mirror of
https://github.com/esphome/esphome.git
synced 2024-12-02 11:44:13 +01:00
272 lines
8.5 KiB
C++
272 lines
8.5 KiB
C++
#pragma once
|
|
|
|
#include <list>
|
|
|
|
#include "esphome/core/component.h"
|
|
#include "esphome/components/sensor/sensor.h"
|
|
#include "esphome/components/i2c/i2c.h"
|
|
|
|
namespace esphome {
|
|
namespace vl53l0x {
|
|
|
|
struct SequenceStepEnables {
|
|
bool tcc, msrc, dss, pre_range, final_range;
|
|
};
|
|
|
|
struct SequenceStepTimeouts {
|
|
uint16_t pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks;
|
|
|
|
uint16_t msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks;
|
|
uint32_t msrc_dss_tcc_us, pre_range_us, final_range_us;
|
|
};
|
|
|
|
class VL53L0XSensor : public sensor::Sensor, public PollingComponent, public i2c::I2CDevice {
|
|
public:
|
|
VL53L0XSensor();
|
|
|
|
void setup() override;
|
|
|
|
void dump_config() override;
|
|
float get_setup_priority() const override { return setup_priority::DATA; }
|
|
void update() override;
|
|
|
|
void loop() override;
|
|
|
|
void set_signal_rate_limit(float signal_rate_limit) { signal_rate_limit_ = signal_rate_limit; }
|
|
void set_long_range(bool long_range) { long_range_ = long_range; }
|
|
void set_timeout_us(uint32_t timeout_us) { this->timeout_us_ = timeout_us; }
|
|
void set_enable_pin(GPIOPin *enable) { this->enable_pin_ = enable; }
|
|
|
|
protected:
|
|
uint32_t 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 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_;
|
|
bool long_range_;
|
|
GPIOPin *enable_pin_{nullptr};
|
|
uint32_t measurement_timing_budget_us_;
|
|
bool initiated_read_{false};
|
|
bool waiting_for_interrupt_{false};
|
|
uint8_t stop_variable_;
|
|
|
|
uint16_t timeout_start_us_;
|
|
uint16_t timeout_us_{};
|
|
|
|
static std::list<VL53L0XSensor *> vl53_sensors; // NOLINT(cppcoreguidelines-avoid-non-const-global-variables)
|
|
static bool enable_pin_setup_complete; // NOLINT(cppcoreguidelines-avoid-non-const-global-variables)
|
|
};
|
|
|
|
} // namespace vl53l0x
|
|
} // namespace esphome
|