mirror of https://github.com/ArduPilot/ardupilot
AP_Rangefinder: Enforce checking I2C status on VL53L1X
This commit is contained in:
Michael du Breuil
WickedShell
parent
9ff69b90e1
commit
85da4955b6
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@ -74,8 +74,10 @@ AP_RangeFinder_Backend *AP_RangeFinder_VL53L1X::detect(RangeFinder::RangeFinder_
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bool AP_RangeFinder_VL53L1X::check_id(void)
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{
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uint8_t v1, v2;
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v1 = read_register(0x010F);
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v2 = read_register(0x0110);
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if (!(read_register(0x010F, v1) &&
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read_register(0x0110, v2))) {
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return false;
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}
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if ((v1 != 0xEA) ||
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(v2 != 0xCC)) {
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@ -90,61 +92,63 @@ bool AP_RangeFinder_VL53L1X::check_id(void)
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*/
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bool AP_RangeFinder_VL53L1X::init()
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{
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// setup for 2.8V operation
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write_register(PAD_I2C_HV__EXTSUP_CONFIG,
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read_register(PAD_I2C_HV__EXTSUP_CONFIG) | 0x01);
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uint8_t pad_i2c_hv_extsup_config = 0;
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uint16_t mm_config_outer_offset_mm = 0;
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if (!(// setup for 2.8V operation
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read_register(PAD_I2C_HV__EXTSUP_CONFIG, pad_i2c_hv_extsup_config) &&
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write_register(PAD_I2C_HV__EXTSUP_CONFIG,
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pad_i2c_hv_extsup_config | 0x01) &&
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// store oscillator info for later use
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fast_osc_frequency = read_register16(OSC_MEASURED__FAST_OSC__FREQUENCY);
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osc_calibrate_val = read_register16(RESULT__OSC_CALIBRATE_VAL);
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// store oscillator info for later use
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read_register16(OSC_MEASURED__FAST_OSC__FREQUENCY, fast_osc_frequency) &&
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read_register16(RESULT__OSC_CALIBRATE_VAL, osc_calibrate_val) &&
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// static config
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write_register16(DSS_CONFIG__TARGET_TOTAL_RATE_MCPS, TargetRate); // should already be this value after reset
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write_register(GPIO__TIO_HV_STATUS, 0x02);
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write_register(SIGMA_ESTIMATOR__EFFECTIVE_PULSE_WIDTH_NS, 8); // tuning parm default
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write_register(SIGMA_ESTIMATOR__EFFECTIVE_AMBIENT_WIDTH_NS, 16); // tuning parm default
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write_register(ALGO__CROSSTALK_COMPENSATION_VALID_HEIGHT_MM, 0x01);
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write_register(ALGO__RANGE_IGNORE_VALID_HEIGHT_MM, 0xFF);
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write_register(ALGO__RANGE_MIN_CLIP, 0); // tuning parm default
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write_register(ALGO__CONSISTENCY_CHECK__TOLERANCE, 2); // tuning parm default
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// static config
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write_register16(DSS_CONFIG__TARGET_TOTAL_RATE_MCPS, TargetRate) && // should already be this value after reset
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write_register(GPIO__TIO_HV_STATUS, 0x02) &&
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write_register(SIGMA_ESTIMATOR__EFFECTIVE_PULSE_WIDTH_NS, 8) && // tuning parm default
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write_register(SIGMA_ESTIMATOR__EFFECTIVE_AMBIENT_WIDTH_NS, 16) && // tuning parm default
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write_register(ALGO__CROSSTALK_COMPENSATION_VALID_HEIGHT_MM, 0x01) &&
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write_register(ALGO__RANGE_IGNORE_VALID_HEIGHT_MM, 0xFF) &&
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write_register(ALGO__RANGE_MIN_CLIP, 0) && // tuning parm default
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write_register(ALGO__CONSISTENCY_CHECK__TOLERANCE, 2) && // tuning parm default
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// general config
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write_register16(SYSTEM__THRESH_RATE_HIGH, 0x0000);
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write_register16(SYSTEM__THRESH_RATE_LOW, 0x0000);
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write_register(DSS_CONFIG__APERTURE_ATTENUATION, 0x38);
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// general config
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write_register16(SYSTEM__THRESH_RATE_HIGH, 0x0000) &&
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write_register16(SYSTEM__THRESH_RATE_LOW, 0x0000) &&
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write_register(DSS_CONFIG__APERTURE_ATTENUATION, 0x38) &&
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// timing config
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write_register16(RANGE_CONFIG__SIGMA_THRESH, 360); // tuning parm default
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write_register16(RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS, 192); // tuning parm default
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// timing config
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write_register16(RANGE_CONFIG__SIGMA_THRESH, 360) && // tuning parm default
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write_register16(RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS, 192) && // tuning parm default
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// dynamic config
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write_register(SYSTEM__GROUPED_PARAMETER_HOLD_0, 0x01);
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write_register(SYSTEM__GROUPED_PARAMETER_HOLD_1, 0x01);
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write_register(SD_CONFIG__QUANTIFIER, 2); // tuning parm default
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// dynamic config
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write_register(SYSTEM__GROUPED_PARAMETER_HOLD_0, 0x01) &&
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write_register(SYSTEM__GROUPED_PARAMETER_HOLD_1, 0x01) &&
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write_register(SD_CONFIG__QUANTIFIER, 2) && // tuning parm default
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// from VL53L1_preset_mode_timed_ranging_*
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// GPH is 0 after reset, but writing GPH0 and GPH1 above seem to set GPH to 1,
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// and things don't seem to work if we don't set GPH back to 0 (which the API
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// does here).
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write_register(SYSTEM__GROUPED_PARAMETER_HOLD, 0x00);
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write_register(SYSTEM__SEED_CONFIG, 1); // tuning parm default
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// from VL53L1_preset_mode_timed_ranging_*
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// GPH is 0 after reset, but writing GPH0 and GPH1 above seem to set GPH to 1,
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// and things don't seem to work if we don't set GPH back to 0 (which the API
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// does here).
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write_register(SYSTEM__GROUPED_PARAMETER_HOLD, 0x00) &&
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write_register(SYSTEM__SEED_CONFIG, 1) && // tuning parm default
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// from VL53L1_config_low_power_auto_mode
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write_register(SYSTEM__SEQUENCE_CONFIG, 0x8B); // VHV, PHASECAL, DSS1, RANGE
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write_register16(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, 200 << 8);
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write_register(DSS_CONFIG__ROI_MODE_CONTROL, 2); // REQUESTED_EFFFECTIVE_SPADS
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setDistanceMode(Long);
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setMeasurementTimingBudget(40000);
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// the API triggers this change in VL53L1_init_and_start_range() once a
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// measurement is started; assumes MM1 and MM2 are disabled
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write_register16(ALGO__PART_TO_PART_RANGE_OFFSET_MM,
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read_register16(MM_CONFIG__OUTER_OFFSET_MM) * 4);
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// set continuous mode
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startContinuous(50);
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calibrated = false;
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// from VL53L1_config_low_power_auto_mode
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write_register(SYSTEM__SEQUENCE_CONFIG, 0x8B) && // VHV, PHASECAL, DSS1, RANGE
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write_register16(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, 200 << 8) &&
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write_register(DSS_CONFIG__ROI_MODE_CONTROL, 2) && // REQUESTED_EFFFECTIVE_SPADS
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read_register16(MM_CONFIG__OUTER_OFFSET_MM, mm_config_outer_offset_mm) &&
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setDistanceMode(Long) &&
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setMeasurementTimingBudget(40000) &&
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// the API triggers this change in VL53L1_init_and_start_range() once a
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// measurement is started; assumes MM1 and MM2 are disabled
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write_register16(ALGO__PART_TO_PART_RANGE_OFFSET_MM, mm_config_outer_offset_mm * 4) &&
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// set continuous mode
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startContinuous(50)
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)) {
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return false;
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}
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// call timer() every 50ms. We expect new data to be available every 50ms
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dev->register_periodic_callback(50000,
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@ -158,54 +162,63 @@ bool AP_RangeFinder_VL53L1X::init()
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bool AP_RangeFinder_VL53L1X::setDistanceMode(DistanceMode distance_mode)
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{
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// save existing timing budget
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uint32_t budget_us = getMeasurementTimingBudget();
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uint32_t budget_us = 0;
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if (!getMeasurementTimingBudget(budget_us)) {
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return false;
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}
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switch (distance_mode) {
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case Short:
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// from VL53L1_preset_mode_standard_ranging_short_range()
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// timing config
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write_register(RANGE_CONFIG__VCSEL_PERIOD_A, 0x07);
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write_register(RANGE_CONFIG__VCSEL_PERIOD_B, 0x05);
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write_register(RANGE_CONFIG__VALID_PHASE_HIGH, 0x38);
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if (!(// timing config
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write_register(RANGE_CONFIG__VCSEL_PERIOD_A, 0x07) &&
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write_register(RANGE_CONFIG__VCSEL_PERIOD_B, 0x05) &&
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write_register(RANGE_CONFIG__VALID_PHASE_HIGH, 0x38) &&
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// dynamic config
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write_register(SD_CONFIG__WOI_SD0, 0x07);
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write_register(SD_CONFIG__WOI_SD1, 0x05);
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write_register(SD_CONFIG__INITIAL_PHASE_SD0, 6); // tuning parm default
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write_register(SD_CONFIG__INITIAL_PHASE_SD1, 6); // tuning parm default
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// dynamic config
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write_register(SD_CONFIG__WOI_SD0, 0x07) &&
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write_register(SD_CONFIG__WOI_SD1, 0x05) &&
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write_register(SD_CONFIG__INITIAL_PHASE_SD0, 6) && // tuning parm default
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write_register(SD_CONFIG__INITIAL_PHASE_SD1, 6))) { // tuning parm default
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return false;
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}
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break;
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case Medium:
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// from VL53L1_preset_mode_standard_ranging()
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// timing config
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write_register(RANGE_CONFIG__VCSEL_PERIOD_A, 0x0B);
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write_register(RANGE_CONFIG__VCSEL_PERIOD_B, 0x09);
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write_register(RANGE_CONFIG__VALID_PHASE_HIGH, 0x78);
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if (!(// timing config
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write_register(RANGE_CONFIG__VCSEL_PERIOD_A, 0x0B) &&
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write_register(RANGE_CONFIG__VCSEL_PERIOD_B, 0x09) &&
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write_register(RANGE_CONFIG__VALID_PHASE_HIGH, 0x78) &&
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// dynamic config
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write_register(SD_CONFIG__WOI_SD0, 0x0B);
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write_register(SD_CONFIG__WOI_SD1, 0x09);
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write_register(SD_CONFIG__INITIAL_PHASE_SD0, 10); // tuning parm default
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write_register(SD_CONFIG__INITIAL_PHASE_SD1, 10); // tuning parm default
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// dynamic config
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write_register(SD_CONFIG__WOI_SD0, 0x0B) &&
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write_register(SD_CONFIG__WOI_SD1, 0x09) &&
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write_register(SD_CONFIG__INITIAL_PHASE_SD0, 10) && // tuning parm default
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write_register(SD_CONFIG__INITIAL_PHASE_SD1, 10))) { // tuning parm default
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return false;
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}
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break;
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case Long:
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// from VL53L1_preset_mode_standard_ranging_long_range()
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// timing config
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write_register(RANGE_CONFIG__VCSEL_PERIOD_A, 0x0F);
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write_register(RANGE_CONFIG__VCSEL_PERIOD_B, 0x0D);
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write_register(RANGE_CONFIG__VALID_PHASE_HIGH, 0xB8);
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if (!(// timing config
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write_register(RANGE_CONFIG__VCSEL_PERIOD_A, 0x0F) &&
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write_register(RANGE_CONFIG__VCSEL_PERIOD_B, 0x0D) &&
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write_register(RANGE_CONFIG__VALID_PHASE_HIGH, 0xB8) &&
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// dynamic config
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write_register(SD_CONFIG__WOI_SD0, 0x0F);
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write_register(SD_CONFIG__WOI_SD1, 0x0D);
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write_register(SD_CONFIG__INITIAL_PHASE_SD0, 14); // tuning parm default
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write_register(SD_CONFIG__INITIAL_PHASE_SD1, 14); // tuning parm default
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// dynamic config
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write_register(SD_CONFIG__WOI_SD0, 0x0F) &&
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write_register(SD_CONFIG__WOI_SD1, 0x0D) &&
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write_register(SD_CONFIG__INITIAL_PHASE_SD0, 14) && // tuning parm default
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write_register(SD_CONFIG__INITIAL_PHASE_SD1, 14))) { // tuning parm default
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return false;
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}
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break;
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@ -215,9 +228,7 @@ bool AP_RangeFinder_VL53L1X::setDistanceMode(DistanceMode distance_mode)
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}
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// reapply timing budget
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setMeasurementTimingBudget(budget_us);
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return true;
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return setMeasurementTimingBudget(budget_us);
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}
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// Set the measurement timing budget in microseconds, which is the time allowed
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@ -239,10 +250,13 @@ bool AP_RangeFinder_VL53L1X::setMeasurementTimingBudget(uint32_t budget_us)
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// VL53L1_calc_timeout_register_values() begin
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uint32_t macro_period_us;
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uint8_t range_config_vcsel_period = 0;
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if(!read_register(RANGE_CONFIG__VCSEL_PERIOD_A, range_config_vcsel_period)) {
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return false;
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}
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// "Update Macro Period for Range A VCSEL Period"
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macro_period_us = calcMacroPeriod(read_register(RANGE_CONFIG__VCSEL_PERIOD_A));
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uint32_t macro_period_us = calcMacroPeriod(range_config_vcsel_period);
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// "Update Phase timeout - uses Timing A"
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// Timeout of 1000 is tuning parm default (TIMED_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT)
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@ -251,67 +265,80 @@ bool AP_RangeFinder_VL53L1X::setMeasurementTimingBudget(uint32_t budget_us)
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if (phasecal_timeout_mclks > 0xFF) {
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phasecal_timeout_mclks = 0xFF;
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}
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write_register(PHASECAL_CONFIG__TIMEOUT_MACROP, phasecal_timeout_mclks);
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// "Update MM Timing A timeout"
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// Timeout of 1 is tuning parm default (LOWPOWERAUTO_MM_CONFIG_TIMEOUT_US_DEFAULT)
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// via VL53L1_get_preset_mode_timing_cfg(). With the API, the register
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// actually ends up with a slightly different value because it gets assigned,
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// retrieved, recalculated with a different macro period, and reassigned,
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// but it probably doesn't matter because it seems like the MM ("mode
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// mitigation"?) sequence steps are disabled in low power auto mode anyway.
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write_register16(MM_CONFIG__TIMEOUT_MACROP_A, encodeTimeout(
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timeoutMicrosecondsToMclks(1, macro_period_us)));
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if (!( write_register(PHASECAL_CONFIG__TIMEOUT_MACROP, phasecal_timeout_mclks) &&
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// "Update Range Timing A timeout"
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write_register16(RANGE_CONFIG__TIMEOUT_MACROP_A, encodeTimeout(
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timeoutMicrosecondsToMclks(range_config_timeout_us, macro_period_us)));
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// "Update MM Timing A timeout"
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// Timeout of 1 is tuning parm default (LOWPOWERAUTO_MM_CONFIG_TIMEOUT_US_DEFAULT)
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// via VL53L1_get_preset_mode_timing_cfg(). With the API, the register
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// actually ends up with a slightly different value because it gets assigned,
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// retrieved, recalculated with a different macro period, and reassigned,
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// but it probably doesn't matter because it seems like the MM ("mode
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// mitigation"?) sequence steps are disabled in low power auto mode anyway.
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write_register16(MM_CONFIG__TIMEOUT_MACROP_A, encodeTimeout(
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timeoutMicrosecondsToMclks(1, macro_period_us))) &&
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// "Update Range Timing A timeout"
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write_register16(RANGE_CONFIG__TIMEOUT_MACROP_A, encodeTimeout(
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timeoutMicrosecondsToMclks(range_config_timeout_us, macro_period_us))) &&
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// "Update Macro Period for Range B VCSEL Period"
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read_register(RANGE_CONFIG__VCSEL_PERIOD_B, range_config_vcsel_period)
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)) {
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return false;
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}
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// "Update Macro Period for Range B VCSEL Period"
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macro_period_us = calcMacroPeriod(read_register(RANGE_CONFIG__VCSEL_PERIOD_B));
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macro_period_us = calcMacroPeriod(range_config_vcsel_period);
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// "Update MM Timing B timeout"
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// (See earlier comment about MM Timing A timeout.)
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write_register16(MM_CONFIG__TIMEOUT_MACROP_B, encodeTimeout(
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timeoutMicrosecondsToMclks(1, macro_period_us)));
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return write_register16(MM_CONFIG__TIMEOUT_MACROP_B, encodeTimeout(
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timeoutMicrosecondsToMclks(1, macro_period_us))) &&
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// "Update Range Timing B timeout"
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write_register16(RANGE_CONFIG__TIMEOUT_MACROP_B, encodeTimeout(
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timeoutMicrosecondsToMclks(range_config_timeout_us, macro_period_us)));
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// VL53L1_calc_timeout_register_values() end
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return true;
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// "Update Range Timing B timeout"
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write_register16(RANGE_CONFIG__TIMEOUT_MACROP_B, encodeTimeout(
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timeoutMicrosecondsToMclks(range_config_timeout_us, macro_period_us)));
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}
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// Get the measurement timing budget in microseconds
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// based on VL53L1_SetMeasurementTimingBudgetMicroSeconds()
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uint32_t AP_RangeFinder_VL53L1X::getMeasurementTimingBudget()
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bool AP_RangeFinder_VL53L1X::getMeasurementTimingBudget(uint32_t &budget)
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{
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// assumes PresetMode is LOWPOWER_AUTONOMOUS and these sequence steps are
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// enabled: VHV, PHASECAL, DSS1, RANGE
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// "Update Macro Period for Range A VCSEL Period"
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uint32_t macro_period_us = calcMacroPeriod(read_register(RANGE_CONFIG__VCSEL_PERIOD_A));
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uint8_t range_config_vcsel_period_a = 0;
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if (!read_register(RANGE_CONFIG__VCSEL_PERIOD_A, range_config_vcsel_period_a)) {
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return false;
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}
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uint32_t macro_period_us = calcMacroPeriod(range_config_vcsel_period_a);
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uint16_t timeout_macrop_a = 0;
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if (!read_register16(RANGE_CONFIG__TIMEOUT_MACROP_A, timeout_macrop_a)) {
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return false;
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}
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// "Get Range Timing A timeout"
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uint32_t range_config_timeout_us = timeoutMclksToMicroseconds(decodeTimeout(
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read_register16(RANGE_CONFIG__TIMEOUT_MACROP_A)), macro_period_us);
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uint32_t range_config_timeout_us = timeoutMclksToMicroseconds(decodeTimeout(timeout_macrop_a), macro_period_us);
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return 2 * range_config_timeout_us + TimingGuard;
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budget = 2 * range_config_timeout_us + TimingGuard;
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return true;
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}
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// Start continuous ranging measurements, with the given inter-measurement
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// period in milliseconds determining how often the sensor takes a measurement.
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void AP_RangeFinder_VL53L1X::startContinuous(uint32_t period_ms)
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bool AP_RangeFinder_VL53L1X::startContinuous(uint32_t period_ms)
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{
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// fix for actual measurement period shorter than set
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uint32_t adjusted_period_ms = period_ms + (period_ms * 64 / 1000);
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// from VL53L1_set_inter_measurement_period_ms()
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write_register32(SYSTEM__INTERMEASUREMENT_PERIOD, adjusted_period_ms * osc_calibrate_val);
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write_register(SYSTEM__INTERRUPT_CLEAR, 0x01); // sys_interrupt_clear_range
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write_register(SYSTEM__MODE_START, 0x40); // mode_range__timed
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return write_register32(SYSTEM__INTERMEASUREMENT_PERIOD, adjusted_period_ms * osc_calibrate_val) &&
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write_register(SYSTEM__INTERRUPT_CLEAR, 0x01) && // sys_interrupt_clear_range
|
||||
write_register(SYSTEM__MODE_START, 0x40); // mode_range__timed
|
||||
}
|
||||
|
||||
// Decode sequence step timeout in MCLKs from register value
|
||||
|
|
@ -382,31 +409,37 @@ uint32_t AP_RangeFinder_VL53L1X::calcMacroPeriod(uint8_t vcsel_period)
|
|||
// "Setup ranges after the first one in low power auto mode by turning off
|
||||
// FW calibration steps and programming static values"
|
||||
// based on VL53L1_low_power_auto_setup_manual_calibration()
|
||||
void AP_RangeFinder_VL53L1X::setupManualCalibration(void)
|
||||
bool AP_RangeFinder_VL53L1X::setupManualCalibration(void)
|
||||
{
|
||||
uint8_t saved_vhv_init;
|
||||
uint8_t saved_vhv_timeout;
|
||||
// "save original vhv configs"
|
||||
saved_vhv_init = read_register(VHV_CONFIG__INIT);
|
||||
saved_vhv_timeout = read_register(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND);
|
||||
uint8_t saved_vhv_init = 0;
|
||||
uint8_t saved_vhv_timeout = 0;
|
||||
uint8_t phasecal_result_vcsel_start = 0;
|
||||
|
||||
// "disable VHV init"
|
||||
write_register(VHV_CONFIG__INIT, saved_vhv_init & 0x7F);
|
||||
return // "save original vhv configs"
|
||||
read_register(VHV_CONFIG__INIT, saved_vhv_init) &&
|
||||
read_register(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, saved_vhv_timeout) &&
|
||||
|
||||
// "set loop bound to tuning param"
|
||||
write_register(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND,
|
||||
(saved_vhv_timeout & 0x03) + (3 << 2)); // tuning parm default (LOWPOWERAUTO_VHV_LOOP_BOUND_DEFAULT)
|
||||
// "disable VHV init"
|
||||
write_register(VHV_CONFIG__INIT, saved_vhv_init & 0x7F) &&
|
||||
|
||||
// "override phasecal"
|
||||
write_register(PHASECAL_CONFIG__OVERRIDE, 0x01);
|
||||
write_register(CAL_CONFIG__VCSEL_START, read_register(PHASECAL_RESULT__VCSEL_START));
|
||||
// "set loop bound to tuning param"
|
||||
write_register(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND,
|
||||
(saved_vhv_timeout & 0x03) + (3 << 2)) && // tuning parm default (LOWPOWERAUTO_VHV_LOOP_BOUND_DEFAULT)
|
||||
|
||||
// "override phasecal"
|
||||
write_register(PHASECAL_CONFIG__OVERRIDE, 0x01) &&
|
||||
read_register(PHASECAL_RESULT__VCSEL_START, phasecal_result_vcsel_start) &&
|
||||
write_register(CAL_CONFIG__VCSEL_START, phasecal_result_vcsel_start);
|
||||
}
|
||||
|
||||
// check if sensor has new reading available
|
||||
// assumes interrupt is active low (GPIO_HV_MUX__CTRL bit 4 is 1)
|
||||
bool AP_RangeFinder_VL53L1X::dataReady(void)
|
||||
{
|
||||
return ((read_register(GPIO__TIO_HV_STATUS) & 0x01) == 0);
|
||||
uint8_t gpio_tio_hv_status = 0;
|
||||
|
||||
return read_register(GPIO__TIO_HV_STATUS, gpio_tio_hv_status) &&
|
||||
((gpio_tio_hv_status & 0x01) == 0);
|
||||
}
|
||||
|
||||
// read - return last value measured by sensor
|
||||
|
|
@ -421,73 +454,71 @@ bool AP_RangeFinder_VL53L1X::get_reading(uint16_t &reading_mm)
|
|||
}
|
||||
}
|
||||
|
||||
const uint8_t range_status = read_register(RESULT__RANGE_STATUS);
|
||||
uint8_t range_status = 0;
|
||||
|
||||
if (!(read_register(RESULT__RANGE_STATUS, range_status) &&
|
||||
read_register16(RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0, reading_mm))) {
|
||||
return false;
|
||||
}
|
||||
|
||||
reading_mm = read_register16(RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0);
|
||||
// "apply correction gain"
|
||||
// gain factor of 2011 is tuning parm default (VL53L1_TUNINGPARM_LITE_RANGING_GAIN_FACTOR_DEFAULT)
|
||||
// Basically, this appears to scale the result by 2011/2048, or about 98%
|
||||
// (with the 1024 added for proper rounding).
|
||||
reading_mm = ((uint32_t)reading_mm * 2011 + 0x0400) / 0x0800;
|
||||
|
||||
if (!calibrated)
|
||||
{
|
||||
setupManualCalibration();
|
||||
calibrated = true;
|
||||
if (!write_register(SYSTEM__INTERRUPT_CLEAR, 0x01)) { // sys_interrupt_clear_range
|
||||
return false;
|
||||
}
|
||||
|
||||
write_register(SYSTEM__INTERRUPT_CLEAR, 0x01); // sys_interrupt_clear_range
|
||||
|
||||
switch ((DeviceError)range_status) {
|
||||
case RANGECOMPLETE:
|
||||
return true;
|
||||
break;
|
||||
|
||||
default:
|
||||
#ifdef VL53L1X_DEBUG
|
||||
hal.console->printf("VL53L1X: %d ms status %d\n", AP_HAL::millis(), (int)range_status);
|
||||
#endif // VL53L1X_DEBUG
|
||||
return false;
|
||||
|
||||
}
|
||||
|
||||
if (!calibrated) {
|
||||
calibrated = setupManualCalibration();
|
||||
}
|
||||
|
||||
return calibrated;
|
||||
}
|
||||
|
||||
uint8_t AP_RangeFinder_VL53L1X::read_register(uint16_t reg)
|
||||
bool AP_RangeFinder_VL53L1X::read_register(uint16_t reg, uint8_t &value)
|
||||
{
|
||||
uint8_t v = 0;
|
||||
uint8_t b[2] = { uint8_t(reg >> 8), uint8_t(reg & 0xFF) };
|
||||
dev->transfer(b, 2, &v, 1);
|
||||
return v;
|
||||
return dev->transfer(b, 2, &value, 1);
|
||||
}
|
||||
|
||||
uint16_t AP_RangeFinder_VL53L1X::read_register16(uint16_t reg)
|
||||
bool AP_RangeFinder_VL53L1X::read_register16(uint16_t reg, uint16_t & value)
|
||||
{
|
||||
uint16_t v = 0;
|
||||
uint8_t b[2] = { uint8_t(reg >> 8), uint8_t(reg & 0xFF) };
|
||||
dev->transfer(b, 2, (uint8_t *)&v, 2);
|
||||
return be16toh(v);
|
||||
if (!dev->transfer(b, 2, (uint8_t *)&v, 2)) {
|
||||
return false;
|
||||
}
|
||||
value = be16toh(v);
|
||||
return true;
|
||||
}
|
||||
|
||||
uint32_t AP_RangeFinder_VL53L1X::read_register32(uint16_t reg)
|
||||
{
|
||||
uint32_t v = 0;
|
||||
uint8_t b[2] = { uint8_t(reg >> 8), uint8_t(reg & 0xFF) };
|
||||
dev->transfer(b, 2, (uint8_t *)&v, 4);
|
||||
return be32toh(v);
|
||||
}
|
||||
|
||||
void AP_RangeFinder_VL53L1X::write_register(uint16_t reg, uint8_t value)
|
||||
bool AP_RangeFinder_VL53L1X::write_register(uint16_t reg, uint8_t value)
|
||||
{
|
||||
uint8_t b[3] = { uint8_t(reg >> 8), uint8_t(reg & 0xFF), value };
|
||||
dev->transfer(b, 3, nullptr, 0);
|
||||
return dev->transfer(b, 3, nullptr, 0);
|
||||
}
|
||||
|
||||
void AP_RangeFinder_VL53L1X::write_register16(uint16_t reg, uint16_t value)
|
||||
bool AP_RangeFinder_VL53L1X::write_register16(uint16_t reg, uint16_t value)
|
||||
{
|
||||
uint8_t b[4] = { uint8_t(reg >> 8), uint8_t(reg & 0xFF), uint8_t(value >> 8), uint8_t(value & 0xFF) };
|
||||
dev->transfer(b, 4, nullptr, 0);
|
||||
return dev->transfer(b, 4, nullptr, 0);
|
||||
}
|
||||
|
||||
void AP_RangeFinder_VL53L1X::write_register32(uint16_t reg, uint32_t value)
|
||||
bool AP_RangeFinder_VL53L1X::write_register32(uint16_t reg, uint32_t value)
|
||||
{
|
||||
uint8_t b[6] = { uint8_t(reg >> 8),
|
||||
uint8_t(reg & 0xFF),
|
||||
|
|
@ -495,7 +526,7 @@ void AP_RangeFinder_VL53L1X::write_register32(uint16_t reg, uint32_t value)
|
|||
uint8_t((value >> 16) & 0xFF),
|
||||
uint8_t((value >> 8) & 0xFF),
|
||||
uint8_t((value) & 0xFF) };
|
||||
dev->transfer(b, 6, nullptr, 0);
|
||||
return dev->transfer(b, 6, nullptr, 0);
|
||||
}
|
||||
|
||||
/*
|
||||
|
|
|
|||
|
|
@ -1274,21 +1274,20 @@ private:
|
|||
uint32_t counter;
|
||||
bool calibrated;
|
||||
|
||||
uint8_t read_register(uint16_t reg);
|
||||
uint16_t read_register16(uint16_t reg);
|
||||
uint32_t read_register32(uint16_t reg);
|
||||
void write_register(uint16_t reg, uint8_t value);
|
||||
void write_register16(uint16_t reg, uint16_t value);
|
||||
void write_register32(uint16_t reg, uint32_t value);
|
||||
bool read_register(uint16_t reg, uint8_t &value) WARN_IF_UNUSED;
|
||||
bool read_register16(uint16_t reg, uint16_t &value) WARN_IF_UNUSED;
|
||||
bool write_register(uint16_t reg, uint8_t value) WARN_IF_UNUSED;
|
||||
bool write_register16(uint16_t reg, uint16_t value) WARN_IF_UNUSED;
|
||||
bool write_register32(uint16_t reg, uint32_t value) WARN_IF_UNUSED;
|
||||
bool dataReady(void);
|
||||
bool setDistanceMode(DistanceMode distance_mode);
|
||||
bool setMeasurementTimingBudget(uint32_t budget_us);
|
||||
uint32_t getMeasurementTimingBudget();
|
||||
void startContinuous(uint32_t period_ms);
|
||||
bool setDistanceMode(DistanceMode distance_mode) WARN_IF_UNUSED;
|
||||
bool setMeasurementTimingBudget(uint32_t budget_us) WARN_IF_UNUSED;
|
||||
bool getMeasurementTimingBudget(uint32_t &budget) WARN_IF_UNUSED;
|
||||
bool startContinuous(uint32_t period_ms) WARN_IF_UNUSED;
|
||||
uint32_t decodeTimeout(uint16_t reg_val);
|
||||
uint16_t encodeTimeout(uint32_t timeout_mclks);
|
||||
uint32_t timeoutMclksToMicroseconds(uint32_t timeout_mclks, uint32_t macro_period_us);
|
||||
uint32_t timeoutMicrosecondsToMclks(uint32_t timeout_us, uint32_t macro_period_us);
|
||||
uint32_t calcMacroPeriod(uint8_t vcsel_period);
|
||||
void setupManualCalibration(void);
|
||||
bool setupManualCalibration(void);
|
||||
};
|
||||
|
|
|
|||
Loading…
Reference in New Issue