kopia lustrzana https://github.com/pimoroni/pimoroni-pico
277 wiersze
10 KiB
C++
277 wiersze
10 KiB
C++
#include <cstdio>
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#include "vl53l5cx.hpp"
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#include "pico/multicore.h"
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#define MP_OBJ_TO_PTR2(o, t) ((t *)(uintptr_t)(o))
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extern "C" {
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#include "vl53l5cx.h"
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#include "pimoroni_i2c.h"
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typedef struct _mp_obj_float_t {
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mp_obj_base_t base;
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mp_float_t value;
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} mp_obj_float_t;
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const mp_obj_float_t const_float_1 = {{&mp_type_float}, 1.0f};
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/***** I2C Struct *****/
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typedef struct _PimoroniI2C_obj_t {
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mp_obj_base_t base;
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pimoroni::I2C *i2c;
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} _PimoroniI2C_obj_t;
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/***** Variables Struct *****/
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typedef struct _VL53L5CX_obj_t {
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mp_obj_base_t base;
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_PimoroniI2C_obj_t *i2c;
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pimoroni::VL53L5CX* breakout;
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} _VL53L5CX_obj_t;
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/***** Print *****/
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void VL53L5CX_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
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(void)kind; // Unused input parameter
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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mp_print_str(print, "VL53L5CX( ");
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mp_print_str(print, "i2c = ");
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mp_obj_print_helper(print, mp_obj_new_int((self->breakout->get_configuration()->platform.i2c == i2c0) ? 0 : 1), PRINT_REPR);
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mp_print_str(print, " addr = ");
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mp_obj_print_helper(print, mp_obj_new_int(self->breakout->get_configuration()->platform.address), PRINT_REPR);
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mp_print_str(print, " )");
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}
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/***** Destructor ******/
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mp_obj_t VL53L5CX___del__(mp_obj_t self_in) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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//self->breakout->stop_ranging(); // i2c object might have been deleted already?
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delete self->breakout;
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return mp_const_none;
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}
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/***** Constructor *****/
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mp_obj_t VL53L5CX_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
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_VL53L5CX_obj_t *self = nullptr;
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enum {
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ARG_i2c,
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ARG_addr,
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ARG_firmware,
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};
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_i2c, MP_ARG_OBJ, {.u_obj = nullptr} },
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{ MP_QSTR_addr, MP_ARG_INT, {.u_int = pimoroni::VL53L5CX::DEFAULT_ADDRESS} },
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{ MP_QSTR_firmware, MP_ARG_OBJ | MP_ARG_REQUIRED }
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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if(!MP_OBJ_IS_TYPE(args[ARG_i2c].u_obj, &PimoroniI2C_type)) {
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mp_raise_ValueError(MP_ERROR_TEXT("VL53L5CX: Bad i2C object"));
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return mp_const_none;
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}
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mp_buffer_info_t bufinfo;
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mp_get_buffer_raise(args[ARG_firmware].u_obj, &bufinfo, MP_BUFFER_READ);
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if(bufinfo.len != (size_t)(84 * 1024)) { // firmware blob is always 84K
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mp_raise_ValueError("Supplied firmware should be 84k bytes!");
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}
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_PimoroniI2C_obj_t *i2c = (_PimoroniI2C_obj_t *)MP_OBJ_TO_PTR(args[ARG_i2c].u_obj);
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int addr = args[ARG_addr].u_int;
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self = m_new_obj_with_finaliser(_VL53L5CX_obj_t);
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self->base.type = &VL53L5CX_type;
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self->i2c = i2c;
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self->breakout = new pimoroni::VL53L5CX(i2c->i2c, (uint8_t *)bufinfo.buf, addr);
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if(!self->breakout->init()) {
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mp_raise_msg(&mp_type_RuntimeError, "VL53L5CX: error initialising");
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}
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return MP_OBJ_FROM_PTR(self);
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}
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mp_obj_t VL53L5CX_start_ranging(mp_obj_t self_in) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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bool status = self->breakout->start_ranging();
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if(!status) {
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mp_raise_msg(&mp_type_RuntimeError, "VL53L5CX: start_ranging error");
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}
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return mp_const_none;
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}
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mp_obj_t VL53L5CX_stop_ranging(mp_obj_t self_in) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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bool status = self->breakout->stop_ranging();
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if(!status) {
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mp_raise_msg(&mp_type_RuntimeError, "VL53L5CX: stop_ranging error");
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}
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return mp_const_none;
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}
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mp_obj_t VL53L5CX_enable_motion_indicator(mp_obj_t self_in, mp_obj_t value) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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bool status = self->breakout->enable_motion_indicator((pimoroni::VL53L5CX::Resolution)mp_obj_get_int(value));
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if(!status) {
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mp_raise_msg(&mp_type_RuntimeError, "VL53L5CX: enable_motion_indicator error");
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}
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return mp_const_none;
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}
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mp_obj_t VL53L5CX_set_motion_distance(mp_obj_t self_in, mp_obj_t distance_min, mp_obj_t distance_max) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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bool status = self->breakout->set_motion_distance(mp_obj_get_int(distance_min), mp_obj_get_int(distance_max));
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if(!status) {
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mp_raise_msg(&mp_type_RuntimeError, "VL53L5CX: set_motion_distance error");
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}
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return mp_const_none;
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}
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mp_obj_t VL53L5CX_set_i2c_address(mp_obj_t self_in, mp_obj_t value) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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bool status = self->breakout->set_i2c_address(mp_obj_get_int(value));
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if(!status) {
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mp_raise_msg(&mp_type_RuntimeError, "VL53L5CX: set_i2c_address error");
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}
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return mp_const_none;
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}
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mp_obj_t VL53L5CX_set_ranging_mode(mp_obj_t self_in, mp_obj_t value) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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bool status = self->breakout->set_ranging_mode((pimoroni::VL53L5CX::RangingMode)mp_obj_get_int(value));
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if(!status) {
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mp_raise_msg(&mp_type_RuntimeError, "VL53L5CX: set_ranging_mode error");
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}
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return mp_const_none;
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}
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mp_obj_t VL53L5CX_set_ranging_frequency_hz(mp_obj_t self_in, mp_obj_t value) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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bool status = self->breakout->set_ranging_frequency_hz(mp_obj_get_int(value));
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if(!status) {
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mp_raise_msg(&mp_type_RuntimeError, "VL53L5CX: set_ranging_frequency_hz error");
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}
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return mp_const_none;
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}
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mp_obj_t VL53L5CX_set_resolution(mp_obj_t self_in, mp_obj_t value) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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bool status = self->breakout->set_resolution((pimoroni::VL53L5CX::Resolution)mp_obj_get_int(value));
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if(!status) {
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mp_raise_msg(&mp_type_RuntimeError, "VL53L5CX: set_resolution error");
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}
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return mp_const_none;
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}
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mp_obj_t VL53L5CX_set_integration_time_ms(mp_obj_t self_in, mp_obj_t value) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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bool status = self->breakout->set_integration_time_ms(mp_obj_get_int(value));
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if(!status) {
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mp_raise_msg(&mp_type_RuntimeError, "VL53L5CX: set_integration_time_ms error");
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}
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return mp_const_none;
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}
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mp_obj_t VL53L5CX_set_sharpener_percent(mp_obj_t self_in, mp_obj_t value) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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bool status = self->breakout->set_sharpener_percent(mp_obj_get_int(value));
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if(!status) {
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mp_raise_msg(&mp_type_RuntimeError, "VL53L5CX: set_sharpener_percent error");
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}
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return mp_const_none;
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}
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mp_obj_t VL53L5CX_set_target_order(mp_obj_t self_in, mp_obj_t value) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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bool status = self->breakout->set_target_order((pimoroni::VL53L5CX::TargetOrder)mp_obj_get_int(value));
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if(!status) {
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mp_raise_msg(&mp_type_RuntimeError, "VL53L5CX: set_target_order error");
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}
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return mp_const_none;
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}
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mp_obj_t VL53L5CX_set_power_mode(mp_obj_t self_in, mp_obj_t value) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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bool status = self->breakout->set_power_mode((pimoroni::VL53L5CX::PowerMode)mp_obj_get_int(value));
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if(!status) {
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mp_raise_msg(&mp_type_RuntimeError, "VL53L5CX: set_power_mode error");
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}
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return mp_const_none;
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}
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mp_obj_t VL53L5CX_data_ready(mp_obj_t self_in) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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return self->breakout->data_ready() ? mp_const_true : mp_const_false;
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}
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mp_obj_t VL53L5CX_get_data(mp_obj_t self_in) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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pimoroni::VL53L5CX::ResultsData results;
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bool status = self->breakout->get_data(&results);
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if(!status) {
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mp_raise_msg(&mp_type_RuntimeError, "VL53L5CX: get_data error");
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}
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// Get the current resolution so we only look at valid results.
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// This is so that our average distance works out and doesn't include bogus data.
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int scale = (uint8_t)self->breakout->get_resolution();
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int tuple_size = scale * VL53L5CX_NB_TARGET_PER_ZONE;
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// TODO This doesn't really handle VL53L5CX_NB_TARGET_PER_ZONE > 1 gracefully
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// the zone data should be split into separate tuples
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mp_obj_t tuple_distance_mm[tuple_size];
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mp_obj_t tuple_reflectance[tuple_size];
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int32_t average_distance = 0;
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int32_t average_reflectance = 0;
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// Build a tuple of motion data
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for(int i = 0u; i < tuple_size; i++) {
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tuple_distance_mm[i] = mp_obj_new_int(results.distance_mm[i]);
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tuple_reflectance[i] = mp_obj_new_int(results.reflectance[i]);
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average_distance += results.distance_mm[i];
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average_reflectance += results.reflectance[i];
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}
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average_distance /= tuple_size;
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average_reflectance /= tuple_size;
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mp_obj_t tuple_motion_data[32];
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for(int i = 0u; i < 32; i++) {
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tuple_motion_data[i] = mp_obj_new_int(results.motion_indicator.motion[i]);
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}
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STATIC const qstr tuple_motion_fields[] = {MP_QSTR_global_indicator_1, MP_QSTR_global_indicator_2, MP_QSTR_motion};
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mp_obj_t tuple_motion[] = {
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mp_obj_new_int(results.motion_indicator.global_indicator_1),
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mp_obj_new_int(results.motion_indicator.global_indicator_2),
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mp_obj_new_tuple(sizeof(tuple_motion_data) / sizeof(mp_obj_t), tuple_motion_data)
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};
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mp_obj_t tuple[] = {
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mp_obj_new_int(average_distance), // Average distance
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mp_obj_new_int(average_reflectance), // Average reflectance
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mp_obj_new_attrtuple(tuple_motion_fields, sizeof(tuple_motion) / sizeof(mp_obj_t), tuple_motion), // Motion data
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mp_obj_new_int(tuple_size), // Number of results
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mp_obj_new_tuple(tuple_size, tuple_distance_mm), // Full distance results
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mp_obj_new_tuple(tuple_size, tuple_reflectance) // Full reflectange results
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};
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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};
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return mp_obj_new_attrtuple(tuple_fields, sizeof(tuple) / sizeof(mp_obj_t), tuple);
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}
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} |