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https://github.com/esphome/esphome.git
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Refactor vl53l0x to remove code from header. (#3536)
This commit is contained in:
RoboMagus
GitHub
parent
5abd91d6d5
commit
3a9ab50dd2
2 changed files with 232 additions and 213 deletions
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@ -257,6 +257,7 @@ void VL53L0XSensor::setup() {
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ESP_LOGD(TAG, "'%s' - setup END", this->name_.c_str());
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}
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void VL53L0XSensor::update() {
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if (this->initiated_read_ || this->waiting_for_interrupt_) {
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this->publish_state(NAN);
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@ -280,6 +281,7 @@ void VL53L0XSensor::update() {
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this->initiated_read_ = true;
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// wait for timeout
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}
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void VL53L0XSensor::loop() {
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if (this->initiated_read_) {
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if (reg(0x00).get() & 0x01) {
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@ -311,5 +313,222 @@ void VL53L0XSensor::loop() {
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}
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}
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uint32_t VL53L0XSensor::get_measurement_timing_budget_() {
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SequenceStepEnables enables{};
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SequenceStepTimeouts timeouts{};
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uint16_t start_overhead = 1910;
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uint16_t end_overhead = 960;
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uint16_t msrc_overhead = 660;
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uint16_t tcc_overhead = 590;
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uint16_t dss_overhead = 690;
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uint16_t pre_range_overhead = 660;
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uint16_t final_range_overhead = 550;
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// "Start and end overhead times always present"
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uint32_t budget_us = start_overhead + end_overhead;
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get_sequence_step_enables_(&enables);
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get_sequence_step_timeouts_(&enables, &timeouts);
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if (enables.tcc)
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budget_us += (timeouts.msrc_dss_tcc_us + tcc_overhead);
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if (enables.dss) {
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budget_us += 2 * (timeouts.msrc_dss_tcc_us + dss_overhead);
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} else if (enables.msrc) {
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budget_us += (timeouts.msrc_dss_tcc_us + msrc_overhead);
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}
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if (enables.pre_range)
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budget_us += (timeouts.pre_range_us + pre_range_overhead);
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if (enables.final_range)
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budget_us += (timeouts.final_range_us + final_range_overhead);
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measurement_timing_budget_us_ = budget_us; // store for internal reuse
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return budget_us;
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}
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bool VL53L0XSensor::set_measurement_timing_budget_(uint32_t budget_us) {
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SequenceStepEnables enables{};
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SequenceStepTimeouts timeouts{};
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uint16_t start_overhead = 1320; // note that this is different than the value in get_
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uint16_t end_overhead = 960;
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uint16_t msrc_overhead = 660;
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uint16_t tcc_overhead = 590;
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uint16_t dss_overhead = 690;
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uint16_t pre_range_overhead = 660;
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uint16_t final_range_overhead = 550;
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uint32_t min_timing_budget = 20000;
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if (budget_us < min_timing_budget) {
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return false;
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}
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uint32_t used_budget_us = start_overhead + end_overhead;
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get_sequence_step_enables_(&enables);
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get_sequence_step_timeouts_(&enables, &timeouts);
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if (enables.tcc) {
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used_budget_us += (timeouts.msrc_dss_tcc_us + tcc_overhead);
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}
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if (enables.dss) {
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used_budget_us += 2 * (timeouts.msrc_dss_tcc_us + dss_overhead);
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} else if (enables.msrc) {
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used_budget_us += (timeouts.msrc_dss_tcc_us + msrc_overhead);
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}
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if (enables.pre_range) {
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used_budget_us += (timeouts.pre_range_us + pre_range_overhead);
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}
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if (enables.final_range) {
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used_budget_us += final_range_overhead;
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// "Note that the final range timeout is determined by the timing
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// budget and the sum of all other timeouts within the sequence.
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// If there is no room for the final range timeout, then an error
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// will be set. Otherwise the remaining time will be applied to
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// the final range."
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if (used_budget_us > budget_us) {
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// "Requested timeout too big."
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return false;
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}
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uint32_t final_range_timeout_us = budget_us - used_budget_us;
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// set_sequence_step_timeout() begin
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// (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE)
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// "For the final range timeout, the pre-range timeout
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// must be added. To do this both final and pre-range
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// timeouts must be expressed in macro periods MClks
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// because they have different vcsel periods."
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uint16_t final_range_timeout_mclks =
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timeout_microseconds_to_mclks_(final_range_timeout_us, timeouts.final_range_vcsel_period_pclks);
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if (enables.pre_range) {
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final_range_timeout_mclks += timeouts.pre_range_mclks;
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}
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write_byte_16(0x71, encode_timeout_(final_range_timeout_mclks));
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// set_sequence_step_timeout() end
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measurement_timing_budget_us_ = budget_us; // store for internal reuse
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}
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return true;
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}
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void VL53L0XSensor::get_sequence_step_enables_(SequenceStepEnables *enables) {
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uint8_t sequence_config = reg(0x01).get();
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enables->tcc = (sequence_config >> 4) & 0x1;
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enables->dss = (sequence_config >> 3) & 0x1;
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enables->msrc = (sequence_config >> 2) & 0x1;
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enables->pre_range = (sequence_config >> 6) & 0x1;
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enables->final_range = (sequence_config >> 7) & 0x1;
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}
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void VL53L0XSensor::get_sequence_step_timeouts_(SequenceStepEnables const *enables, SequenceStepTimeouts *timeouts) {
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timeouts->pre_range_vcsel_period_pclks = get_vcsel_pulse_period_(VCSEL_PERIOD_PRE_RANGE);
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timeouts->msrc_dss_tcc_mclks = reg(0x46).get() + 1;
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timeouts->msrc_dss_tcc_us =
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timeout_mclks_to_microseconds_(timeouts->msrc_dss_tcc_mclks, timeouts->pre_range_vcsel_period_pclks);
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uint16_t value;
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read_byte_16(0x51, &value);
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timeouts->pre_range_mclks = decode_timeout_(value);
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timeouts->pre_range_us =
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timeout_mclks_to_microseconds_(timeouts->pre_range_mclks, timeouts->pre_range_vcsel_period_pclks);
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timeouts->final_range_vcsel_period_pclks = get_vcsel_pulse_period_(VCSEL_PERIOD_FINAL_RANGE);
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read_byte_16(0x71, &value);
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timeouts->final_range_mclks = decode_timeout_(value);
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if (enables->pre_range) {
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timeouts->final_range_mclks -= timeouts->pre_range_mclks;
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}
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timeouts->final_range_us =
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timeout_mclks_to_microseconds_(timeouts->final_range_mclks, timeouts->final_range_vcsel_period_pclks);
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}
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uint8_t VL53L0XSensor::get_vcsel_pulse_period_(VcselPeriodType type) {
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uint8_t vcsel;
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if (type == VCSEL_PERIOD_PRE_RANGE) {
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vcsel = reg(0x50).get();
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} else if (type == VCSEL_PERIOD_FINAL_RANGE) {
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vcsel = reg(0x70).get();
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} else {
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return 255;
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}
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return (vcsel + 1) << 1;
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}
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uint32_t VL53L0XSensor::get_macro_period_(uint8_t vcsel_period_pclks) {
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return ((2304UL * vcsel_period_pclks * 1655UL) + 500UL) / 1000UL;
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}
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uint32_t VL53L0XSensor::timeout_mclks_to_microseconds_(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks) {
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uint32_t macro_period_ns = get_macro_period_(vcsel_period_pclks);
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return ((timeout_period_mclks * macro_period_ns) + (macro_period_ns / 2)) / 1000;
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}
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uint32_t VL53L0XSensor::timeout_microseconds_to_mclks_(uint32_t timeout_period_us, uint8_t vcsel_period_pclks) {
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uint32_t macro_period_ns = get_macro_period_(vcsel_period_pclks);
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return (((timeout_period_us * 1000) + (macro_period_ns / 2)) / macro_period_ns);
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}
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uint16_t VL53L0XSensor::decode_timeout_(uint16_t reg_val) {
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// format: "(LSByte * 2^MSByte) + 1"
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uint8_t msb = (reg_val >> 8) & 0xFF;
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uint8_t lsb = (reg_val >> 0) & 0xFF;
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return (uint16_t(lsb) << msb) + 1;
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}
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uint16_t VL53L0XSensor::encode_timeout_(uint16_t timeout_mclks) {
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// 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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return 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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bool VL53L0XSensor::perform_single_ref_calibration_(uint8_t vhv_init_byte) {
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reg(0x00) = 0x01 | vhv_init_byte; // VL53L0X_REG_SYSRANGE_MODE_START_STOP
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uint32_t start = millis();
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while ((reg(0x13).get() & 0x07) == 0) {
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if (millis() - start > 1000)
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return false;
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yield();
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}
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reg(0x0B) = 0x01;
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reg(0x00) = 0x00;
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return true;
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}
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} // namespace vl53l0x
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} // namespace esphome
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@ -21,6 +21,8 @@ struct SequenceStepTimeouts {
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uint32_t msrc_dss_tcc_us, pre_range_us, final_range_us;
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};
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enum VcselPeriodType { VCSEL_PERIOD_PRE_RANGE, VCSEL_PERIOD_FINAL_RANGE };
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class VL53L0XSensor : public sensor::Sensor, public PollingComponent, public i2c::I2CDevice {
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public:
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VL53L0XSensor();
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@ -39,222 +41,20 @@ class VL53L0XSensor : public sensor::Sensor, public PollingComponent, public i2c
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void set_enable_pin(GPIOPin *enable) { this->enable_pin_ = enable; }
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protected:
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uint32_t get_measurement_timing_budget_() {
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SequenceStepEnables enables{};
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SequenceStepTimeouts timeouts{};
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uint32_t get_measurement_timing_budget_();
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bool set_measurement_timing_budget_(uint32_t budget_us);
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void get_sequence_step_enables_(SequenceStepEnables *enables);
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void get_sequence_step_timeouts_(SequenceStepEnables const *enables, SequenceStepTimeouts *timeouts);
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uint8_t get_vcsel_pulse_period_(VcselPeriodType type);
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uint32_t get_macro_period_(uint8_t vcsel_period_pclks);
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uint16_t start_overhead = 1910;
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uint16_t end_overhead = 960;
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uint16_t msrc_overhead = 660;
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uint16_t tcc_overhead = 590;
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uint16_t dss_overhead = 690;
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uint16_t pre_range_overhead = 660;
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uint16_t final_range_overhead = 550;
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uint32_t timeout_mclks_to_microseconds_(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks);
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uint32_t timeout_microseconds_to_mclks_(uint32_t timeout_period_us, uint8_t vcsel_period_pclks);
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// "Start and end overhead times always present"
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uint32_t budget_us = start_overhead + end_overhead;
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uint16_t decode_timeout_(uint16_t reg_val);
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uint16_t encode_timeout_(uint16_t timeout_mclks);
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get_sequence_step_enables_(&enables);
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get_sequence_step_timeouts_(&enables, &timeouts);
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if (enables.tcc)
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budget_us += (timeouts.msrc_dss_tcc_us + tcc_overhead);
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if (enables.dss) {
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budget_us += 2 * (timeouts.msrc_dss_tcc_us + dss_overhead);
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} else if (enables.msrc) {
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budget_us += (timeouts.msrc_dss_tcc_us + msrc_overhead);
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}
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if (enables.pre_range)
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budget_us += (timeouts.pre_range_us + pre_range_overhead);
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if (enables.final_range)
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budget_us += (timeouts.final_range_us + final_range_overhead);
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measurement_timing_budget_us_ = budget_us; // store for internal reuse
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return budget_us;
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}
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bool set_measurement_timing_budget_(uint32_t budget_us) {
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SequenceStepEnables enables{};
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SequenceStepTimeouts timeouts{};
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uint16_t start_overhead = 1320; // note that this is different than the value in get_
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uint16_t end_overhead = 960;
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uint16_t msrc_overhead = 660;
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uint16_t tcc_overhead = 590;
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uint16_t dss_overhead = 690;
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uint16_t pre_range_overhead = 660;
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uint16_t final_range_overhead = 550;
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uint32_t min_timing_budget = 20000;
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if (budget_us < min_timing_budget) {
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return false;
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}
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uint32_t used_budget_us = start_overhead + end_overhead;
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get_sequence_step_enables_(&enables);
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get_sequence_step_timeouts_(&enables, &timeouts);
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if (enables.tcc) {
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used_budget_us += (timeouts.msrc_dss_tcc_us + tcc_overhead);
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}
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if (enables.dss) {
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used_budget_us += 2 * (timeouts.msrc_dss_tcc_us + dss_overhead);
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} else if (enables.msrc) {
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used_budget_us += (timeouts.msrc_dss_tcc_us + msrc_overhead);
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}
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if (enables.pre_range) {
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used_budget_us += (timeouts.pre_range_us + pre_range_overhead);
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}
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if (enables.final_range) {
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used_budget_us += final_range_overhead;
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// "Note that the final range timeout is determined by the timing
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// budget and the sum of all other timeouts within the sequence.
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// If there is no room for the final range timeout, then an error
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// will be set. Otherwise the remaining time will be applied to
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// the final range."
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if (used_budget_us > budget_us) {
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// "Requested timeout too big."
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return false;
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}
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uint32_t final_range_timeout_us = budget_us - used_budget_us;
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// set_sequence_step_timeout() begin
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// (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE)
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// "For the final range timeout, the pre-range timeout
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// must be added. To do this both final and pre-range
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// timeouts must be expressed in macro periods MClks
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// because they have different vcsel periods."
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uint16_t final_range_timeout_mclks =
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timeout_microseconds_to_mclks_(final_range_timeout_us, timeouts.final_range_vcsel_period_pclks);
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if (enables.pre_range) {
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final_range_timeout_mclks += timeouts.pre_range_mclks;
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}
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write_byte_16(0x71, encode_timeout_(final_range_timeout_mclks));
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// set_sequence_step_timeout() end
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measurement_timing_budget_us_ = budget_us; // store for internal reuse
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}
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return true;
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}
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void get_sequence_step_enables_(SequenceStepEnables *enables) {
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uint8_t sequence_config = reg(0x01).get();
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enables->tcc = (sequence_config >> 4) & 0x1;
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enables->dss = (sequence_config >> 3) & 0x1;
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enables->msrc = (sequence_config >> 2) & 0x1;
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enables->pre_range = (sequence_config >> 6) & 0x1;
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enables->final_range = (sequence_config >> 7) & 0x1;
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}
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enum VcselPeriodType { VCSEL_PERIOD_PRE_RANGE, VCSEL_PERIOD_FINAL_RANGE };
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void get_sequence_step_timeouts_(SequenceStepEnables const *enables, SequenceStepTimeouts *timeouts) {
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timeouts->pre_range_vcsel_period_pclks = get_vcsel_pulse_period_(VCSEL_PERIOD_PRE_RANGE);
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timeouts->msrc_dss_tcc_mclks = reg(0x46).get() + 1;
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timeouts->msrc_dss_tcc_us =
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timeout_mclks_to_microseconds_(timeouts->msrc_dss_tcc_mclks, timeouts->pre_range_vcsel_period_pclks);
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uint16_t value;
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read_byte_16(0x51, &value);
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timeouts->pre_range_mclks = decode_timeout_(value);
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timeouts->pre_range_us =
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timeout_mclks_to_microseconds_(timeouts->pre_range_mclks, timeouts->pre_range_vcsel_period_pclks);
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timeouts->final_range_vcsel_period_pclks = get_vcsel_pulse_period_(VCSEL_PERIOD_FINAL_RANGE);
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read_byte_16(0x71, &value);
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timeouts->final_range_mclks = decode_timeout_(value);
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if (enables->pre_range) {
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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;
|
||||
}
|
||||
bool perform_single_ref_calibration_(uint8_t vhv_init_byte);
|
||||
|
||||
float signal_rate_limit_;
|
||||
bool long_range_;
|
||||
|
|
|
|||
Loading…
Reference in a new issue