AP_Rangefinder: Add support for ST VL53L1X
This commit is contained in:
Nghia Nguyen
Randy Mackay
parent
1f8db08dab
commit
60250e4c49
516
libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp
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516
libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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driver for ST VL53L1X lidar
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Many thanks to Pololu, https://github.com/pololu/vl53l1x-arduino and
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the ST example code
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*/
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#include "AP_RangeFinder_VL53L1X.h"
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#include <utility>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/utility/sparse-endian.h>
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#include <stdio.h>
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#include <AP_Common/Semaphore.h>
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extern const AP_HAL::HAL& hal;
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/*
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The constructor also initializes the rangefinder. Note that this
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constructor is not called until detect() returns true, so we
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already know that we should setup the rangefinder
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*/
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AP_RangeFinder_VL53L1X::AP_RangeFinder_VL53L1X(RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev)
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: AP_RangeFinder_Backend(_state)
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, dev(std::move(_dev)) {}
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/*
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detect if a VL53L1X rangefinder is connected. We'll detect by
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trying to take a reading on I2C. If we get a result the sensor is
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there.
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*/
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AP_RangeFinder_Backend *AP_RangeFinder_VL53L1X::detect(RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
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{
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if (!dev) {
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return nullptr;
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}
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AP_RangeFinder_VL53L1X *sensor
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= new AP_RangeFinder_VL53L1X(_state, std::move(dev));
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if (!sensor) {
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delete sensor;
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return nullptr;
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}
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sensor->dev->get_semaphore()->take_blocking();
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if (!sensor->check_id() || !sensor->init()) {
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sensor->dev->get_semaphore()->give();
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delete sensor;
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return nullptr;
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}
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sensor->dev->get_semaphore()->give();
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return sensor;
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}
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// check sensor ID registers
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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 ((v1 != 0xEA) ||
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(v2 != 0xCC)) {
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return false;
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}
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printf("Detected VL53L1X on bus 0x%x\n", dev->get_bus_id());
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return true;
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}
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/*
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initialise sensor
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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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// 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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// 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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// 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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// 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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// 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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FUNCTOR_BIND_MEMBER(&AP_RangeFinder_VL53L1X::timer, void));
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return true;
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}
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// set distance mode to Short, Medium, or Long
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// based on VL53L1_SetDistanceMode()
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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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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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// 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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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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// 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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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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// 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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break;
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default:
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// unrecognized mode - do nothing
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return false;
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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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}
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// Set the measurement timing budget in microseconds, which is the time allowed
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// for one measurement. A longer timing budget allows for more accurate measurements.
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// based on VL53L1_SetMeasurementTimingBudgetMicroSeconds()
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bool AP_RangeFinder_VL53L1X::setMeasurementTimingBudget(uint32_t budget_us)
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{
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// assumes PresetMode is LOWPOWER_AUTONOMOUS
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if (budget_us <= TimingGuard) {
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return false;
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}
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uint32_t range_config_timeout_us = budget_us - TimingGuard;
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if (range_config_timeout_us > 1100000) {
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return false; // FDA_MAX_TIMING_BUDGET_US * 2
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}
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range_config_timeout_us /= 2;
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// VL53L1_calc_timeout_register_values() begin
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uint32_t macro_period_us;
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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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// "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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// via VL53L1_get_preset_mode_timing_cfg().
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uint32_t phasecal_timeout_mclks = timeoutMicrosecondsToMclks(1000, macro_period_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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// "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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macro_period_us = calcMacroPeriod(read_register(RANGE_CONFIG__VCSEL_PERIOD_B));
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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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// "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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}
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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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{
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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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// "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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return 2 * range_config_timeout_us + TimingGuard;
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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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{
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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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}
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// Decode sequence step timeout in MCLKs from register value
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// based on VL53L1_decode_timeout()
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uint32_t AP_RangeFinder_VL53L1X::decodeTimeout(uint16_t reg_val)
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{
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return ((uint32_t)(reg_val & 0xFF) << (reg_val >> 8)) + 1;
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}
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// Encode sequence step timeout register value from timeout in MCLKs
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// based on VL53L1_encode_timeout()
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uint16_t AP_RangeFinder_VL53L1X::encodeTimeout(uint32_t timeout_mclks)
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{
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// encoded format: "(LSByte * 2^MSByte) + 1"
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uint32_t ls_byte = 0;
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uint16_t ms_byte = 0;
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if (timeout_mclks > 0) {
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ls_byte = timeout_mclks - 1;
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while ((ls_byte & 0xFFFFFF00) > 0) {
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ls_byte >>= 1;
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ms_byte++;
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}
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return (ms_byte << 8) | (ls_byte & 0xFF);
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}
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else {
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return 0;
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}
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}
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// Convert sequence step timeout from macro periods to microseconds with given
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// macro period in microseconds (12.12 format)
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// based on VL53L1_calc_timeout_us()
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uint32_t AP_RangeFinder_VL53L1X::timeoutMclksToMicroseconds(uint32_t timeout_mclks, uint32_t macro_period_us)
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{
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return ((uint64_t)timeout_mclks * macro_period_us + 0x800) >> 12;
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}
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// Convert sequence step timeout from microseconds to macro periods with given
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// macro period in microseconds (12.12 format)
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// based on VL53L1_calc_timeout_mclks()
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uint32_t AP_RangeFinder_VL53L1X::timeoutMicrosecondsToMclks(uint32_t timeout_us, uint32_t macro_period_us)
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{
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return (((uint32_t)timeout_us << 12) + (macro_period_us >> 1)) / macro_period_us;
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}
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// Calculate macro period in microseconds (12.12 format) with given VCSEL period
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// assumes fast_osc_frequency has been read and stored
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// based on VL53L1_calc_macro_period_us()
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uint32_t AP_RangeFinder_VL53L1X::calcMacroPeriod(uint8_t vcsel_period)
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{
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// from VL53L1_calc_pll_period_us()
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// fast osc frequency in 4.12 format; PLL period in 0.24 format
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uint32_t pll_period_us = ((uint32_t)0x01 << 30) / fast_osc_frequency;
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// from VL53L1_decode_vcsel_period()
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uint8_t vcsel_period_pclks = (vcsel_period + 1) << 1;
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// VL53L1_MACRO_PERIOD_VCSEL_PERIODS = 2304
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uint32_t macro_period_us = (uint32_t)2304 * pll_period_us;
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macro_period_us >>= 6;
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macro_period_us *= vcsel_period_pclks;
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macro_period_us >>= 6;
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return macro_period_us;
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}
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// "Setup ranges after the first one in low power auto mode by turning off
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// FW calibration steps and programming static values"
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// based on VL53L1_low_power_auto_setup_manual_calibration()
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void AP_RangeFinder_VL53L1X::setupManualCalibration(void)
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{
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uint8_t saved_vhv_init;
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uint8_t saved_vhv_timeout;
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// "save original vhv configs"
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saved_vhv_init = read_register(VHV_CONFIG__INIT);
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saved_vhv_timeout = read_register(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND);
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// "disable VHV init"
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write_register(VHV_CONFIG__INIT, saved_vhv_init & 0x7F);
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// "set loop bound to tuning param"
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write_register(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND,
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(saved_vhv_timeout & 0x03) + (3 << 2)); // tuning parm default (LOWPOWERAUTO_VHV_LOOP_BOUND_DEFAULT)
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// "override phasecal"
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write_register(PHASECAL_CONFIG__OVERRIDE, 0x01);
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write_register(CAL_CONFIG__VCSEL_START, read_register(PHASECAL_RESULT__VCSEL_START));
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}
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// check if sensor has new reading available
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// assumes interrupt is active low (GPIO_HV_MUX__CTRL bit 4 is 1)
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bool AP_RangeFinder_VL53L1X::dataReady(void)
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{
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return ((read_register(GPIO__TIO_HV_STATUS) & 0x01) == 0);
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}
|
||||
|
||||
// read - return last value measured by sensor
|
||||
bool AP_RangeFinder_VL53L1X::get_reading(uint16_t &reading_mm)
|
||||
{
|
||||
uint8_t tries = 10;
|
||||
while (!dataReady()) {
|
||||
tries--;
|
||||
hal.scheduler->delay(1);
|
||||
if (tries == 0) {
|
||||
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;
|
||||
}
|
||||
|
||||
write_register(SYSTEM__INTERRUPT_CLEAR, 0x01); // sys_interrupt_clear_range
|
||||
return true;
|
||||
}
|
||||
|
||||
uint8_t AP_RangeFinder_VL53L1X::read_register(uint16_t reg)
|
||||
{
|
||||
uint8_t v = 0;
|
||||
uint8_t b[2] = { uint8_t(reg >> 8), uint8_t(reg & 0xFF) };
|
||||
dev->transfer(b, 2, &v, 1);
|
||||
return v;
|
||||
}
|
||||
|
||||
uint16_t AP_RangeFinder_VL53L1X::read_register16(uint16_t reg)
|
||||
{
|
||||
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);
|
||||
}
|
||||
|
||||
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)
|
||||
{
|
||||
uint8_t b[3] = { uint8_t(reg >> 8), uint8_t(reg & 0xFF), value };
|
||||
dev->transfer(b, 3, nullptr, 0);
|
||||
}
|
||||
|
||||
void 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);
|
||||
}
|
||||
|
||||
void AP_RangeFinder_VL53L1X::write_register32(uint16_t reg, uint32_t value)
|
||||
{
|
||||
uint8_t b[6] = { uint8_t(reg >> 8),
|
||||
uint8_t(reg & 0xFF),
|
||||
uint8_t((value >> 24) & 0xFF),
|
||||
uint8_t((value >> 16) & 0xFF),
|
||||
uint8_t((value >> 8) & 0xFF),
|
||||
uint8_t((value) & 0xFF) };
|
||||
dev->transfer(b, 6, nullptr, 0);
|
||||
}
|
||||
|
||||
/*
|
||||
timer called at 20Hz
|
||||
*/
|
||||
void AP_RangeFinder_VL53L1X::timer(void)
|
||||
{
|
||||
uint16_t range_mm;
|
||||
if ((get_reading(range_mm)) && (range_mm <= 4000)) {
|
||||
sum_mm += range_mm;
|
||||
counter++;
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
update the state of the sensor
|
||||
*/
|
||||
void AP_RangeFinder_VL53L1X::update(void)
|
||||
{
|
||||
WITH_SEMAPHORE(_sem);
|
||||
if (counter > 0) {
|
||||
state.distance_cm = sum_mm / (10*counter);
|
||||
state.last_reading_ms = AP_HAL::millis();
|
||||
update_status();
|
||||
sum_mm = 0;
|
||||
counter = 0;
|
||||
} else if (AP_HAL::millis() - state.last_reading_ms > 200) {
|
||||
// if no updates for 0.2s set no-data
|
||||
set_status(RangeFinder::RangeFinder_NoData);
|
||||
}
|
||||
}
|
||||
1267
libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.h
Normal file
1267
libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.h
Normal file
File diff suppressed because it is too large
Load Diff
@ -32,6 +32,7 @@
|
||||
#include "AP_RangeFinder_uLanding.h"
|
||||
#include "AP_RangeFinder_TeraRangerI2C.h"
|
||||
#include "AP_RangeFinder_VL53L0X.h"
|
||||
#include "AP_RangeFinder_VL53L1X.h"
|
||||
#include "AP_RangeFinder_NMEA.h"
|
||||
#include "AP_RangeFinder_Wasp.h"
|
||||
#include "AP_RangeFinder_Benewake.h"
|
||||
@ -692,9 +693,15 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
|
||||
case RangeFinder_TYPE_VL53L0X:
|
||||
if (!_add_backend(AP_RangeFinder_VL53L0X::detect(state[instance],
|
||||
hal.i2c_mgr->get_device(1, 0x29)))) {
|
||||
_add_backend(AP_RangeFinder_VL53L0X::detect(state[instance],
|
||||
if (!_add_backend(AP_RangeFinder_VL53L0X::detect(state[instance],
|
||||
hal.i2c_mgr->get_device(0, 0x29)))) {
|
||||
if (!_add_backend(AP_RangeFinder_VL53L1X::detect(state[instance],
|
||||
hal.i2c_mgr->get_device(1, 0x29)))) {
|
||||
_add_backend(AP_RangeFinder_VL53L1X::detect(state[instance],
|
||||
hal.i2c_mgr->get_device(0, 0x29)));
|
||||
}
|
||||
}
|
||||
}
|
||||
break;
|
||||
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
|
||||
case RangeFinder_TYPE_PX4_PWM:
|
||||
|
||||
Loading…
Reference in New Issue
Block a user