Refactor vl53l0x to remove code from header. (#3536)

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RoboMagus 2022-06-09 06:24:56 +02:00 committed by GitHub
parent 5abd91d6d5
commit 3a9ab50dd2
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2 changed files with 232 additions and 213 deletions

View file

@ -257,6 +257,7 @@ void VL53L0XSensor::setup() {
ESP_LOGD(TAG, "'%s' - setup END", this->name_.c_str()); ESP_LOGD(TAG, "'%s' - setup END", this->name_.c_str());
} }
void VL53L0XSensor::update() { void VL53L0XSensor::update() {
if (this->initiated_read_ || this->waiting_for_interrupt_) { if (this->initiated_read_ || this->waiting_for_interrupt_) {
this->publish_state(NAN); this->publish_state(NAN);
@ -280,6 +281,7 @@ void VL53L0XSensor::update() {
this->initiated_read_ = true; this->initiated_read_ = true;
// wait for timeout // wait for timeout
} }
void VL53L0XSensor::loop() { void VL53L0XSensor::loop() {
if (this->initiated_read_) { if (this->initiated_read_) {
if (reg(0x00).get() & 0x01) { if (reg(0x00).get() & 0x01) {
@ -311,5 +313,222 @@ void VL53L0XSensor::loop() {
} }
} }
uint32_t VL53L0XSensor::get_measurement_timing_budget_() {
SequenceStepEnables enables{};
SequenceStepTimeouts timeouts{};
uint16_t start_overhead = 1910;
uint16_t end_overhead = 960;
uint16_t msrc_overhead = 660;
uint16_t tcc_overhead = 590;
uint16_t dss_overhead = 690;
uint16_t pre_range_overhead = 660;
uint16_t final_range_overhead = 550;
// "Start and end overhead times always present"
uint32_t budget_us = start_overhead + end_overhead;
get_sequence_step_enables_(&enables);
get_sequence_step_timeouts_(&enables, &timeouts);
if (enables.tcc)
budget_us += (timeouts.msrc_dss_tcc_us + tcc_overhead);
if (enables.dss) {
budget_us += 2 * (timeouts.msrc_dss_tcc_us + dss_overhead);
} else if (enables.msrc) {
budget_us += (timeouts.msrc_dss_tcc_us + msrc_overhead);
}
if (enables.pre_range)
budget_us += (timeouts.pre_range_us + pre_range_overhead);
if (enables.final_range)
budget_us += (timeouts.final_range_us + final_range_overhead);
measurement_timing_budget_us_ = budget_us; // store for internal reuse
return budget_us;
}
bool VL53L0XSensor::set_measurement_timing_budget_(uint32_t budget_us) {
SequenceStepEnables enables{};
SequenceStepTimeouts timeouts{};
uint16_t start_overhead = 1320; // note that this is different than the value in get_
uint16_t end_overhead = 960;
uint16_t msrc_overhead = 660;
uint16_t tcc_overhead = 590;
uint16_t dss_overhead = 690;
uint16_t pre_range_overhead = 660;
uint16_t final_range_overhead = 550;
uint32_t min_timing_budget = 20000;
if (budget_us < min_timing_budget) {
return false;
}
uint32_t used_budget_us = start_overhead + end_overhead;
get_sequence_step_enables_(&enables);
get_sequence_step_timeouts_(&enables, &timeouts);
if (enables.tcc) {
used_budget_us += (timeouts.msrc_dss_tcc_us + tcc_overhead);
}
if (enables.dss) {
used_budget_us += 2 * (timeouts.msrc_dss_tcc_us + dss_overhead);
} else if (enables.msrc) {
used_budget_us += (timeouts.msrc_dss_tcc_us + msrc_overhead);
}
if (enables.pre_range) {
used_budget_us += (timeouts.pre_range_us + pre_range_overhead);
}
if (enables.final_range) {
used_budget_us += final_range_overhead;
// "Note that the final range timeout is determined by the timing
// budget and the sum of all other timeouts within the sequence.
// If there is no room for the final range timeout, then an error
// will be set. Otherwise the remaining time will be applied to
// the final range."
if (used_budget_us > budget_us) {
// "Requested timeout too big."
return false;
}
uint32_t final_range_timeout_us = budget_us - used_budget_us;
// set_sequence_step_timeout() begin
// (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE)
// "For the final range timeout, the pre-range timeout
// must be added. To do this both final and pre-range
// timeouts must be expressed in macro periods MClks
// because they have different vcsel periods."
uint16_t final_range_timeout_mclks =
timeout_microseconds_to_mclks_(final_range_timeout_us, timeouts.final_range_vcsel_period_pclks);
if (enables.pre_range) {
final_range_timeout_mclks += timeouts.pre_range_mclks;
}
write_byte_16(0x71, encode_timeout_(final_range_timeout_mclks));
// set_sequence_step_timeout() end
measurement_timing_budget_us_ = budget_us; // store for internal reuse
}
return true;
}
void VL53L0XSensor::get_sequence_step_enables_(SequenceStepEnables *enables) {
uint8_t sequence_config = reg(0x01).get();
enables->tcc = (sequence_config >> 4) & 0x1;
enables->dss = (sequence_config >> 3) & 0x1;
enables->msrc = (sequence_config >> 2) & 0x1;
enables->pre_range = (sequence_config >> 6) & 0x1;
enables->final_range = (sequence_config >> 7) & 0x1;
}
void VL53L0XSensor::get_sequence_step_timeouts_(SequenceStepEnables const *enables, SequenceStepTimeouts *timeouts) {
timeouts->pre_range_vcsel_period_pclks = get_vcsel_pulse_period_(VCSEL_PERIOD_PRE_RANGE);
timeouts->msrc_dss_tcc_mclks = reg(0x46).get() + 1;
timeouts->msrc_dss_tcc_us =
timeout_mclks_to_microseconds_(timeouts->msrc_dss_tcc_mclks, timeouts->pre_range_vcsel_period_pclks);
uint16_t value;
read_byte_16(0x51, &value);
timeouts->pre_range_mclks = decode_timeout_(value);
timeouts->pre_range_us =
timeout_mclks_to_microseconds_(timeouts->pre_range_mclks, timeouts->pre_range_vcsel_period_pclks);
timeouts->final_range_vcsel_period_pclks = get_vcsel_pulse_period_(VCSEL_PERIOD_FINAL_RANGE);
read_byte_16(0x71, &value);
timeouts->final_range_mclks = decode_timeout_(value);
if (enables->pre_range) {
timeouts->final_range_mclks -= timeouts->pre_range_mclks;
}
timeouts->final_range_us =
timeout_mclks_to_microseconds_(timeouts->final_range_mclks, timeouts->final_range_vcsel_period_pclks);
}
uint8_t VL53L0XSensor::get_vcsel_pulse_period_(VcselPeriodType type) {
uint8_t vcsel;
if (type == VCSEL_PERIOD_PRE_RANGE) {
vcsel = reg(0x50).get();
} else if (type == VCSEL_PERIOD_FINAL_RANGE) {
vcsel = reg(0x70).get();
} else {
return 255;
}
return (vcsel + 1) << 1;
}
uint32_t VL53L0XSensor::get_macro_period_(uint8_t vcsel_period_pclks) {
return ((2304UL * vcsel_period_pclks * 1655UL) + 500UL) / 1000UL;
}
uint32_t VL53L0XSensor::timeout_mclks_to_microseconds_(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks) {
uint32_t macro_period_ns = get_macro_period_(vcsel_period_pclks);
return ((timeout_period_mclks * macro_period_ns) + (macro_period_ns / 2)) / 1000;
}
uint32_t VL53L0XSensor::timeout_microseconds_to_mclks_(uint32_t timeout_period_us, uint8_t vcsel_period_pclks) {
uint32_t macro_period_ns = get_macro_period_(vcsel_period_pclks);
return (((timeout_period_us * 1000) + (macro_period_ns / 2)) / macro_period_ns);
}
uint16_t VL53L0XSensor::decode_timeout_(uint16_t reg_val) {
// format: "(LSByte * 2^MSByte) + 1"
uint8_t msb = (reg_val >> 8) & 0xFF;
uint8_t lsb = (reg_val >> 0) & 0xFF;
return (uint16_t(lsb) << msb) + 1;
}
uint16_t VL53L0XSensor::encode_timeout_(uint16_t timeout_mclks) {
// format: "(LSByte * 2^MSByte) + 1"
uint32_t ls_byte = 0;
uint16_t ms_byte = 0;
if (timeout_mclks <= 0)
return 0;
ls_byte = timeout_mclks - 1;
while ((ls_byte & 0xFFFFFF00) > 0) {
ls_byte >>= 1;
ms_byte++;
}
return (ms_byte << 8) | (ls_byte & 0xFF);
}
bool VL53L0XSensor::perform_single_ref_calibration_(uint8_t vhv_init_byte) {
reg(0x00) = 0x01 | vhv_init_byte; // VL53L0X_REG_SYSRANGE_MODE_START_STOP
uint32_t start = millis();
while ((reg(0x13).get() & 0x07) == 0) {
if (millis() - start > 1000)
return false;
yield();
}
reg(0x0B) = 0x01;
reg(0x00) = 0x00;
return true;
}
} // namespace vl53l0x } // namespace vl53l0x
} // namespace esphome } // namespace esphome

View file

@ -21,6 +21,8 @@ struct SequenceStepTimeouts {
uint32_t msrc_dss_tcc_us, pre_range_us, final_range_us; uint32_t msrc_dss_tcc_us, pre_range_us, final_range_us;
}; };
enum VcselPeriodType { VCSEL_PERIOD_PRE_RANGE, VCSEL_PERIOD_FINAL_RANGE };
class VL53L0XSensor : public sensor::Sensor, public PollingComponent, public i2c::I2CDevice { class VL53L0XSensor : public sensor::Sensor, public PollingComponent, public i2c::I2CDevice {
public: public:
VL53L0XSensor(); VL53L0XSensor();
@ -39,222 +41,20 @@ class VL53L0XSensor : public sensor::Sensor, public PollingComponent, public i2c
void set_enable_pin(GPIOPin *enable) { this->enable_pin_ = enable; } void set_enable_pin(GPIOPin *enable) { this->enable_pin_ = enable; }
protected: protected:
uint32_t get_measurement_timing_budget_() { uint32_t get_measurement_timing_budget_();
SequenceStepEnables enables{}; bool set_measurement_timing_budget_(uint32_t budget_us);
SequenceStepTimeouts timeouts{}; void get_sequence_step_enables_(SequenceStepEnables *enables);
void get_sequence_step_timeouts_(SequenceStepEnables const *enables, SequenceStepTimeouts *timeouts);
uint8_t get_vcsel_pulse_period_(VcselPeriodType type);
uint32_t get_macro_period_(uint8_t vcsel_period_pclks);
uint16_t start_overhead = 1910; uint32_t timeout_mclks_to_microseconds_(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks);
uint16_t end_overhead = 960; uint32_t timeout_microseconds_to_mclks_(uint32_t timeout_period_us, uint8_t vcsel_period_pclks);
uint16_t msrc_overhead = 660;
uint16_t tcc_overhead = 590;
uint16_t dss_overhead = 690;
uint16_t pre_range_overhead = 660;
uint16_t final_range_overhead = 550;
// "Start and end overhead times always present" uint16_t decode_timeout_(uint16_t reg_val);
uint32_t budget_us = start_overhead + end_overhead; uint16_t encode_timeout_(uint16_t timeout_mclks);
get_sequence_step_enables_(&enables); bool perform_single_ref_calibration_(uint8_t vhv_init_byte);
get_sequence_step_timeouts_(&enables, &timeouts);
if (enables.tcc)
budget_us += (timeouts.msrc_dss_tcc_us + tcc_overhead);
if (enables.dss) {
budget_us += 2 * (timeouts.msrc_dss_tcc_us + dss_overhead);
} else if (enables.msrc) {
budget_us += (timeouts.msrc_dss_tcc_us + msrc_overhead);
}
if (enables.pre_range)
budget_us += (timeouts.pre_range_us + pre_range_overhead);
if (enables.final_range)
budget_us += (timeouts.final_range_us + final_range_overhead);
measurement_timing_budget_us_ = budget_us; // store for internal reuse
return budget_us;
}
bool set_measurement_timing_budget_(uint32_t budget_us) {
SequenceStepEnables enables{};
SequenceStepTimeouts timeouts{};
uint16_t start_overhead = 1320; // note that this is different than the value in get_
uint16_t end_overhead = 960;
uint16_t msrc_overhead = 660;
uint16_t tcc_overhead = 590;
uint16_t dss_overhead = 690;
uint16_t pre_range_overhead = 660;
uint16_t final_range_overhead = 550;
uint32_t min_timing_budget = 20000;
if (budget_us < min_timing_budget) {
return false;
}
uint32_t used_budget_us = start_overhead + end_overhead;
get_sequence_step_enables_(&enables);
get_sequence_step_timeouts_(&enables, &timeouts);
if (enables.tcc) {
used_budget_us += (timeouts.msrc_dss_tcc_us + tcc_overhead);
}
if (enables.dss) {
used_budget_us += 2 * (timeouts.msrc_dss_tcc_us + dss_overhead);
} else if (enables.msrc) {
used_budget_us += (timeouts.msrc_dss_tcc_us + msrc_overhead);
}
if (enables.pre_range) {
used_budget_us += (timeouts.pre_range_us + pre_range_overhead);
}
if (enables.final_range) {
used_budget_us += final_range_overhead;
// "Note that the final range timeout is determined by the timing
// budget and the sum of all other timeouts within the sequence.
// If there is no room for the final range timeout, then an error
// will be set. Otherwise the remaining time will be applied to
// the final range."
if (used_budget_us > budget_us) {
// "Requested timeout too big."
return false;
}
uint32_t final_range_timeout_us = budget_us - used_budget_us;
// set_sequence_step_timeout() begin
// (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE)
// "For the final range timeout, the pre-range timeout
// must be added. To do this both final and pre-range
// timeouts must be expressed in macro periods MClks
// because they have different vcsel periods."
uint16_t final_range_timeout_mclks =
timeout_microseconds_to_mclks_(final_range_timeout_us, timeouts.final_range_vcsel_period_pclks);
if (enables.pre_range) {
final_range_timeout_mclks += timeouts.pre_range_mclks;
}
write_byte_16(0x71, encode_timeout_(final_range_timeout_mclks));
// set_sequence_step_timeout() end
measurement_timing_budget_us_ = budget_us; // store for internal reuse
}
return true;
}
void get_sequence_step_enables_(SequenceStepEnables *enables) {
uint8_t sequence_config = reg(0x01).get();
enables->tcc = (sequence_config >> 4) & 0x1;
enables->dss = (sequence_config >> 3) & 0x1;
enables->msrc = (sequence_config >> 2) & 0x1;
enables->pre_range = (sequence_config >> 6) & 0x1;
enables->final_range = (sequence_config >> 7) & 0x1;
}
enum VcselPeriodType { VCSEL_PERIOD_PRE_RANGE, VCSEL_PERIOD_FINAL_RANGE };
void get_sequence_step_timeouts_(SequenceStepEnables const *enables, SequenceStepTimeouts *timeouts) {
timeouts->pre_range_vcsel_period_pclks = get_vcsel_pulse_period_(VCSEL_PERIOD_PRE_RANGE);
timeouts->msrc_dss_tcc_mclks = reg(0x46).get() + 1;
timeouts->msrc_dss_tcc_us =
timeout_mclks_to_microseconds_(timeouts->msrc_dss_tcc_mclks, timeouts->pre_range_vcsel_period_pclks);
uint16_t value;
read_byte_16(0x51, &value);
timeouts->pre_range_mclks = decode_timeout_(value);
timeouts->pre_range_us =
timeout_mclks_to_microseconds_(timeouts->pre_range_mclks, timeouts->pre_range_vcsel_period_pclks);
timeouts->final_range_vcsel_period_pclks = get_vcsel_pulse_period_(VCSEL_PERIOD_FINAL_RANGE);
read_byte_16(0x71, &value);
timeouts->final_range_mclks = decode_timeout_(value);
if (enables->pre_range) {
timeouts->final_range_mclks -= timeouts->pre_range_mclks;
}
timeouts->final_range_us =
timeout_mclks_to_microseconds_(timeouts->final_range_mclks, timeouts->final_range_vcsel_period_pclks);
}
uint8_t get_vcsel_pulse_period_(VcselPeriodType type) {
uint8_t vcsel;
if (type == VCSEL_PERIOD_PRE_RANGE) {
vcsel = reg(0x50).get();
} else if (type == VCSEL_PERIOD_FINAL_RANGE) {
vcsel = reg(0x70).get();
} else {
return 255;
}
return (vcsel + 1) << 1;
}
uint32_t get_macro_period_(uint8_t vcsel_period_pclks) {
return ((2304UL * vcsel_period_pclks * 1655UL) + 500UL) / 1000UL;
}
uint32_t timeout_mclks_to_microseconds_(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks) {
uint32_t macro_period_ns = get_macro_period_(vcsel_period_pclks);
return ((timeout_period_mclks * macro_period_ns) + (macro_period_ns / 2)) / 1000;
}
uint32_t timeout_microseconds_to_mclks_(uint32_t timeout_period_us, uint8_t vcsel_period_pclks) {
uint32_t macro_period_ns = get_macro_period_(vcsel_period_pclks);
return (((timeout_period_us * 1000) + (macro_period_ns / 2)) / macro_period_ns);
}
uint16_t decode_timeout_(uint16_t reg_val) {
// format: "(LSByte * 2^MSByte) + 1"
uint8_t msb = (reg_val >> 8) & 0xFF;
uint8_t lsb = (reg_val >> 0) & 0xFF;
return (uint16_t(lsb) << msb) + 1;
}
uint16_t encode_timeout_(uint16_t timeout_mclks) {
// format: "(LSByte * 2^MSByte) + 1"
uint32_t ls_byte = 0;
uint16_t ms_byte = 0;
if (timeout_mclks <= 0)
return 0;
ls_byte = timeout_mclks - 1;
while ((ls_byte & 0xFFFFFF00) > 0) {
ls_byte >>= 1;
ms_byte++;
}
return (ms_byte << 8) | (ls_byte & 0xFF);
}
bool perform_single_ref_calibration_(uint8_t vhv_init_byte) {
reg(0x00) = 0x01 | vhv_init_byte; // VL53L0X_REG_SYSRANGE_MODE_START_STOP
uint32_t start = millis();
while ((reg(0x13).get() & 0x07) == 0) {
if (millis() - start > 1000)
return false;
yield();
}
reg(0x0B) = 0x01;
reg(0x00) = 0x00;
return true;
}
float signal_rate_limit_; float signal_rate_limit_;
bool long_range_; bool long_range_;