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VL53L5CX: Alloc results data & config in MPY gc_heap. 

RAM constraints on Pico W were causing a hardlock. This change allocates the results struct, config and motion config on gc_heap to relieve system RAM pressure.

Fixes #448
pull/454/head
Phil Howard 2022-07-20 17:14:01 +01:00
rodzic fedc020493
commit e7a4ee0282
2 zmienionych plików z 24 dodań i 13 usunięć
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10
drivers/vl53l5cx/vl53l5cx.hpp
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@ -5,6 +5,7 @@ extern "C" {
#include "drivers/vl53l5cx/src/VL53L5CX_ULD_API/inc/vl53l5cx_plugin_motion_indicator.h"
}
#include <new>
#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"
@ -33,15 +34,18 @@ namespace pimoroni {
// 7-bit version of the default address (0x52)
static const uint8_t DEFAULT_ADDRESS = VL53L5CX_DEFAULT_I2C_ADDRESS >> 1;
VL53L5CX(I2C *i2c, uint8_t *firmware, uint8_t i2c_addr=DEFAULT_ADDRESS) {
configuration = new VL53L5CX_Configuration{
VL53L5CX(I2C *i2c, uint8_t *firmware, uint8_t i2c_addr=DEFAULT_ADDRESS, void* configuration_buffer=nullptr, void* motion_configuration_buffer=nullptr) {
if(!configuration_buffer) configuration_buffer = new VL53L5CX_Configuration;
if(!motion_configuration_buffer) motion_configuration_buffer = new VL53L5CX_Motion_Configuration;
configuration = new(configuration_buffer) VL53L5CX_Configuration{
.platform = VL53L5CX_Platform{
.address = i2c_addr,
.i2c = i2c->get_i2c(),
.firmware = firmware
},
};
motion_configuration = new VL53L5CX_Motion_Configuration{};
motion_configuration = new(motion_configuration_buffer) VL53L5CX_Motion_Configuration{};
}
~VL53L5CX() {
delete configuration;

27
micropython/modules/breakout_vl53l5cx/vl53l5cx.cpp
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@ -24,6 +24,9 @@ typedef struct _VL53L5CX_obj_t {
mp_obj_base_t base;
_PimoroniI2C_obj_t *i2c;
pimoroni::VL53L5CX* breakout;
void *configuration;
void *motion_configuration;
void *results;
} _VL53L5CX_obj_t;
@ -62,6 +65,10 @@ mp_obj_t VL53L5CX_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw
self->i2c = PimoroniI2C_from_machine_i2c_or_native(args[ARG_i2c].u_obj);
self->configuration = m_new(VL53L5CX_Configuration, 1);
self->motion_configuration = m_new(VL53L5CX_Motion_Configuration, 1);
self->results = m_new(pimoroni::VL53L5CX::ResultsData, 1);
mp_buffer_info_t bufinfo;
const size_t firmware_size = 84 * 1024;
@ -85,7 +92,7 @@ mp_obj_t VL53L5CX_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw
mp_raise_ValueError("Firmware must be 84k bytes!");
}
self->breakout = m_new_class(pimoroni::VL53L5CX, (pimoroni::I2C*)self->i2c->i2c, (uint8_t *)bufinfo.buf, addr);
self->breakout = m_new_class(pimoroni::VL53L5CX, (pimoroni::I2C*)self->i2c->i2c, (uint8_t *)bufinfo.buf, addr, self->configuration, self->motion_configuration);
if(!self->breakout->init()) {
mp_raise_msg(&mp_type_RuntimeError, "VL53L5CX: init error");
@ -213,8 +220,8 @@ mp_obj_t VL53L5CX_data_ready(mp_obj_t self_in) {
mp_obj_t VL53L5CX_get_data(mp_obj_t self_in) {
_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
pimoroni::VL53L5CX::ResultsData results;
bool status = self->breakout->get_data(&results);
pimoroni::VL53L5CX::ResultsData *results = (pimoroni::VL53L5CX::ResultsData *)self->results;
bool status = self->breakout->get_data(results);
if(!status) {
mp_raise_msg(&mp_type_RuntimeError, "VL53L5CX: get_data error");
}
@ -235,10 +242,10 @@ mp_obj_t VL53L5CX_get_data(mp_obj_t self_in) {
// Build a tuple of motion data
for(int i = 0u; i < tuple_size; i++) {
tuple_distance_mm[i] = mp_obj_new_int(results.distance_mm[i]);
tuple_reflectance[i] = mp_obj_new_int(results.reflectance[i]);
average_distance += results.distance_mm[i];
average_reflectance += results.reflectance[i];
tuple_distance_mm[i] = mp_obj_new_int(results->distance_mm[i]);
tuple_reflectance[i] = mp_obj_new_int(results->reflectance[i]);
average_distance += results->distance_mm[i];
average_reflectance += results->reflectance[i];
}
average_distance /= tuple_size;
@ -247,14 +254,14 @@ mp_obj_t VL53L5CX_get_data(mp_obj_t self_in) {
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]);
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_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)
};