAL_CONFIG__TIMEOUT_MACROP 0x004B
|
||||
#define RANGE_CONFIG__TIMEOUT_MACROP_A_HI 0x005E
|
||||
#define RANGE_CONFIG__VCSEL_PERIOD_A 0x0060
|
||||
#define RANGE_CONFIG__VCSEL_PERIOD_B 0x0063
|
||||
#define RANGE_CONFIG__TIMEOUT_MACROP_B_HI 0x0061
|
||||
#define RANGE_CONFIG__TIMEOUT_MACROP_B_LO 0x0062
|
||||
#define RANGE_CONFIG__SIGMA_THRESH 0x0064
|
||||
#define RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS 0x0066
|
||||
#define RANGE_CONFIG__VALID_PHASE_HIGH 0x0069
|
||||
#define VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD 0x006C
|
||||
#define SYSTEM__THRESH_HIGH 0x0072
|
||||
#define SYSTEM__THRESH_LOW 0x0074
|
||||
#define SD_CONFIG__WOI_SD0 0x0078
|
||||
#define SD_CONFIG__INITIAL_PHASE_SD0 0x007A
|
||||
#define ROI_CONFIG__USER_ROI_CENTRE_SPAD 0x007F
|
||||
#define ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE 0x0080
|
||||
#define SYSTEM__SEQUENCE_CONFIG 0x0081
|
||||
#define VL53L1_SYSTEM__GROUPED_PARAMETER_HOLD 0x0082
|
||||
#define SYSTEM__INTERRUPT_CLEAR 0x0086
|
||||
#define SYSTEM__MODE_START 0x0087
|
||||
#define VL53L1_RESULT__RANGE_STATUS 0x0089
|
||||
#define VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0 0x008C
|
||||
#define RESULT__AMBIENT_COUNT_RATE_MCPS_SD 0x0090
|
||||
#define VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 0x0096
|
||||
#define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0 0x0098
|
||||
#define VL53L1_RESULT__OSC_CALIBRATE_VAL 0x00DE
|
||||
#define VL53L1_FIRMWARE__SYSTEM_STATUS 0x00E5
|
||||
#define VL53L1_IDENTIFICATION__MODEL_ID 0x010F
|
||||
#define VL53L1_ROI_CONFIG__MODE_ROI_CENTRE_SPAD 0x013E
|
||||
|
||||
/* Configuration Constants */
|
||||
#define VL53L1X_BASEADDR 0x29
|
||||
|
||||
class VL53L1X : public device::I2C, public I2CSPIDriver<VL53L1X>
|
||||
{
|
||||
public:
|
||||
VL53L1X(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency,
|
||||
int address = VL53L1X_BASEADDR);
|
||||
|
||||
~VL53L1X() override;
|
||||
|
||||
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
|
||||
int runtime_instance);
|
||||
static void print_usage();
|
||||
|
||||
/**
|
||||
* Diagnostics - print some basic information about the driver.
|
||||
*/
|
||||
void print_status() override;
|
||||
|
||||
/**
|
||||
* Initialise the automatic measurement state machine and start it.
|
||||
*/
|
||||
void start();
|
||||
|
||||
/**
|
||||
* Stop the automatic measurement state machine.
|
||||
*/
|
||||
void stop();
|
||||
|
||||
virtual int init() override;
|
||||
|
||||
/**
|
||||
* Perform a poll cycle; collect from the previous measurement
|
||||
* and start a new one.
|
||||
*/
|
||||
void RunImpl();
|
||||
|
||||
private:
|
||||
int probe() override;
|
||||
|
||||
/**
|
||||
* Collects the most recent sensor measurement data from the i2c bus.
|
||||
*/
|
||||
int collect();
|
||||
|
||||
/* ST */
|
||||
int8_t VL53L1_RdByte(uint16_t index, uint8_t *data);
|
||||
int8_t VL53L1_RdWord(uint16_t index, uint16_t *data);
|
||||
int8_t VL53L1_WrByte(uint16_t index, uint8_t data);
|
||||
int8_t VL53L1_WrWord(uint16_t index, uint16_t data);
|
||||
int8_t VL53L1_WrDWord(uint16_t index, uint32_t data);
|
||||
// __more
|
||||
int8_t VL53L1X_SensorInit();
|
||||
int8_t VL53L1X_StartRanging();
|
||||
int8_t VL53L1X_CheckForDataReady(uint8_t *isDataReady);
|
||||
int8_t VL53L1X_GetInterruptPolarity(uint8_t *pInterruptPolarity);
|
||||
int8_t VL53L1X_ClearInterrupt();
|
||||
int8_t VL53L1X_StopRanging();
|
||||
int8_t VL53L1X_GetRangeStatus(uint8_t *rangeStatus);
|
||||
int8_t VL53L1X_GetDistance(uint16_t *distance);
|
||||
// Remove if config store
|
||||
int8_t VL53L1X_ConfigBig(uint16_t DM, uint16_t TimingBudgetInMs);
|
||||
int8_t VL53L1X_SetInterMeasurementInMs(uint32_t InterMeasurementInMs);
|
||||
|
||||
PX4Rangefinder _px4_rangefinder;
|
||||
|
||||
perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com_err")};
|
||||
perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")};
|
||||
};
|
||||
@@ -164,6 +164,7 @@
|
||||
#define DRV_DIST_DEVTYPE_UAVCAN 0x89
|
||||
|
||||
#define DRV_ADC_DEVTYPE_ADS1115 0x90
|
||||
#define DRV_DIST_DEVTYPE_VL53L1X 0x91
|
||||
|
||||
#define DRV_DEVTYPE_UNUSED 0xff
|
||||
|
||||
|
||||
Reference in New Issue
Block a user