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VL53L5CX: Bringup Motion and add example.

pull/347/head
Phil Howard 2022-04-28 14:38:34 +01:00
rodzic 02d3d853f8
commit 3afead416a
9 zmienionych plików z 101 dodań i 9 usunięć
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18
drivers/vl53l5cx/vl53l5cx.cpp
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@ -2,9 +2,17 @@
namespace pimoroni {
bool VL53L5CX::init() {
if(!is_alive()) {
return false;
}
uint8_t status = vl53l5cx_init(configuration);
return status == VL53L5CX_STATUS_OK;
}
bool VL53L5CX::is_alive() {
uint8_t is_alive = 0;
uint8_t status = vl53l5cx_is_alive(configuration, &is_alive);
return is_alive == 1 && status == VL53L5CX_STATUS_OK;
}
bool VL53L5CX::start_ranging() {
uint8_t status = vl53l5cx_start_ranging(configuration);
return status == VL53L5CX_STATUS_OK;
@ -13,9 +21,17 @@ namespace pimoroni {
uint8_t status = vl53l5cx_stop_ranging(configuration);
return status == VL53L5CX_STATUS_OK;
}
bool VL53L5CX::enable_motion_indicator(Resolution resolution) {
uint8_t status = vl53l5cx_motion_indicator_init(configuration, motion_configuration, resolution);
return status == VL53L5CX_STATUS_OK;
}
bool VL53L5CX::set_motion_distance(uint16_t distance_min, uint16_t distance_max) {
uint8_t status = vl53l5cx_motion_indicator_set_distance_motion(configuration, motion_configuration, distance_min, distance_max);
return status == VL53L5CX_STATUS_OK;
}
bool VL53L5CX::set_i2c_address(uint8_t i2c_address) {
/* Must be a 7-bit i2c address */
uint8_t status = vl53l5cx_set_i2c_address(configuration, i2c_address << 1);
uint8_t status = vl53l5cx_set_i2c_address(configuration, i2c_address);
return status == VL53L5CX_STATUS_OK;
}
bool VL53L5CX::set_ranging_mode(RangingMode ranging_mode) {

10
drivers/vl53l5cx/vl53l5cx.hpp
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@ -2,10 +2,12 @@
extern "C" {
#include "drivers/vl53l5cx/src/VL53L5CX_ULD_API/inc/vl53l5cx_api.h"
#include "drivers/vl53l5cx/src/VL53L5CX_ULD_API/inc/vl53l5cx_plugin_motion_indicator.h"
}
#include "common/pimoroni_i2c.hpp"
#include "src/VL53L5CX_ULD_API/inc/vl53l5cx_api.h"
#include "src/VL53L5CX_ULD_API/inc/vl53l5cx_plugin_motion_indicator.h"
namespace pimoroni {
class VL53L5CX {
@ -38,13 +40,20 @@ namespace pimoroni {
.i2c = i2c->get_i2c()
},
};
motion_configuration = new VL53L5CX_Motion_Configuration{};
}
~VL53L5CX() {
delete configuration;
delete motion_configuration;
}
bool init();
bool is_alive();
bool start_ranging();
bool stop_ranging();
bool enable_motion_indicator(Resolution resolution);
bool set_motion_distance(uint16_t distance_min, uint16_t distance_max);
bool set_i2c_address(uint8_t i2c_address);
bool set_ranging_mode(RangingMode ranging_mode);
bool set_ranging_frequency_hz(uint8_t ranging_frequency_hz);
@ -64,6 +73,7 @@ namespace pimoroni {
}
private:
VL53L5CX_Configuration *configuration;
VL53L5CX_Motion_Configuration *motion_configuration;
Resolution resolution = RESOLUTION_8X8;
};
}

5
examples/breakout_vl53l5cx/vl53l5cx_demo.cpp
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@ -13,7 +13,10 @@ VL53L5CX vl53l5cx(&i2c);
int main() {
stdio_init_all();
vl53l5cx.init();
bool result = vl53l5cx.init();
if(!result) {
printf("Error initializing...\n");
}
vl53l5cx.set_ranging_mode(VL53L5CX::RANGING_MODE_AUTONOMOUS);
vl53l5cx.set_resolution(VL53L5CX::RESOLUTION_4X4);
vl53l5cx.start_ranging();

2
micropython/examples/breakout_vl53l5cx/vl53l5cx_demo.py
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@ -22,7 +22,7 @@ sensor.start_ranging()
while True:
if sensor.data_ready():
# "data" is a namedtuple (attrtuple technically)
# it includes average readings as "distance_avg" and "reflectance_avg"a
# it includes average readings as "distance_avg" and "reflectance_avg"
# plus a full 4x4 or 8x8 set of readings (as a 1d tuple) for both values.
data = sensor.get_data()
print("{}mm {}% (avg: {}mm {}%)".format(

35
micropython/examples/breakout_vl53l5cx/vl53l5cx_motion.py 100644
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@ -0,0 +1,35 @@
import pimoroni_i2c
import breakout_vl53l5cx
import time
from ulab import numpy
PINS_BREAKOUT_GARDEN = {"sda": 4, "scl": 5}
PINS_PICO_EXPLORER = {"sda": 20, "scl": 21}
# Sensor startup time is proportional to i2c baudrate
# HOWEVER many sensors may not run at > 400KHz (400000)
i2c = pimoroni_i2c.PimoroniI2C(**PINS_BREAKOUT_GARDEN, baudrate=2_000_000)
print("Starting up sensor...")
t_sta = time.ticks_ms()
sensor = breakout_vl53l5cx.VL53L5CX(i2c)
t_end = time.ticks_ms()
print("Done in {}ms...".format(t_end - t_sta))
# Make sure to set resolution and other settings *before* you start ranging
sensor.set_resolution(breakout_vl53l5cx.RESOLUTION_4X4)
sensor.enable_motion_indicator(breakout_vl53l5cx.RESOLUTION_4X4)
sensor.set_motion_distance(400, 1400)
sensor.start_ranging()
while True:
if sensor.data_ready():
# "data" is a namedtuple (attrtuple technically)
# it includes average readings as "distance_avg" and "reflectance_avg"
# plus a full 4x4 or 8x8 set of readings (as a 1d tuple) for both values.
# Motion data is available in "motion_detection.motion"
data = sensor.get_data()
motion = numpy.array(data.motion_indicator.motion[0:16], dtype=numpy.int16).reshape((4, 4))
print(motion)

1
micropython/modules/breakout_vl53l5cx/micropython.cmake
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@ -6,6 +6,7 @@ target_sources(usermod_vl53l5cx INTERFACE
${CMAKE_CURRENT_LIST_DIR}/../../../drivers/vl53l5cx/vl53l5cx.cpp
${CMAKE_CURRENT_LIST_DIR}/../../../drivers/vl53l5cx/platform.c
${CMAKE_CURRENT_LIST_DIR}/../../../drivers/vl53l5cx/src/VL53L5CX_ULD_API/src/vl53l5cx_api.c
${CMAKE_CURRENT_LIST_DIR}/../../../drivers/vl53l5cx/src/VL53L5CX_ULD_API/src/vl53l5cx_plugin_motion_indicator.c
${CMAKE_CURRENT_LIST_DIR}/../../../drivers/vl53l5cx/src/VL53L5CX_ULD_API/src/vl53l5cx_plugin_detection_thresholds.c
)

6
micropython/modules/breakout_vl53l5cx/vl53l5cx.c
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@ -6,6 +6,9 @@ MP_DEFINE_CONST_FUN_OBJ_1(VL53L5CX___del___obj, VL53L5CX___del__);
MP_DEFINE_CONST_FUN_OBJ_1(VL53L5CX_start_ranging_obj, VL53L5CX_start_ranging);
MP_DEFINE_CONST_FUN_OBJ_1(VL53L5CX_stop_ranging_obj, VL53L5CX_stop_ranging);
MP_DEFINE_CONST_FUN_OBJ_2(VL53L5CX_enable_motion_indicator_obj, VL53L5CX_enable_motion_indicator);
MP_DEFINE_CONST_FUN_OBJ_3(VL53L5CX_set_motion_distance_obj, VL53L5CX_set_motion_distance);
MP_DEFINE_CONST_FUN_OBJ_2(VL53L5CX_set_i2c_address_obj, VL53L5CX_set_i2c_address);
MP_DEFINE_CONST_FUN_OBJ_2(VL53L5CX_set_ranging_mode_obj, VL53L5CX_set_ranging_mode);
MP_DEFINE_CONST_FUN_OBJ_2(VL53L5CX_set_ranging_frequency_hz_obj, VL53L5CX_set_ranging_frequency_hz);
@ -26,6 +29,9 @@ STATIC const mp_rom_map_elem_t VL53L5CX_locals_dict_table[] = {
{ MP_ROM_QSTR(MP_QSTR_start_ranging), MP_ROM_PTR(&VL53L5CX_start_ranging_obj) },
{ MP_ROM_QSTR(MP_QSTR_stop_ranging), MP_ROM_PTR(&VL53L5CX_stop_ranging_obj) },
{ MP_ROM_QSTR(MP_QSTR_enable_motion_indicator), MP_ROM_PTR(&VL53L5CX_enable_motion_indicator_obj) },
{ MP_ROM_QSTR(MP_QSTR_set_motion_distance), MP_ROM_PTR(&VL53L5CX_set_motion_distance_obj) },
{ MP_ROM_QSTR(MP_QSTR_set_i2c_address), MP_ROM_PTR(&VL53L5CX_set_i2c_address_obj) },
{ MP_ROM_QSTR(MP_QSTR_set_ranging_mode), MP_ROM_PTR(&VL53L5CX_set_ranging_mode_obj) },
{ MP_ROM_QSTR(MP_QSTR_set_ranging_frequency_hz), MP_ROM_PTR(&VL53L5CX_set_ranging_frequency_hz_obj) },

30
micropython/modules/breakout_vl53l5cx/vl53l5cx.cpp
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@ -110,6 +110,24 @@ mp_obj_t VL53L5CX_stop_ranging(mp_obj_t self_in) {
return mp_const_none;
}
mp_obj_t VL53L5CX_enable_motion_indicator(mp_obj_t self_in, mp_obj_t value) {
_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
bool status = self->breakout->enable_motion_indicator((pimoroni::VL53L5CX::Resolution)mp_obj_get_int(value));
if(!status) {
mp_raise_msg(&mp_type_RuntimeError, "VL53L5CX: enable_motion_indicator error");
}
return mp_const_none;
}
mp_obj_t VL53L5CX_set_motion_distance(mp_obj_t self_in, mp_obj_t distance_min, mp_obj_t distance_max) {
_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
bool status = self->breakout->set_motion_distance(mp_obj_get_int(distance_min), mp_obj_get_int(distance_max));
if(!status) {
mp_raise_msg(&mp_type_RuntimeError, "VL53L5CX: set_motion_distance error");
}
return mp_const_none;
}
mp_obj_t VL53L5CX_set_i2c_address(mp_obj_t self_in, mp_obj_t value) {
_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
bool status = self->breakout->set_i2c_address(mp_obj_get_int(value));
@ -220,30 +238,30 @@ mp_obj_t VL53L5CX_get_data(mp_obj_t self_in) {
average_distance /= tuple_size;
average_reflectance /= tuple_size;
// TODO motion data is all zeros, why?
/*mp_obj_t tuple_motion_data[32];
mp_obj_t tuple_motion_data[32];
for(int i = 0u; i < 32; i++) {
tuple_motion_data[i] = mp_obj_new_int(results.motion_indicator.motion[i]);
}
STATIC const qstr tuple_motion_fields[] = {MP_QSTR_global_indicator_1, MP_QSTR_global_indicator_2, MP_QSTR_motion};
mp_obj_t tuple_motion[] = {
mp_obj_new_int(results.motion_indicator.global_indicator_1),
mp_obj_new_int(results.motion_indicator.global_indicator_2),
mp_obj_new_tuple(sizeof(tuple_motion_data) / sizeof(mp_obj_t), tuple_motion_data)
};*/
};
mp_obj_t tuple[] = {
mp_obj_new_int(average_distance), // Average distance
mp_obj_new_int(average_reflectance), // Average reflectance
//mp_obj_new_tuple(sizeof(tuple_motion) / sizeof(mp_obj_t), tuple_motion), // Motion data
mp_obj_new_attrtuple(tuple_motion_fields, sizeof(tuple_motion) / sizeof(mp_obj_t), tuple_motion), // Motion data
mp_obj_new_int(tuple_size), // Number of results
mp_obj_new_tuple(tuple_size, tuple_distance_mm), // Full distance results
mp_obj_new_tuple(tuple_size, tuple_reflectance) // Full reflectange results
};
STATIC const qstr tuple_fields[] = {MP_QSTR_distance_avg, MP_QSTR_reflectance_avg, MP_QSTR_results, MP_QSTR_distance, MP_QSTR_reflectance};
STATIC const qstr tuple_fields[] = {MP_QSTR_distance_avg, MP_QSTR_reflectance_avg, MP_QSTR_motion_indicator, MP_QSTR_results, MP_QSTR_distance, MP_QSTR_reflectance};
return mp_obj_new_attrtuple(tuple_fields, sizeof(tuple) / sizeof(mp_obj_t), tuple);
}

3
micropython/modules/breakout_vl53l5cx/vl53l5cx.h
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@ -11,6 +11,9 @@ extern mp_obj_t VL53L5CX_make_new(const mp_obj_type_t *type, size_t n_args, size
extern mp_obj_t VL53L5CX_start_ranging(mp_obj_t self_in);
extern mp_obj_t VL53L5CX_stop_ranging(mp_obj_t self_in);
extern mp_obj_t VL53L5CX_enable_motion_indicator(mp_obj_t self_in, mp_obj_t value);
extern mp_obj_t VL53L5CX_set_motion_distance(mp_obj_t self_in, mp_obj_t distance_min, mp_obj_t distance_max);
extern mp_obj_t VL53L5CX_set_i2c_address(mp_obj_t self_in, mp_obj_t value);
extern mp_obj_t VL53L5CX_set_ranging_mode(mp_obj_t self_in, mp_obj_t value);
extern mp_obj_t VL53L5CX_set_ranging_frequency_hz(mp_obj_t self_in, mp_obj_t value);