mirror of
https://github.com/BotChain-Robots/firmware.git
synced 2026-07-08 09:37:21 +02:00
Add distance sensor, rewrite OLED to use new i2c library
This commit is contained in:
@@ -42,6 +42,9 @@ inline std::unordered_map<int, int> MODULE_TO_NUM_CHANNELS_MAP {
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#define OLED_SDA 17
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#define OLED_SCL 18
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#define DISTANCE_SDA 17
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#define DISTANCE_SCL 18
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inline std::unordered_map<uint8_t, uint8_t> CHANNEL_TO_0_DEG_MAP{{0, 9} };
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inline std::unordered_map<uint8_t, uint8_t> CHANNEL_TO_90_DEG_MAP{{0, 7} };
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inline std::unordered_map<uint8_t, uint8_t> CHANNEL_TO_180_DEG_MAP{{0, 8} };
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@@ -30,6 +30,18 @@ SerializedMessage SensorMessageBuilder::build_sensor_message(std::vector<sensor_
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auto text_offset = builder_.CreateString(t.text);
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values_vec.push_back(Messaging::CreateCurrentText(builder_, text_offset).Union());
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sensor_values_vec.push_back(Messaging::SensorValue_CurrentText);
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},
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[&](distance d) {
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values_vec.push_back(Messaging::CreateDistance(builder_, d.distance).Union());
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sensor_values_vec.push_back(Messaging::SensorValue_Distance);
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},
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[&](temperature t) {
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values_vec.push_back(Messaging::CreateTemperature(builder_, t.temperature).Union());
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sensor_values_vec.push_back(Messaging::SensorValue_Temperature);
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},
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[&](position p) {
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values_vec.push_back(Messaging::CreatePosition(builder_, p.heading, p.pitch, p.roll).Union());
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sensor_values_vec.push_back(Messaging::SensorValue_Temperature);
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}
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},
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v);
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@@ -19,7 +19,21 @@ struct target_text {
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std::string text;
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};
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typedef std::variant<target_angle, current_angle, target_text> sensor_value;
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struct distance {
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float distance;
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};
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struct temperature {
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float temperature;
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};
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struct position {
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float heading;
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float pitch;
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float roll;
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};
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typedef std::variant<target_angle, current_angle, target_text, distance, temperature, position> sensor_value;
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class SensorMessageBuilder {
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public:
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@@ -24,6 +24,15 @@ struct CurrentTextBuilder;
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struct CurrentAngle;
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struct CurrentAngleBuilder;
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struct Distance;
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struct DistanceBuilder;
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struct Temperature;
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struct TemperatureBuilder;
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struct Position;
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struct PositionBuilder;
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struct SensorMessage;
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struct SensorMessageBuilder;
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@@ -32,33 +41,42 @@ enum SensorValue : uint8_t {
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SensorValue_TargetAngle = 1,
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SensorValue_CurrentAngle = 2,
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SensorValue_CurrentText = 3,
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SensorValue_Distance = 4,
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SensorValue_Temperature = 5,
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SensorValue_Position = 6,
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SensorValue_MIN = SensorValue_NONE,
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SensorValue_MAX = SensorValue_CurrentText
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SensorValue_MAX = SensorValue_Position
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};
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inline const SensorValue (&EnumValuesSensorValue())[4] {
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inline const SensorValue (&EnumValuesSensorValue())[7] {
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static const SensorValue values[] = {
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SensorValue_NONE,
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SensorValue_TargetAngle,
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SensorValue_CurrentAngle,
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SensorValue_CurrentText
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SensorValue_CurrentText,
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SensorValue_Distance,
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SensorValue_Temperature,
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SensorValue_Position
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};
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return values;
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}
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inline const char * const *EnumNamesSensorValue() {
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static const char * const names[5] = {
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static const char * const names[8] = {
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"NONE",
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"TargetAngle",
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"CurrentAngle",
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"CurrentText",
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"Distance",
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"Temperature",
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"Position",
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nullptr
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};
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return names;
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}
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inline const char *EnumNameSensorValue(SensorValue e) {
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if (::flatbuffers::IsOutRange(e, SensorValue_NONE, SensorValue_CurrentText)) return "";
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if (::flatbuffers::IsOutRange(e, SensorValue_NONE, SensorValue_Position)) return "";
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const size_t index = static_cast<size_t>(e);
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return EnumNamesSensorValue()[index];
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}
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@@ -79,6 +97,18 @@ template<> struct SensorValueTraits<Messaging::CurrentText> {
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static const SensorValue enum_value = SensorValue_CurrentText;
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};
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template<> struct SensorValueTraits<Messaging::Distance> {
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static const SensorValue enum_value = SensorValue_Distance;
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};
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template<> struct SensorValueTraits<Messaging::Temperature> {
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static const SensorValue enum_value = SensorValue_Temperature;
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};
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template<> struct SensorValueTraits<Messaging::Position> {
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static const SensorValue enum_value = SensorValue_Position;
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};
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bool VerifySensorValue(::flatbuffers::Verifier &verifier, const void *obj, SensorValue type);
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bool VerifySensorValueVector(::flatbuffers::Verifier &verifier, const ::flatbuffers::Vector<::flatbuffers::Offset<void>> *values, const ::flatbuffers::Vector<uint8_t> *types);
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@@ -215,6 +245,149 @@ inline ::flatbuffers::Offset<CurrentAngle> CreateCurrentAngle(
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return builder_.Finish();
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}
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struct Distance FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
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typedef DistanceBuilder Builder;
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enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
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VT_VALUE = 4
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};
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float value() const {
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return GetField<float>(VT_VALUE, 0.0f);
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}
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bool Verify(::flatbuffers::Verifier &verifier) const {
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return VerifyTableStart(verifier) &&
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VerifyField<float>(verifier, VT_VALUE, 4) &&
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verifier.EndTable();
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}
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};
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struct DistanceBuilder {
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typedef Distance Table;
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::flatbuffers::FlatBufferBuilder &fbb_;
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::flatbuffers::uoffset_t start_;
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void add_value(float value) {
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fbb_.AddElement<float>(Distance::VT_VALUE, value, 0.0f);
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}
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explicit DistanceBuilder(::flatbuffers::FlatBufferBuilder &_fbb)
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: fbb_(_fbb) {
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start_ = fbb_.StartTable();
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}
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::flatbuffers::Offset<Distance> Finish() {
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const auto end = fbb_.EndTable(start_);
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auto o = ::flatbuffers::Offset<Distance>(end);
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return o;
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}
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};
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inline ::flatbuffers::Offset<Distance> CreateDistance(
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::flatbuffers::FlatBufferBuilder &_fbb,
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float value = 0.0f) {
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DistanceBuilder builder_(_fbb);
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builder_.add_value(value);
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return builder_.Finish();
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}
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struct Temperature FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
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typedef TemperatureBuilder Builder;
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enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
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VT_VALUE = 4
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};
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float value() const {
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return GetField<float>(VT_VALUE, 0.0f);
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}
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bool Verify(::flatbuffers::Verifier &verifier) const {
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return VerifyTableStart(verifier) &&
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VerifyField<float>(verifier, VT_VALUE, 4) &&
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verifier.EndTable();
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}
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};
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struct TemperatureBuilder {
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typedef Temperature Table;
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::flatbuffers::FlatBufferBuilder &fbb_;
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::flatbuffers::uoffset_t start_;
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void add_value(float value) {
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fbb_.AddElement<float>(Temperature::VT_VALUE, value, 0.0f);
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}
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explicit TemperatureBuilder(::flatbuffers::FlatBufferBuilder &_fbb)
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: fbb_(_fbb) {
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start_ = fbb_.StartTable();
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}
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::flatbuffers::Offset<Temperature> Finish() {
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const auto end = fbb_.EndTable(start_);
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auto o = ::flatbuffers::Offset<Temperature>(end);
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return o;
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}
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};
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inline ::flatbuffers::Offset<Temperature> CreateTemperature(
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::flatbuffers::FlatBufferBuilder &_fbb,
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float value = 0.0f) {
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TemperatureBuilder builder_(_fbb);
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builder_.add_value(value);
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return builder_.Finish();
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}
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struct Position FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
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typedef PositionBuilder Builder;
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enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
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VT_HEADING = 4,
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VT_PITCH = 6,
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VT_ROLL = 8
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};
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float heading() const {
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return GetField<float>(VT_HEADING, 0.0f);
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}
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float pitch() const {
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return GetField<float>(VT_PITCH, 0.0f);
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}
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float roll() const {
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return GetField<float>(VT_ROLL, 0.0f);
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}
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bool Verify(::flatbuffers::Verifier &verifier) const {
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return VerifyTableStart(verifier) &&
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VerifyField<float>(verifier, VT_HEADING, 4) &&
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VerifyField<float>(verifier, VT_PITCH, 4) &&
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VerifyField<float>(verifier, VT_ROLL, 4) &&
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verifier.EndTable();
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}
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};
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struct PositionBuilder {
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typedef Position Table;
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::flatbuffers::FlatBufferBuilder &fbb_;
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::flatbuffers::uoffset_t start_;
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void add_heading(float heading) {
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fbb_.AddElement<float>(Position::VT_HEADING, heading, 0.0f);
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}
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void add_pitch(float pitch) {
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fbb_.AddElement<float>(Position::VT_PITCH, pitch, 0.0f);
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}
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void add_roll(float roll) {
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fbb_.AddElement<float>(Position::VT_ROLL, roll, 0.0f);
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}
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explicit PositionBuilder(::flatbuffers::FlatBufferBuilder &_fbb)
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: fbb_(_fbb) {
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start_ = fbb_.StartTable();
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}
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::flatbuffers::Offset<Position> Finish() {
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const auto end = fbb_.EndTable(start_);
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auto o = ::flatbuffers::Offset<Position>(end);
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return o;
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}
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};
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inline ::flatbuffers::Offset<Position> CreatePosition(
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::flatbuffers::FlatBufferBuilder &_fbb,
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float heading = 0.0f,
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float pitch = 0.0f,
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float roll = 0.0f) {
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PositionBuilder builder_(_fbb);
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builder_.add_roll(roll);
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builder_.add_pitch(pitch);
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builder_.add_heading(heading);
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return builder_.Finish();
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}
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struct SensorMessage FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
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typedef SensorMessageBuilder Builder;
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enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
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@@ -298,6 +471,18 @@ inline bool VerifySensorValue(::flatbuffers::Verifier &verifier, const void *obj
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auto ptr = reinterpret_cast<const Messaging::CurrentText *>(obj);
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return verifier.VerifyTable(ptr);
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}
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case SensorValue_Distance: {
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auto ptr = reinterpret_cast<const Messaging::Distance *>(obj);
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return verifier.VerifyTable(ptr);
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}
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case SensorValue_Temperature: {
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auto ptr = reinterpret_cast<const Messaging::Temperature *>(obj);
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return verifier.VerifyTable(ptr);
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}
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case SensorValue_Position: {
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auto ptr = reinterpret_cast<const Messaging::Position *>(obj);
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return verifier.VerifyTable(ptr);
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}
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default: return true;
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}
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}
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@@ -1,8 +1,7 @@
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#include <string>
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#include "driver/gpio.h"
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#include "driver/i2c.h"
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#include <driver/i2c_master.h>
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#include "esp_err.h"
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#include "esp_log.h"
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#include "Oled.h"
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@@ -18,141 +17,141 @@
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#define DISPLAY_HEIGHT 64
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#define PAGE_SIZE 128
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#define PAGE_COUNT 8
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#define I2C_PORT I2C_NUM_0
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#define I2C_TIMEOUT_MS 100
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void Oled::init(uint8_t sda_pin, uint8_t scl_pin) {
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i2c_config_t i2c_config = {
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.mode = I2C_MODE_MASTER,
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.sda_io_num = sda_pin,
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.scl_io_num = scl_pin,
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.sda_pullup_en = GPIO_PULLUP_ENABLE,
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.scl_pullup_en = GPIO_PULLUP_ENABLE,
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.master = {
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.clk_speed = 1000000
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i2c_master_bus_config_t bus_config = {
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.i2c_port = I2C_NUM_0,
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.sda_io_num = (gpio_num_t)sda_pin,
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.scl_io_num = (gpio_num_t)scl_pin,
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.clk_source = I2C_CLK_SRC_DEFAULT,
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.glitch_ignore_cnt = 7,
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.intr_priority = 0,
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.trans_queue_depth = 0,
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.flags = {
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.enable_internal_pullup = true,
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},
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.clk_flags = 0,
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};
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i2c_param_config(I2C_PORT, &i2c_config);
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ESP_ERROR_CHECK(i2c_new_master_bus(&bus_config, &bus_handle));
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i2c_driver_install(I2C_PORT, I2C_MODE_MASTER, 0, 0, 0);
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i2c_device_config_t dev_config = {
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.dev_addr_length = I2C_ADDR_BIT_LEN_7,
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.device_address = OLED_I2C_ADDRESS,
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.scl_speed_hz = 400000,
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.scl_wait_us = 0,
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.flags = {
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.disable_ack_check = false,
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},
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};
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ESP_ERROR_CHECK(i2c_master_bus_add_device(bus_handle, &dev_config, &dev_handle));
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i2c_cmd_handle_t cmd = i2c_cmd_link_create();
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i2c_master_start(cmd);
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i2c_master_write_byte(cmd, (OLED_I2C_ADDRESS << 1) | I2C_MASTER_WRITE, true);
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i2c_master_write_byte(cmd, OLED_CONTROL_BYTE_CMD_STREAM, true);
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i2c_master_write_byte(cmd, OLED_CMD_SET_CHARGE_PUMP, true);
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i2c_master_write_byte(cmd, 0x14, true);
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i2c_master_write_byte(cmd, OLED_CMD_SET_SEGMENT_REMAP, true);
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i2c_master_write_byte(cmd, OLED_CMD_SET_COM_SCAN_MODE, true);
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i2c_master_write_byte(cmd, OLED_CMD_DISPLAY_ON, true);
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i2c_master_stop(cmd);
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// Full SSD1306 initialisation sequence
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uint8_t init_cmd[] = {
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OLED_CONTROL_BYTE_CMD_STREAM,
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OLED_CMD_DISPLAY_OFF, // display off during init
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OLED_CMD_SET_DISPLAY_CLK_DIV, 0x80, // clock divide ratio / oscillator frequency
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OLED_CMD_SET_MUX_RATIO, 0x3F, // 1/64 duty (64 rows)
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OLED_CMD_SET_DISPLAY_OFFSET, 0x00, // no vertical shift
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OLED_CMD_SET_DISPLAY_START_LINE, // start line = 0
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OLED_CMD_SET_CHARGE_PUMP, 0x14, // enable charge pump
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OLED_CMD_SET_MEMORY_ADDR_MODE, 0x02,// page addressing mode
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OLED_CMD_SET_SEGMENT_REMAP, // mirror horizontally (0xA1)
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OLED_CMD_SET_COM_SCAN_MODE, // mirror vertically (0xC8)
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OLED_CMD_SET_COM_PIN_MAP, 0x12, // alt COM pin config for 128x64
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OLED_CMD_SET_CONTRAST, 0x7F, // mid contrast
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OLED_CMD_SET_PRECHARGE, 0xF1, // pre-charge period
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OLED_CMD_SET_VCOMH_DESELCT, 0x30, // VCOMH deselect level
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OLED_CMD_DISPLAY_RAM, // display follows RAM
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OLED_CMD_DISPLAY_NORMAL, // non-inverted
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OLED_CMD_DISPLAY_ON, // turn display on
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};
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if (ESP_OK != i2c_master_cmd_begin(I2C_PORT, cmd, 10 / portTICK_PERIOD_MS)) {
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ESP_LOGE(TAG, "configuration failed");
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}
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if (ESP_OK != i2c_master_transmit(dev_handle, init_cmd, sizeof(init_cmd), I2C_TIMEOUT_MS)) {
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ESP_LOGE(TAG, "configuration failed");
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}
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i2c_cmd_link_delete(cmd);
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clear_display();
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clear_display();
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}
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void Oled::clear_display() {
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ESP_LOGI(TAG, "clear_display");
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i2c_cmd_handle_t cmd;
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uint8_t page[PAGE_SIZE] = {0};
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for (uint8_t i = 0; i < PAGE_COUNT; i++) {
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cmd = i2c_cmd_link_create();
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i2c_master_start(cmd);
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i2c_master_write_byte(cmd, (OLED_I2C_ADDRESS << 1) | I2C_MASTER_WRITE, true);
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i2c_master_write_byte(cmd, OLED_CONTROL_BYTE_CMD_SINGLE, true);
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i2c_master_write_byte(cmd, 0xB0 | i, true);
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// Data packet: control byte + PAGE_SIZE zero bytes
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uint8_t data_buf[1 + PAGE_SIZE] = { OLED_CONTROL_BYTE_DATA_STREAM };
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// rest is already zero-initialised
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i2c_master_write_byte(cmd, OLED_CONTROL_BYTE_DATA_STREAM, true);
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i2c_master_write(cmd, page, PAGE_SIZE, true);
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i2c_master_stop(cmd);
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i2c_master_cmd_begin(I2C_PORT, cmd, 10 / portTICK_PERIOD_MS);
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i2c_cmd_link_delete(cmd);
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}
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for (uint8_t i = 0; i < PAGE_COUNT; i++) {
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// Set page address and reset column to 0
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uint8_t page_cmd[] = {
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OLED_CONTROL_BYTE_CMD_STREAM,
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(uint8_t)(0xB0 | i), // page address
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0x00, // column low nibble = 0
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0x10, // column high nibble = 0
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};
|
||||
i2c_master_transmit(dev_handle, page_cmd, sizeof(page_cmd), I2C_TIMEOUT_MS);
|
||||
i2c_master_transmit(dev_handle, data_buf, sizeof(data_buf), I2C_TIMEOUT_MS);
|
||||
}
|
||||
}
|
||||
|
||||
void Oled::set_contrast(uint8_t contrast) {
|
||||
i2c_cmd_handle_t cmd;
|
||||
cmd = i2c_cmd_link_create();
|
||||
i2c_master_start(cmd);
|
||||
i2c_master_write_byte(cmd, (OLED_I2C_ADDRESS << 1) | I2C_MASTER_WRITE, true);
|
||||
i2c_master_write_byte(cmd, OLED_CONTROL_BYTE_CMD_STREAM, true);
|
||||
i2c_master_write_byte(cmd, OLED_CMD_SET_CONTRAST, true);
|
||||
i2c_master_write_byte(cmd, contrast, true);
|
||||
i2c_master_stop(cmd);
|
||||
i2c_master_cmd_begin(I2C_NUM_0, cmd, 10 / portTICK_PERIOD_MS);
|
||||
i2c_cmd_link_delete(cmd);
|
||||
uint8_t cmd[] = {
|
||||
OLED_CONTROL_BYTE_CMD_STREAM,
|
||||
OLED_CMD_SET_CONTRAST,
|
||||
contrast,
|
||||
};
|
||||
i2c_master_transmit(dev_handle, cmd, sizeof(cmd), I2C_TIMEOUT_MS);
|
||||
}
|
||||
|
||||
void Oled::display_text(const std::string& text) {
|
||||
ESP_LOGI(TAG, "display_text %s", text.c_str());
|
||||
i2c_cmd_handle_t cmd;
|
||||
|
||||
uint8_t cur_page = 0;
|
||||
uint8_t col = 0;
|
||||
auto col_width = DISPLAY_WIDTH / 8; // using an 8x8 font
|
||||
auto num_rows = DISPLAY_HEIGHT / 8; // using an 8x8 font
|
||||
auto max_size = col_width * num_rows;
|
||||
uint8_t cur_page = 0;
|
||||
uint8_t col = 0;
|
||||
auto col_width = DISPLAY_WIDTH / 8; // using an 8x8 font
|
||||
auto num_rows = DISPLAY_HEIGHT / 8; // using an 8x8 font
|
||||
auto max_size = col_width * num_rows;
|
||||
|
||||
cmd = i2c_cmd_link_create();
|
||||
i2c_master_start(cmd);
|
||||
i2c_master_write_byte(cmd, (OLED_I2C_ADDRESS << 1) | I2C_MASTER_WRITE, true);
|
||||
// Reset cursor to top-left
|
||||
uint8_t reset_cmd[] = {
|
||||
OLED_CONTROL_BYTE_CMD_STREAM,
|
||||
0x00, // reset column low nibble
|
||||
0x10, // reset column high nibble
|
||||
(uint8_t)(0xB0 | cur_page), // reset page
|
||||
};
|
||||
i2c_master_transmit(dev_handle, reset_cmd, sizeof(reset_cmd), I2C_TIMEOUT_MS);
|
||||
|
||||
i2c_master_write_byte(cmd, OLED_CONTROL_BYTE_CMD_STREAM, true);
|
||||
i2c_master_write_byte(cmd, 0x00, true); // reset column
|
||||
i2c_master_write_byte(cmd, 0x10, true);
|
||||
i2c_master_write_byte(cmd, 0xB0 | cur_page, true); // reset page
|
||||
for (uint8_t i = 0; i < text.size() && i < max_size; i++) {
|
||||
if (text[i] == '\n' || col >= col_width) {
|
||||
// new line
|
||||
cur_page++;
|
||||
col = 0;
|
||||
uint8_t newline_cmd[] = {
|
||||
OLED_CONTROL_BYTE_CMD_STREAM,
|
||||
0x00,
|
||||
0x10,
|
||||
(uint8_t)(0xB0 | cur_page),
|
||||
};
|
||||
i2c_master_transmit(dev_handle, newline_cmd, sizeof(newline_cmd), I2C_TIMEOUT_MS);
|
||||
} else {
|
||||
uint8_t rotated[8];
|
||||
rotate8x8((uint8_t*)font8x8_basic[(uint8_t)text[i]], rotated);
|
||||
|
||||
i2c_master_stop(cmd);
|
||||
i2c_master_cmd_begin(I2C_NUM_0, cmd, 10 / portTICK_PERIOD_MS);
|
||||
i2c_cmd_link_delete(cmd);
|
||||
|
||||
for (uint8_t i = 0; i < text.size() && i < max_size; i++) {
|
||||
ESP_LOGI(TAG, "%d: %c", i, text[i]);
|
||||
if (text[i] == '\n' || col >= col_width) {
|
||||
ESP_LOGI(TAG, "new line");
|
||||
cmd = i2c_cmd_link_create();
|
||||
i2c_master_start(cmd);
|
||||
i2c_master_write_byte(cmd, (OLED_I2C_ADDRESS << 1) | I2C_MASTER_WRITE, true);
|
||||
|
||||
i2c_master_write_byte(cmd, OLED_CONTROL_BYTE_CMD_STREAM, true);
|
||||
i2c_master_write_byte(cmd, 0x00, true); // reset column
|
||||
i2c_master_write_byte(cmd, 0x10, true);
|
||||
i2c_master_write_byte(cmd, 0xB0 | ++cur_page, true); // increment page
|
||||
|
||||
i2c_master_stop(cmd);
|
||||
i2c_master_cmd_begin(I2C_NUM_0, cmd, 10/portTICK_PERIOD_MS);
|
||||
i2c_cmd_link_delete(cmd);
|
||||
col = 0;
|
||||
} else {
|
||||
cmd = i2c_cmd_link_create();
|
||||
i2c_master_start(cmd);
|
||||
i2c_master_write_byte(cmd, (OLED_I2C_ADDRESS << 1) | I2C_MASTER_WRITE, true);
|
||||
|
||||
i2c_master_write_byte(cmd, OLED_CONTROL_BYTE_DATA_STREAM, true);
|
||||
uint8_t rotated[8];
|
||||
rotate8x8((uint8_t*)font8x8_basic[(uint8_t)text[i]], rotated);
|
||||
i2c_master_write(cmd, rotated, 8, true);
|
||||
|
||||
i2c_master_stop(cmd);
|
||||
i2c_master_cmd_begin(I2C_NUM_0, cmd, 10/portTICK_PERIOD_MS);
|
||||
i2c_cmd_link_delete(cmd);
|
||||
col++;
|
||||
}
|
||||
}
|
||||
// Prepend data-stream control byte
|
||||
uint8_t data_buf[9];
|
||||
data_buf[0] = OLED_CONTROL_BYTE_DATA_STREAM;
|
||||
for (int b = 0; b < 8; b++) {
|
||||
data_buf[1 + b] = rotated[b];
|
||||
}
|
||||
i2c_master_transmit(dev_handle, data_buf, sizeof(data_buf), I2C_TIMEOUT_MS);
|
||||
col++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void Oled::rotate8x8(uint8_t in[8], uint8_t out[8]) {
|
||||
for (int x = 0; x < 8; x++) {
|
||||
out[x] = 0;
|
||||
for (int y = 0; y < 8; y++) {
|
||||
if (in[y] & (1 << x)) {
|
||||
out[x] |= (1 << (7 - y));
|
||||
if (in[7 - y] & (1 << x)) {
|
||||
out[x] |= (1 << y); // bit 0 = top row, iterate rows bottom-to-top to correct orientation
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
|
||||
#include <cstdint>
|
||||
#include <string>
|
||||
#include "driver/i2c_master.h"
|
||||
|
||||
#ifndef OLED_H
|
||||
#define OLED_H
|
||||
@@ -18,6 +19,8 @@ private:
|
||||
void init(uint8_t sda_pin, uint8_t scl_pin);
|
||||
void rotate8x8(uint8_t in[8], uint8_t out[8]);
|
||||
|
||||
i2c_master_bus_handle_t bus_handle = nullptr;
|
||||
i2c_master_dev_handle_t dev_handle = nullptr;
|
||||
};
|
||||
|
||||
#endif // OLED_H
|
||||
|
||||
5
components/vl53l0x/CMakeLists.txt
Normal file
5
components/vl53l0x/CMakeLists.txt
Normal file
@@ -0,0 +1,5 @@
|
||||
idf_component_register(
|
||||
SRCS "vl53l0x.c"
|
||||
INCLUDE_DIRS "include"
|
||||
REQUIRES "driver" "esp_timer"
|
||||
)
|
||||
9
components/vl53l0x/Kconfig
Normal file
9
components/vl53l0x/Kconfig
Normal file
@@ -0,0 +1,9 @@
|
||||
menu "VL53L0X"
|
||||
|
||||
config VL53L0X_DEBUG
|
||||
bool "Low level debug"
|
||||
default n
|
||||
help
|
||||
Low level debug
|
||||
|
||||
endmenu
|
||||
674
components/vl53l0x/LICENSE
Normal file
674
components/vl53l0x/LICENSE
Normal file
@@ -0,0 +1,674 @@
|
||||
GNU GENERAL PUBLIC LICENSE
|
||||
Version 3, 29 June 2007
|
||||
|
||||
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
|
||||
Everyone is permitted to copy and distribute verbatim copies
|
||||
of this license document, but changing it is not allowed.
|
||||
|
||||
Preamble
|
||||
|
||||
The GNU General Public License is a free, copyleft license for
|
||||
software and other kinds of works.
|
||||
|
||||
The licenses for most software and other practical works are designed
|
||||
to take away your freedom to share and change the works. By contrast,
|
||||
the GNU General Public License is intended to guarantee your freedom to
|
||||
share and change all versions of a program--to make sure it remains free
|
||||
software for all its users. We, the Free Software Foundation, use the
|
||||
GNU General Public License for most of our software; it applies also to
|
||||
any other work released this way by its authors. You can apply it to
|
||||
your programs, too.
|
||||
|
||||
When we speak of free software, we are referring to freedom, not
|
||||
price. Our General Public Licenses are designed to make sure that you
|
||||
have the freedom to distribute copies of free software (and charge for
|
||||
them if you wish), that you receive source code or can get it if you
|
||||
want it, that you can change the software or use pieces of it in new
|
||||
free programs, and that you know you can do these things.
|
||||
|
||||
To protect your rights, we need to prevent others from denying you
|
||||
these rights or asking you to surrender the rights. Therefore, you have
|
||||
certain responsibilities if you distribute copies of the software, or if
|
||||
you modify it: responsibilities to respect the freedom of others.
|
||||
|
||||
For example, if you distribute copies of such a program, whether
|
||||
gratis or for a fee, you must pass on to the recipients the same
|
||||
freedoms that you received. You must make sure that they, too, receive
|
||||
or can get the source code. And you must show them these terms so they
|
||||
know their rights.
|
||||
|
||||
Developers that use the GNU GPL protect your rights with two steps:
|
||||
(1) assert copyright on the software, and (2) offer you this License
|
||||
giving you legal permission to copy, distribute and/or modify it.
|
||||
|
||||
For the developers' and authors' protection, the GPL clearly explains
|
||||
that there is no warranty for this free software. For both users' and
|
||||
authors' sake, the GPL requires that modified versions be marked as
|
||||
changed, so that their problems will not be attributed erroneously to
|
||||
authors of previous versions.
|
||||
|
||||
Some devices are designed to deny users access to install or run
|
||||
modified versions of the software inside them, although the manufacturer
|
||||
can do so. This is fundamentally incompatible with the aim of
|
||||
protecting users' freedom to change the software. The systematic
|
||||
pattern of such abuse occurs in the area of products for individuals to
|
||||
use, which is precisely where it is most unacceptable. Therefore, we
|
||||
have designed this version of the GPL to prohibit the practice for those
|
||||
products. If such problems arise substantially in other domains, we
|
||||
stand ready to extend this provision to those domains in future versions
|
||||
of the GPL, as needed to protect the freedom of users.
|
||||
|
||||
Finally, every program is threatened constantly by software patents.
|
||||
States should not allow patents to restrict development and use of
|
||||
software on general-purpose computers, but in those that do, we wish to
|
||||
avoid the special danger that patents applied to a free program could
|
||||
make it effectively proprietary. To prevent this, the GPL assures that
|
||||
patents cannot be used to render the program non-free.
|
||||
|
||||
The precise terms and conditions for copying, distribution and
|
||||
modification follow.
|
||||
|
||||
TERMS AND CONDITIONS
|
||||
|
||||
0. Definitions.
|
||||
|
||||
"This License" refers to version 3 of the GNU General Public License.
|
||||
|
||||
"Copyright" also means copyright-like laws that apply to other kinds of
|
||||
works, such as semiconductor masks.
|
||||
|
||||
"The Program" refers to any copyrightable work licensed under this
|
||||
License. Each licensee is addressed as "you". "Licensees" and
|
||||
"recipients" may be individuals or organizations.
|
||||
|
||||
To "modify" a work means to copy from or adapt all or part of the work
|
||||
in a fashion requiring copyright permission, other than the making of an
|
||||
exact copy. The resulting work is called a "modified version" of the
|
||||
earlier work or a work "based on" the earlier work.
|
||||
|
||||
A "covered work" means either the unmodified Program or a work based
|
||||
on the Program.
|
||||
|
||||
To "propagate" a work means to do anything with it that, without
|
||||
permission, would make you directly or secondarily liable for
|
||||
infringement under applicable copyright law, except executing it on a
|
||||
computer or modifying a private copy. Propagation includes copying,
|
||||
distribution (with or without modification), making available to the
|
||||
public, and in some countries other activities as well.
|
||||
|
||||
To "convey" a work means any kind of propagation that enables other
|
||||
parties to make or receive copies. Mere interaction with a user through
|
||||
a computer network, with no transfer of a copy, is not conveying.
|
||||
|
||||
An interactive user interface displays "Appropriate Legal Notices"
|
||||
to the extent that it includes a convenient and prominently visible
|
||||
feature that (1) displays an appropriate copyright notice, and (2)
|
||||
tells the user that there is no warranty for the work (except to the
|
||||
extent that warranties are provided), that licensees may convey the
|
||||
work under this License, and how to view a copy of this License. If
|
||||
the interface presents a list of user commands or options, such as a
|
||||
menu, a prominent item in the list meets this criterion.
|
||||
|
||||
1. Source Code.
|
||||
|
||||
The "source code" for a work means the preferred form of the work
|
||||
for making modifications to it. "Object code" means any non-source
|
||||
form of a work.
|
||||
|
||||
A "Standard Interface" means an interface that either is an official
|
||||
standard defined by a recognized standards body, or, in the case of
|
||||
interfaces specified for a particular programming language, one that
|
||||
is widely used among developers working in that language.
|
||||
|
||||
The "System Libraries" of an executable work include anything, other
|
||||
than the work as a whole, that (a) is included in the normal form of
|
||||
packaging a Major Component, but which is not part of that Major
|
||||
Component, and (b) serves only to enable use of the work with that
|
||||
Major Component, or to implement a Standard Interface for which an
|
||||
implementation is available to the public in source code form. A
|
||||
"Major Component", in this context, means a major essential component
|
||||
(kernel, window system, and so on) of the specific operating system
|
||||
(if any) on which the executable work runs, or a compiler used to
|
||||
produce the work, or an object code interpreter used to run it.
|
||||
|
||||
The "Corresponding Source" for a work in object code form means all
|
||||
the source code needed to generate, install, and (for an executable
|
||||
work) run the object code and to modify the work, including scripts to
|
||||
control those activities. However, it does not include the work's
|
||||
System Libraries, or general-purpose tools or generally available free
|
||||
programs which are used unmodified in performing those activities but
|
||||
which are not part of the work. For example, Corresponding Source
|
||||
includes interface definition files associated with source files for
|
||||
the work, and the source code for shared libraries and dynamically
|
||||
linked subprograms that the work is specifically designed to require,
|
||||
such as by intimate data communication or control flow between those
|
||||
subprograms and other parts of the work.
|
||||
|
||||
The Corresponding Source need not include anything that users
|
||||
can regenerate automatically from other parts of the Corresponding
|
||||
Source.
|
||||
|
||||
The Corresponding Source for a work in source code form is that
|
||||
same work.
|
||||
|
||||
2. Basic Permissions.
|
||||
|
||||
All rights granted under this License are granted for the term of
|
||||
copyright on the Program, and are irrevocable provided the stated
|
||||
conditions are met. This License explicitly affirms your unlimited
|
||||
permission to run the unmodified Program. The output from running a
|
||||
covered work is covered by this License only if the output, given its
|
||||
content, constitutes a covered work. This License acknowledges your
|
||||
rights of fair use or other equivalent, as provided by copyright law.
|
||||
|
||||
You may make, run and propagate covered works that you do not
|
||||
convey, without conditions so long as your license otherwise remains
|
||||
in force. You may convey covered works to others for the sole purpose
|
||||
of having them make modifications exclusively for you, or provide you
|
||||
with facilities for running those works, provided that you comply with
|
||||
the terms of this License in conveying all material for which you do
|
||||
not control copyright. Those thus making or running the covered works
|
||||
for you must do so exclusively on your behalf, under your direction
|
||||
and control, on terms that prohibit them from making any copies of
|
||||
your copyrighted material outside their relationship with you.
|
||||
|
||||
Conveying under any other circumstances is permitted solely under
|
||||
the conditions stated below. Sublicensing is not allowed; section 10
|
||||
makes it unnecessary.
|
||||
|
||||
3. Protecting Users' Legal Rights From Anti-Circumvention Law.
|
||||
|
||||
No covered work shall be deemed part of an effective technological
|
||||
measure under any applicable law fulfilling obligations under article
|
||||
11 of the WIPO copyright treaty adopted on 20 December 1996, or
|
||||
similar laws prohibiting or restricting circumvention of such
|
||||
measures.
|
||||
|
||||
When you convey a covered work, you waive any legal power to forbid
|
||||
circumvention of technological measures to the extent such circumvention
|
||||
is effected by exercising rights under this License with respect to
|
||||
the covered work, and you disclaim any intention to limit operation or
|
||||
modification of the work as a means of enforcing, against the work's
|
||||
users, your or third parties' legal rights to forbid circumvention of
|
||||
technological measures.
|
||||
|
||||
4. Conveying Verbatim Copies.
|
||||
|
||||
You may convey verbatim copies of the Program's source code as you
|
||||
receive it, in any medium, provided that you conspicuously and
|
||||
appropriately publish on each copy an appropriate copyright notice;
|
||||
keep intact all notices stating that this License and any
|
||||
non-permissive terms added in accord with section 7 apply to the code;
|
||||
keep intact all notices of the absence of any warranty; and give all
|
||||
recipients a copy of this License along with the Program.
|
||||
|
||||
You may charge any price or no price for each copy that you convey,
|
||||
and you may offer support or warranty protection for a fee.
|
||||
|
||||
5. Conveying Modified Source Versions.
|
||||
|
||||
You may convey a work based on the Program, or the modifications to
|
||||
produce it from the Program, in the form of source code under the
|
||||
terms of section 4, provided that you also meet all of these conditions:
|
||||
|
||||
a) The work must carry prominent notices stating that you modified
|
||||
it, and giving a relevant date.
|
||||
|
||||
b) The work must carry prominent notices stating that it is
|
||||
released under this License and any conditions added under section
|
||||
7. This requirement modifies the requirement in section 4 to
|
||||
"keep intact all notices".
|
||||
|
||||
c) You must license the entire work, as a whole, under this
|
||||
License to anyone who comes into possession of a copy. This
|
||||
License will therefore apply, along with any applicable section 7
|
||||
additional terms, to the whole of the work, and all its parts,
|
||||
regardless of how they are packaged. This License gives no
|
||||
permission to license the work in any other way, but it does not
|
||||
invalidate such permission if you have separately received it.
|
||||
|
||||
d) If the work has interactive user interfaces, each must display
|
||||
Appropriate Legal Notices; however, if the Program has interactive
|
||||
interfaces that do not display Appropriate Legal Notices, your
|
||||
work need not make them do so.
|
||||
|
||||
A compilation of a covered work with other separate and independent
|
||||
works, which are not by their nature extensions of the covered work,
|
||||
and which are not combined with it such as to form a larger program,
|
||||
in or on a volume of a storage or distribution medium, is called an
|
||||
"aggregate" if the compilation and its resulting copyright are not
|
||||
used to limit the access or legal rights of the compilation's users
|
||||
beyond what the individual works permit. Inclusion of a covered work
|
||||
in an aggregate does not cause this License to apply to the other
|
||||
parts of the aggregate.
|
||||
|
||||
6. Conveying Non-Source Forms.
|
||||
|
||||
You may convey a covered work in object code form under the terms
|
||||
of sections 4 and 5, provided that you also convey the
|
||||
machine-readable Corresponding Source under the terms of this License,
|
||||
in one of these ways:
|
||||
|
||||
a) Convey the object code in, or embodied in, a physical product
|
||||
(including a physical distribution medium), accompanied by the
|
||||
Corresponding Source fixed on a durable physical medium
|
||||
customarily used for software interchange.
|
||||
|
||||
b) Convey the object code in, or embodied in, a physical product
|
||||
(including a physical distribution medium), accompanied by a
|
||||
written offer, valid for at least three years and valid for as
|
||||
long as you offer spare parts or customer support for that product
|
||||
model, to give anyone who possesses the object code either (1) a
|
||||
copy of the Corresponding Source for all the software in the
|
||||
product that is covered by this License, on a durable physical
|
||||
medium customarily used for software interchange, for a price no
|
||||
more than your reasonable cost of physically performing this
|
||||
conveying of source, or (2) access to copy the
|
||||
Corresponding Source from a network server at no charge.
|
||||
|
||||
c) Convey individual copies of the object code with a copy of the
|
||||
written offer to provide the Corresponding Source. This
|
||||
alternative is allowed only occasionally and noncommercially, and
|
||||
only if you received the object code with such an offer, in accord
|
||||
with subsection 6b.
|
||||
|
||||
d) Convey the object code by offering access from a designated
|
||||
place (gratis or for a charge), and offer equivalent access to the
|
||||
Corresponding Source in the same way through the same place at no
|
||||
further charge. You need not require recipients to copy the
|
||||
Corresponding Source along with the object code. If the place to
|
||||
copy the object code is a network server, the Corresponding Source
|
||||
may be on a different server (operated by you or a third party)
|
||||
that supports equivalent copying facilities, provided you maintain
|
||||
clear directions next to the object code saying where to find the
|
||||
Corresponding Source. Regardless of what server hosts the
|
||||
Corresponding Source, you remain obligated to ensure that it is
|
||||
available for as long as needed to satisfy these requirements.
|
||||
|
||||
e) Convey the object code using peer-to-peer transmission, provided
|
||||
you inform other peers where the object code and Corresponding
|
||||
Source of the work are being offered to the general public at no
|
||||
charge under subsection 6d.
|
||||
|
||||
A separable portion of the object code, whose source code is excluded
|
||||
from the Corresponding Source as a System Library, need not be
|
||||
included in conveying the object code work.
|
||||
|
||||
A "User Product" is either (1) a "consumer product", which means any
|
||||
tangible personal property which is normally used for personal, family,
|
||||
or household purposes, or (2) anything designed or sold for incorporation
|
||||
into a dwelling. In determining whether a product is a consumer product,
|
||||
doubtful cases shall be resolved in favor of coverage. For a particular
|
||||
product received by a particular user, "normally used" refers to a
|
||||
typical or common use of that class of product, regardless of the status
|
||||
of the particular user or of the way in which the particular user
|
||||
actually uses, or expects or is expected to use, the product. A product
|
||||
is a consumer product regardless of whether the product has substantial
|
||||
commercial, industrial or non-consumer uses, unless such uses represent
|
||||
the only significant mode of use of the product.
|
||||
|
||||
"Installation Information" for a User Product means any methods,
|
||||
procedures, authorization keys, or other information required to install
|
||||
and execute modified versions of a covered work in that User Product from
|
||||
a modified version of its Corresponding Source. The information must
|
||||
suffice to ensure that the continued functioning of the modified object
|
||||
code is in no case prevented or interfered with solely because
|
||||
modification has been made.
|
||||
|
||||
If you convey an object code work under this section in, or with, or
|
||||
specifically for use in, a User Product, and the conveying occurs as
|
||||
part of a transaction in which the right of possession and use of the
|
||||
User Product is transferred to the recipient in perpetuity or for a
|
||||
fixed term (regardless of how the transaction is characterized), the
|
||||
Corresponding Source conveyed under this section must be accompanied
|
||||
by the Installation Information. But this requirement does not apply
|
||||
if neither you nor any third party retains the ability to install
|
||||
modified object code on the User Product (for example, the work has
|
||||
been installed in ROM).
|
||||
|
||||
The requirement to provide Installation Information does not include a
|
||||
requirement to continue to provide support service, warranty, or updates
|
||||
for a work that has been modified or installed by the recipient, or for
|
||||
the User Product in which it has been modified or installed. Access to a
|
||||
network may be denied when the modification itself materially and
|
||||
adversely affects the operation of the network or violates the rules and
|
||||
protocols for communication across the network.
|
||||
|
||||
Corresponding Source conveyed, and Installation Information provided,
|
||||
in accord with this section must be in a format that is publicly
|
||||
documented (and with an implementation available to the public in
|
||||
source code form), and must require no special password or key for
|
||||
unpacking, reading or copying.
|
||||
|
||||
7. Additional Terms.
|
||||
|
||||
"Additional permissions" are terms that supplement the terms of this
|
||||
License by making exceptions from one or more of its conditions.
|
||||
Additional permissions that are applicable to the entire Program shall
|
||||
be treated as though they were included in this License, to the extent
|
||||
that they are valid under applicable law. If additional permissions
|
||||
apply only to part of the Program, that part may be used separately
|
||||
under those permissions, but the entire Program remains governed by
|
||||
this License without regard to the additional permissions.
|
||||
|
||||
When you convey a copy of a covered work, you may at your option
|
||||
remove any additional permissions from that copy, or from any part of
|
||||
it. (Additional permissions may be written to require their own
|
||||
removal in certain cases when you modify the work.) You may place
|
||||
additional permissions on material, added by you to a covered work,
|
||||
for which you have or can give appropriate copyright permission.
|
||||
|
||||
Notwithstanding any other provision of this License, for material you
|
||||
add to a covered work, you may (if authorized by the copyright holders of
|
||||
that material) supplement the terms of this License with terms:
|
||||
|
||||
a) Disclaiming warranty or limiting liability differently from the
|
||||
terms of sections 15 and 16 of this License; or
|
||||
|
||||
b) Requiring preservation of specified reasonable legal notices or
|
||||
author attributions in that material or in the Appropriate Legal
|
||||
Notices displayed by works containing it; or
|
||||
|
||||
c) Prohibiting misrepresentation of the origin of that material, or
|
||||
requiring that modified versions of such material be marked in
|
||||
reasonable ways as different from the original version; or
|
||||
|
||||
d) Limiting the use for publicity purposes of names of licensors or
|
||||
authors of the material; or
|
||||
|
||||
e) Declining to grant rights under trademark law for use of some
|
||||
trade names, trademarks, or service marks; or
|
||||
|
||||
f) Requiring indemnification of licensors and authors of that
|
||||
material by anyone who conveys the material (or modified versions of
|
||||
it) with contractual assumptions of liability to the recipient, for
|
||||
any liability that these contractual assumptions directly impose on
|
||||
those licensors and authors.
|
||||
|
||||
All other non-permissive additional terms are considered "further
|
||||
restrictions" within the meaning of section 10. If the Program as you
|
||||
received it, or any part of it, contains a notice stating that it is
|
||||
governed by this License along with a term that is a further
|
||||
restriction, you may remove that term. If a license document contains
|
||||
a further restriction but permits relicensing or conveying under this
|
||||
License, you may add to a covered work material governed by the terms
|
||||
of that license document, provided that the further restriction does
|
||||
not survive such relicensing or conveying.
|
||||
|
||||
If you add terms to a covered work in accord with this section, you
|
||||
must place, in the relevant source files, a statement of the
|
||||
additional terms that apply to those files, or a notice indicating
|
||||
where to find the applicable terms.
|
||||
|
||||
Additional terms, permissive or non-permissive, may be stated in the
|
||||
form of a separately written license, or stated as exceptions;
|
||||
the above requirements apply either way.
|
||||
|
||||
8. Termination.
|
||||
|
||||
You may not propagate or modify a covered work except as expressly
|
||||
provided under this License. Any attempt otherwise to propagate or
|
||||
modify it is void, and will automatically terminate your rights under
|
||||
this License (including any patent licenses granted under the third
|
||||
paragraph of section 11).
|
||||
|
||||
However, if you cease all violation of this License, then your
|
||||
license from a particular copyright holder is reinstated (a)
|
||||
provisionally, unless and until the copyright holder explicitly and
|
||||
finally terminates your license, and (b) permanently, if the copyright
|
||||
holder fails to notify you of the violation by some reasonable means
|
||||
prior to 60 days after the cessation.
|
||||
|
||||
Moreover, your license from a particular copyright holder is
|
||||
reinstated permanently if the copyright holder notifies you of the
|
||||
violation by some reasonable means, this is the first time you have
|
||||
received notice of violation of this License (for any work) from that
|
||||
copyright holder, and you cure the violation prior to 30 days after
|
||||
your receipt of the notice.
|
||||
|
||||
Termination of your rights under this section does not terminate the
|
||||
licenses of parties who have received copies or rights from you under
|
||||
this License. If your rights have been terminated and not permanently
|
||||
reinstated, you do not qualify to receive new licenses for the same
|
||||
material under section 10.
|
||||
|
||||
9. Acceptance Not Required for Having Copies.
|
||||
|
||||
You are not required to accept this License in order to receive or
|
||||
run a copy of the Program. Ancillary propagation of a covered work
|
||||
occurring solely as a consequence of using peer-to-peer transmission
|
||||
to receive a copy likewise does not require acceptance. However,
|
||||
nothing other than this License grants you permission to propagate or
|
||||
modify any covered work. These actions infringe copyright if you do
|
||||
not accept this License. Therefore, by modifying or propagating a
|
||||
covered work, you indicate your acceptance of this License to do so.
|
||||
|
||||
10. Automatic Licensing of Downstream Recipients.
|
||||
|
||||
Each time you convey a covered work, the recipient automatically
|
||||
receives a license from the original licensors, to run, modify and
|
||||
propagate that work, subject to this License. You are not responsible
|
||||
for enforcing compliance by third parties with this License.
|
||||
|
||||
An "entity transaction" is a transaction transferring control of an
|
||||
organization, or substantially all assets of one, or subdividing an
|
||||
organization, or merging organizations. If propagation of a covered
|
||||
work results from an entity transaction, each party to that
|
||||
transaction who receives a copy of the work also receives whatever
|
||||
licenses to the work the party's predecessor in interest had or could
|
||||
give under the previous paragraph, plus a right to possession of the
|
||||
Corresponding Source of the work from the predecessor in interest, if
|
||||
the predecessor has it or can get it with reasonable efforts.
|
||||
|
||||
You may not impose any further restrictions on the exercise of the
|
||||
rights granted or affirmed under this License. For example, you may
|
||||
not impose a license fee, royalty, or other charge for exercise of
|
||||
rights granted under this License, and you may not initiate litigation
|
||||
(including a cross-claim or counterclaim in a lawsuit) alleging that
|
||||
any patent claim is infringed by making, using, selling, offering for
|
||||
sale, or importing the Program or any portion of it.
|
||||
|
||||
11. Patents.
|
||||
|
||||
A "contributor" is a copyright holder who authorizes use under this
|
||||
License of the Program or a work on which the Program is based. The
|
||||
work thus licensed is called the contributor's "contributor version".
|
||||
|
||||
A contributor's "essential patent claims" are all patent claims
|
||||
owned or controlled by the contributor, whether already acquired or
|
||||
hereafter acquired, that would be infringed by some manner, permitted
|
||||
by this License, of making, using, or selling its contributor version,
|
||||
but do not include claims that would be infringed only as a
|
||||
consequence of further modification of the contributor version. For
|
||||
purposes of this definition, "control" includes the right to grant
|
||||
patent sublicenses in a manner consistent with the requirements of
|
||||
this License.
|
||||
|
||||
Each contributor grants you a non-exclusive, worldwide, royalty-free
|
||||
patent license under the contributor's essential patent claims, to
|
||||
make, use, sell, offer for sale, import and otherwise run, modify and
|
||||
propagate the contents of its contributor version.
|
||||
|
||||
In the following three paragraphs, a "patent license" is any express
|
||||
agreement or commitment, however denominated, not to enforce a patent
|
||||
(such as an express permission to practice a patent or covenant not to
|
||||
sue for patent infringement). To "grant" such a patent license to a
|
||||
party means to make such an agreement or commitment not to enforce a
|
||||
patent against the party.
|
||||
|
||||
If you convey a covered work, knowingly relying on a patent license,
|
||||
and the Corresponding Source of the work is not available for anyone
|
||||
to copy, free of charge and under the terms of this License, through a
|
||||
publicly available network server or other readily accessible means,
|
||||
then you must either (1) cause the Corresponding Source to be so
|
||||
available, or (2) arrange to deprive yourself of the benefit of the
|
||||
patent license for this particular work, or (3) arrange, in a manner
|
||||
consistent with the requirements of this License, to extend the patent
|
||||
license to downstream recipients. "Knowingly relying" means you have
|
||||
actual knowledge that, but for the patent license, your conveying the
|
||||
covered work in a country, or your recipient's use of the covered work
|
||||
in a country, would infringe one or more identifiable patents in that
|
||||
country that you have reason to believe are valid.
|
||||
|
||||
If, pursuant to or in connection with a single transaction or
|
||||
arrangement, you convey, or propagate by procuring conveyance of, a
|
||||
covered work, and grant a patent license to some of the parties
|
||||
receiving the covered work authorizing them to use, propagate, modify
|
||||
or convey a specific copy of the covered work, then the patent license
|
||||
you grant is automatically extended to all recipients of the covered
|
||||
work and works based on it.
|
||||
|
||||
A patent license is "discriminatory" if it does not include within
|
||||
the scope of its coverage, prohibits the exercise of, or is
|
||||
conditioned on the non-exercise of one or more of the rights that are
|
||||
specifically granted under this License. You may not convey a covered
|
||||
work if you are a party to an arrangement with a third party that is
|
||||
in the business of distributing software, under which you make payment
|
||||
to the third party based on the extent of your activity of conveying
|
||||
the work, and under which the third party grants, to any of the
|
||||
parties who would receive the covered work from you, a discriminatory
|
||||
patent license (a) in connection with copies of the covered work
|
||||
conveyed by you (or copies made from those copies), or (b) primarily
|
||||
for and in connection with specific products or compilations that
|
||||
contain the covered work, unless you entered into that arrangement,
|
||||
or that patent license was granted, prior to 28 March 2007.
|
||||
|
||||
Nothing in this License shall be construed as excluding or limiting
|
||||
any implied license or other defenses to infringement that may
|
||||
otherwise be available to you under applicable patent law.
|
||||
|
||||
12. No Surrender of Others' Freedom.
|
||||
|
||||
If conditions are imposed on you (whether by court order, agreement or
|
||||
otherwise) that contradict the conditions of this License, they do not
|
||||
excuse you from the conditions of this License. If you cannot convey a
|
||||
covered work so as to satisfy simultaneously your obligations under this
|
||||
License and any other pertinent obligations, then as a consequence you may
|
||||
not convey it at all. For example, if you agree to terms that obligate you
|
||||
to collect a royalty for further conveying from those to whom you convey
|
||||
the Program, the only way you could satisfy both those terms and this
|
||||
License would be to refrain entirely from conveying the Program.
|
||||
|
||||
13. Use with the GNU Affero General Public License.
|
||||
|
||||
Notwithstanding any other provision of this License, you have
|
||||
permission to link or combine any covered work with a work licensed
|
||||
under version 3 of the GNU Affero General Public License into a single
|
||||
combined work, and to convey the resulting work. The terms of this
|
||||
License will continue to apply to the part which is the covered work,
|
||||
but the special requirements of the GNU Affero General Public License,
|
||||
section 13, concerning interaction through a network will apply to the
|
||||
combination as such.
|
||||
|
||||
14. Revised Versions of this License.
|
||||
|
||||
The Free Software Foundation may publish revised and/or new versions of
|
||||
the GNU General Public License from time to time. Such new versions will
|
||||
be similar in spirit to the present version, but may differ in detail to
|
||||
address new problems or concerns.
|
||||
|
||||
Each version is given a distinguishing version number. If the
|
||||
Program specifies that a certain numbered version of the GNU General
|
||||
Public License "or any later version" applies to it, you have the
|
||||
option of following the terms and conditions either of that numbered
|
||||
version or of any later version published by the Free Software
|
||||
Foundation. If the Program does not specify a version number of the
|
||||
GNU General Public License, you may choose any version ever published
|
||||
by the Free Software Foundation.
|
||||
|
||||
If the Program specifies that a proxy can decide which future
|
||||
versions of the GNU General Public License can be used, that proxy's
|
||||
public statement of acceptance of a version permanently authorizes you
|
||||
to choose that version for the Program.
|
||||
|
||||
Later license versions may give you additional or different
|
||||
permissions. However, no additional obligations are imposed on any
|
||||
author or copyright holder as a result of your choosing to follow a
|
||||
later version.
|
||||
|
||||
15. Disclaimer of Warranty.
|
||||
|
||||
THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
|
||||
APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
|
||||
HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
|
||||
OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
|
||||
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
|
||||
IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
|
||||
ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
|
||||
|
||||
16. Limitation of Liability.
|
||||
|
||||
IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
|
||||
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
|
||||
THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
|
||||
GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
|
||||
USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
|
||||
DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
|
||||
PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
|
||||
EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
|
||||
SUCH DAMAGES.
|
||||
|
||||
17. Interpretation of Sections 15 and 16.
|
||||
|
||||
If the disclaimer of warranty and limitation of liability provided
|
||||
above cannot be given local legal effect according to their terms,
|
||||
reviewing courts shall apply local law that most closely approximates
|
||||
an absolute waiver of all civil liability in connection with the
|
||||
Program, unless a warranty or assumption of liability accompanies a
|
||||
copy of the Program in return for a fee.
|
||||
|
||||
END OF TERMS AND CONDITIONS
|
||||
|
||||
How to Apply These Terms to Your New Programs
|
||||
|
||||
If you develop a new program, and you want it to be of the greatest
|
||||
possible use to the public, the best way to achieve this is to make it
|
||||
free software which everyone can redistribute and change under these terms.
|
||||
|
||||
To do so, attach the following notices to the program. It is safest
|
||||
to attach them to the start of each source file to most effectively
|
||||
state the exclusion of warranty; and each file should have at least
|
||||
the "copyright" line and a pointer to where the full notice is found.
|
||||
|
||||
{one line to give the program's name and a brief idea of what it does.}
|
||||
Copyright (C) {year} {name of author}
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
Also add information on how to contact you by electronic and paper mail.
|
||||
|
||||
If the program does terminal interaction, make it output a short
|
||||
notice like this when it starts in an interactive mode:
|
||||
|
||||
{project} Copyright (C) {year} {fullname}
|
||||
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
|
||||
This is free software, and you are welcome to redistribute it
|
||||
under certain conditions; type `show c' for details.
|
||||
|
||||
The hypothetical commands `show w' and `show c' should show the appropriate
|
||||
parts of the General Public License. Of course, your program's commands
|
||||
might be different; for a GUI interface, you would use an "about box".
|
||||
|
||||
You should also get your employer (if you work as a programmer) or school,
|
||||
if any, to sign a "copyright disclaimer" for the program, if necessary.
|
||||
For more information on this, and how to apply and follow the GNU GPL, see
|
||||
<http://www.gnu.org/licenses/>.
|
||||
|
||||
The GNU General Public License does not permit incorporating your program
|
||||
into proprietary programs. If your program is a subroutine library, you
|
||||
may consider it more useful to permit linking proprietary applications with
|
||||
the library. If this is what you want to do, use the GNU Lesser General
|
||||
Public License instead of this License. But first, please read
|
||||
<http://www.gnu.org/philosophy/why-not-lgpl.html>.
|
||||
360
components/vl53l0x/README.md
Normal file
360
components/vl53l0x/README.md
Normal file
@@ -0,0 +1,360 @@
|
||||
# ESP32-VL53L0X
|
||||
|
||||
VL53L0X laser ranging sensor library for ESP-IDF (ESP32, ESP32-S2, ESP32-C3, etc.)
|
||||
|
||||
## Overview
|
||||
|
||||
This library provides a simple interface to the ST VL53L0X Time-of-Flight (ToF) ranging sensor using ESP-IDF v5.2+ with the new I2C master driver API.
|
||||
This is a fork from revk's library for the same, but tweaked for the new I2C Master driver API, and tweaked to handle multiple devices, the original
|
||||
code wouldn't actually do that.
|
||||
|
||||
## Features
|
||||
|
||||
- Support for ESP-IDF v5.2 and newer
|
||||
- Uses the new I2C master bus/device driver API
|
||||
- Single and continuous ranging modes
|
||||
- Multiple sensor support on same I2C bus
|
||||
- Configurable timing budgets and VCSEL periods
|
||||
- XSHUT pin control for sensor management
|
||||
|
||||
## Requirements
|
||||
|
||||
- **ESP-IDF v5.2 or newer** - This library uses the new I2C master driver API introduced in ESP-IDF v5.2
|
||||
- VL53L0X sensor module
|
||||
|
||||
## Installation
|
||||
|
||||
Add this component to your ESP-IDF project:
|
||||
|
||||
```bash
|
||||
cd components
|
||||
git clone https://github.com/bigredelf/ESP32-VL53L0X.git
|
||||
```
|
||||
|
||||
Or add as a git submodule:
|
||||
|
||||
```bash
|
||||
git submodule add https://github.com/bigredelf/ESP32-VL53L0X.git components/ESP32-VL53L0X
|
||||
```
|
||||
|
||||
## Quick Start
|
||||
|
||||
### Single Sensor Example
|
||||
|
||||
```c
|
||||
#include <stdio.h>
|
||||
#include "vl53l0x.h"
|
||||
#include "esp_log.h"
|
||||
|
||||
#define I2C_PORT 0
|
||||
#define I2C_SDA 21
|
||||
#define I2C_SCL 22
|
||||
#define XSHUT_PIN -1 // Not used
|
||||
|
||||
void app_main(void)
|
||||
{
|
||||
// Initialize the sensor
|
||||
vl53l0x_t *sensor = vl53l0x_config(I2C_PORT, I2C_SCL, I2C_SDA, XSHUT_PIN, 0x29, 1);
|
||||
if (!sensor) {
|
||||
ESP_LOGE("VL53L0X", "Failed to configure sensor");
|
||||
return;
|
||||
}
|
||||
|
||||
const char *err = vl53l0x_init(sensor);
|
||||
if (err) {
|
||||
ESP_LOGE("VL53L0X", "Init failed: %s", err);
|
||||
vl53l0x_end(sensor);
|
||||
return;
|
||||
}
|
||||
|
||||
// Start continuous ranging
|
||||
vl53l0x_startContinuous(sensor, 0);
|
||||
|
||||
while (1) {
|
||||
uint16_t range = vl53l0x_readRangeContinuousMillimeters(sensor);
|
||||
if (range == 65535) {
|
||||
ESP_LOGW("VL53L0X", "Out of range or timeout");
|
||||
} else {
|
||||
ESP_LOGI("VL53L0X", "Range: %d mm", range);
|
||||
}
|
||||
vTaskDelay(pdMS_TO_TICKS(100));
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### Multiple Sensors Example
|
||||
|
||||
For multiple sensors on the same I2C bus, use XSHUT pins to enable them one at a time and assign unique addresses:
|
||||
|
||||
```c
|
||||
#include "vl53l0x.h"
|
||||
#include <driver/i2c_master.h>
|
||||
|
||||
#define I2C_PORT 0
|
||||
#define I2C_SDA 21
|
||||
#define I2C_SCL 22
|
||||
#define XSHUT1 4
|
||||
#define XSHUT2 5
|
||||
|
||||
void app_main(void)
|
||||
{
|
||||
// Create shared I2C bus
|
||||
i2c_master_bus_config_t bus_config = {
|
||||
.clk_source = I2C_CLK_SRC_DEFAULT,
|
||||
.i2c_port = I2C_PORT,
|
||||
.scl_io_num = I2C_SCL,
|
||||
.sda_io_num = I2C_SDA,
|
||||
.glitch_ignore_cnt = 7,
|
||||
.flags.enable_internal_pullup = true,
|
||||
};
|
||||
|
||||
i2c_master_bus_handle_t bus_handle;
|
||||
i2c_new_master_bus(&bus_config, &bus_handle);
|
||||
|
||||
// Initialize first sensor with default address
|
||||
vl53l0x_t *sensor1 = vl53l0x_config_with_bus(bus_handle, XSHUT1, 0x29, 1);
|
||||
vl53l0x_init(sensor1);
|
||||
vl53l0x_setAddress(sensor1, 0x30); // Change address
|
||||
|
||||
// Initialize second sensor
|
||||
vl53l0x_t *sensor2 = vl53l0x_config_with_bus(bus_handle, XSHUT2, 0x29, 1);
|
||||
vl53l0x_init(sensor2);
|
||||
vl53l0x_setAddress(sensor2, 0x31); // Different address
|
||||
|
||||
// Start continuous ranging on both
|
||||
vl53l0x_startContinuous(sensor1, 0);
|
||||
vl53l0x_startContinuous(sensor2, 0);
|
||||
|
||||
while (1) {
|
||||
uint16_t range1 = vl53l0x_readRangeContinuousMillimeters(sensor1);
|
||||
uint16_t range2 = vl53l0x_readRangeContinuousMillimeters(sensor2);
|
||||
ESP_LOGI("VL53L0X", "Sensor1: %d mm, Sensor2: %d mm", range1, range2);
|
||||
vTaskDelay(pdMS_TO_TICKS(100));
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
## API Reference
|
||||
|
||||
### Configuration Functions
|
||||
|
||||
#### `vl53l0x_config()`
|
||||
Create and configure a VL53L0X sensor with its own I2C bus.
|
||||
|
||||
```c
|
||||
vl53l0x_t *vl53l0x_config(int8_t port, int8_t scl, int8_t sda,
|
||||
int8_t xshut, uint8_t address, uint8_t io_2v8);
|
||||
```
|
||||
|
||||
**Parameters:**
|
||||
- `port` - I2C port number (0 or 1)
|
||||
- `scl` - SCL GPIO pin number
|
||||
- `sda` - SDA GPIO pin number
|
||||
- `xshut` - XSHUT GPIO pin number (-1 if not used)
|
||||
- `address` - I2C address (default: 0x29)
|
||||
- `io_2v8` - Set to 1 for 2.8V I/O, 0 for 1.8V
|
||||
|
||||
**Returns:** Pointer to vl53l0x_t structure, or NULL on failure
|
||||
|
||||
#### `vl53l0x_config_with_bus()`
|
||||
Create a VL53L0X sensor using an existing I2C bus handle (for multiple sensors).
|
||||
|
||||
```c
|
||||
vl53l0x_t *vl53l0x_config_with_bus(i2c_master_bus_handle_t bus_handle,
|
||||
int8_t xshut, uint8_t address, uint8_t io_2v8);
|
||||
```
|
||||
|
||||
**Parameters:**
|
||||
- `bus_handle` - Existing I2C master bus handle
|
||||
- `xshut` - XSHUT GPIO pin number (-1 if not used)
|
||||
- `address` - I2C address (default: 0x29)
|
||||
- `io_2v8` - Set to 1 for 2.8V I/O, 0 for 1.8V
|
||||
|
||||
**Returns:** Pointer to vl53l0x_t structure, or NULL on failure
|
||||
|
||||
#### `vl53l0x_init()`
|
||||
Initialize the sensor with default settings.
|
||||
|
||||
```c
|
||||
const char *vl53l0x_init(vl53l0x_t *v);
|
||||
```
|
||||
|
||||
**Returns:** NULL on success, error string on failure
|
||||
|
||||
#### `vl53l0x_end()`
|
||||
Clean up and free resources.
|
||||
|
||||
```c
|
||||
void vl53l0x_end(vl53l0x_t *v);
|
||||
```
|
||||
|
||||
### Ranging Functions
|
||||
|
||||
#### `vl53l0x_readRangeSingleMillimeters()`
|
||||
Perform a single ranging measurement.
|
||||
|
||||
```c
|
||||
uint16_t vl53l0x_readRangeSingleMillimeters(vl53l0x_t *v);
|
||||
```
|
||||
|
||||
**Returns:** Range in millimeters, or 65535 on error/timeout
|
||||
|
||||
#### `vl53l0x_startContinuous()`
|
||||
Start continuous ranging mode.
|
||||
|
||||
```c
|
||||
void vl53l0x_startContinuous(vl53l0x_t *v, uint32_t period_ms);
|
||||
```
|
||||
|
||||
**Parameters:**
|
||||
- `period_ms` - Inter-measurement period in milliseconds (0 for back-to-back mode)
|
||||
|
||||
#### `vl53l0x_readRangeContinuousMillimeters()`
|
||||
Read range in continuous mode.
|
||||
|
||||
```c
|
||||
uint16_t vl53l0x_readRangeContinuousMillimeters(vl53l0x_t *v);
|
||||
```
|
||||
|
||||
**Returns:** Range in millimeters, or 65535 on error/timeout
|
||||
|
||||
#### `vl53l0x_stopContinuous()`
|
||||
Stop continuous ranging mode.
|
||||
|
||||
```c
|
||||
void vl53l0x_stopContinuous(vl53l0x_t *v);
|
||||
```
|
||||
|
||||
### Configuration Functions
|
||||
|
||||
#### `vl53l0x_setAddress()`
|
||||
Change the I2C address of the sensor.
|
||||
|
||||
```c
|
||||
void vl53l0x_setAddress(vl53l0x_t *v, uint8_t new_addr);
|
||||
```
|
||||
|
||||
#### `vl53l0x_setTimeout()`
|
||||
Set I/O timeout in milliseconds.
|
||||
|
||||
```c
|
||||
void vl53l0x_setTimeout(vl53l0x_t *v, uint16_t timeout_ms);
|
||||
```
|
||||
|
||||
#### `vl53l0x_setMeasurementTimingBudget()`
|
||||
Set measurement timing budget in microseconds (20000 to 1000000).
|
||||
|
||||
```c
|
||||
const char *vl53l0x_setMeasurementTimingBudget(vl53l0x_t *v, uint32_t budget_us);
|
||||
```
|
||||
|
||||
#### `vl53l0x_setSignalRateLimit()`
|
||||
Set signal rate limit in MCPS (0.0 to 511.99).
|
||||
|
||||
```c
|
||||
const char *vl53l0x_setSignalRateLimit(vl53l0x_t *v, float limit_Mcps);
|
||||
```
|
||||
|
||||
#### `vl53l0x_setVcselPulsePeriod()`
|
||||
Set VCSEL pulse period.
|
||||
|
||||
```c
|
||||
const char *vl53l0x_setVcselPulsePeriod(vl53l0x_t *v,
|
||||
vl53l0x_vcselPeriodType type,
|
||||
uint8_t period_pclks);
|
||||
```
|
||||
|
||||
**Parameters:**
|
||||
- `type` - `VcselPeriodPreRange` or `VcselPeriodFinalRange`
|
||||
- `period_pclks` - Period in PCLKs (pre-range: 12-18 even, final-range: 8-14 even)
|
||||
|
||||
### Status Functions
|
||||
|
||||
#### `vl53l0x_timeoutOccurred()`
|
||||
Check if a timeout occurred during the last operation.
|
||||
|
||||
```c
|
||||
int vl53l0x_timeoutOccurred(vl53l0x_t *v);
|
||||
```
|
||||
|
||||
**Returns:** 1 if timeout occurred, 0 otherwise
|
||||
|
||||
#### `vl53l0x_i2cFail()`
|
||||
Check if an I2C communication failure occurred.
|
||||
|
||||
```c
|
||||
int vl53l0x_i2cFail(vl53l0x_t *v);
|
||||
```
|
||||
|
||||
**Returns:** 1 if I2C failure occurred, 0 otherwise
|
||||
|
||||
## Hardware Connections
|
||||
|
||||
| VL53L0X Pin | ESP32 Pin | Description |
|
||||
|-------------|-----------|-------------|
|
||||
| VDD | 3.3V | Power supply (2.6V - 3.5V) |
|
||||
| GND | GND | Ground |
|
||||
| SCL | GPIO 22 | I2C clock (configurable) |
|
||||
| SDA | GPIO 21 | I2C data (configurable) |
|
||||
| XSHUT | GPIO (optional) | Shutdown control (active low) |
|
||||
| GPIO1 | Not connected | Interrupt output (optional) |
|
||||
|
||||
**Note:** The VL53L0X operates at 2.8V I/O by default in this library. If your module has level shifters, set `io_2v8 = 1`.
|
||||
|
||||
## Migration from Legacy I2C Driver
|
||||
|
||||
If you're migrating from the old ESP-IDF I2C driver (pre-v5.2), note these key changes:
|
||||
|
||||
### Old API (ESP-IDF < v5.2)
|
||||
```c
|
||||
vl53l0x_t *sensor = vl53l0x_config(0, 22, 21, -1, 0x29, 1);
|
||||
```
|
||||
|
||||
### New API (ESP-IDF >= v5.2)
|
||||
```c
|
||||
// Same function call - internal implementation updated
|
||||
vl53l0x_t *sensor = vl53l0x_config(0, 22, 21, -1, 0x29, 1);
|
||||
|
||||
// Or use the new bus-based API for multiple sensors
|
||||
i2c_master_bus_handle_t bus_handle;
|
||||
// ... create bus ...
|
||||
vl53l0x_t *sensor = vl53l0x_config_with_bus(bus_handle, -1, 0x29, 1);
|
||||
```
|
||||
|
||||
The high-level API remains the same, but internally uses the new I2C master driver.
|
||||
|
||||
## Examples
|
||||
|
||||
See the `examples/` directory for complete working examples:
|
||||
|
||||
- **single_sensor** - Basic single sensor ranging example
|
||||
- **multiple_sensors** - Multiple sensors on same I2C bus with address management
|
||||
|
||||
## Troubleshooting
|
||||
|
||||
### Sensor not responding
|
||||
- Check power supply (2.6V - 3.5V)
|
||||
- Verify I2C connections (SDA, SCL)
|
||||
- Ensure pull-up resistors are present (usually on module)
|
||||
- Check I2C address (default 0x29)
|
||||
|
||||
### Timeout errors
|
||||
- Increase timeout: `vl53l0x_setTimeout(sensor, 500);`
|
||||
- Check for I2C bus conflicts
|
||||
- Verify sensor is powered and initialized
|
||||
|
||||
### Range readings are unstable
|
||||
- Adjust measurement timing budget
|
||||
- Change VCSEL pulse period
|
||||
- Ensure target surface is suitable (non-reflective works best)
|
||||
|
||||
## Credits
|
||||
|
||||
Based on the original work by:
|
||||
- Copyright © 2019 Adrian Kennard, Andrews & Arnold Ltd
|
||||
- Based on [Pololu VL53L0X Arduino library](https://github.com/pololu/vl53l0x-arduino)
|
||||
- Updated for ESP-IDF v5.2+ I2C master driver API
|
||||
|
||||
## License
|
||||
|
||||
GPL 3.0 - See LICENSE file for details
|
||||
5
components/vl53l0x/component.mk
Normal file
5
components/vl53l0x/component.mk
Normal file
@@ -0,0 +1,5 @@
|
||||
#
|
||||
# "main" pseudo-component makefile.
|
||||
#
|
||||
# (Uses default behaviour of compiling all source files in directory, adding 'include' to include path.)
|
||||
|
||||
@@ -0,0 +1,6 @@
|
||||
# The following lines of boilerplate have to be in your project's
|
||||
# CMakeLists in this exact order for cmake to work correctly
|
||||
cmake_minimum_required(VERSION 3.16)
|
||||
|
||||
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
|
||||
project(vl53l0x_multiple_sensors)
|
||||
@@ -0,0 +1,2 @@
|
||||
idf_component_register(SRCS "multiple_sensors_example.c"
|
||||
INCLUDE_DIRS ".")
|
||||
@@ -0,0 +1,180 @@
|
||||
/* VL53L0X Multiple Sensors Example
|
||||
*
|
||||
* This example demonstrates how to use multiple VL53L0X sensors on the same I2C bus
|
||||
* using the new API (vl53l0x_config_with_bus)
|
||||
*
|
||||
* Key points:
|
||||
* - All sensors share the same I2C bus
|
||||
* - Each sensor needs a unique I2C address
|
||||
* - XSHUT pins are used to change addresses at initialization
|
||||
*
|
||||
* Hardware connections:
|
||||
* Sensor 1:
|
||||
* - VL53L0X SCL/SDA -> Shared I2C bus (GPIO 22/21)
|
||||
* - VL53L0X XSHUT -> GPIO 23
|
||||
*
|
||||
* Sensor 2:
|
||||
* - VL53L0X SCL/SDA -> Shared I2C bus (GPIO 22/21)
|
||||
* - VL53L0X XSHUT -> GPIO 25
|
||||
*
|
||||
* Sensor 3:
|
||||
* - VL53L0X SCL/SDA -> Shared I2C bus (GPIO 22/21)
|
||||
* - VL53L0X XSHUT -> GPIO 26
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include "esp_log.h"
|
||||
#include "driver/i2c_master.h"
|
||||
#include "driver/gpio.h"
|
||||
#include "vl53l0x.h"
|
||||
|
||||
static const char *TAG = "VL53L0X_MULTI";
|
||||
|
||||
// I2C Configuration
|
||||
#define I2C_MASTER_NUM 0
|
||||
#define I2C_MASTER_SCL_IO 22
|
||||
#define I2C_MASTER_SDA_IO 21
|
||||
|
||||
// Sensor configuration
|
||||
#define NUM_SENSORS 3
|
||||
|
||||
// XSHUT pins for each sensor (must be different)
|
||||
#define SENSOR1_XSHUT 23
|
||||
#define SENSOR2_XSHUT 25
|
||||
#define SENSOR3_XSHUT 26
|
||||
|
||||
// New I2C addresses (must be unique, default is 0x29)
|
||||
#define SENSOR1_ADDR 0x30
|
||||
#define SENSOR2_ADDR 0x31
|
||||
#define SENSOR3_ADDR 0x32
|
||||
|
||||
void app_main(void)
|
||||
{
|
||||
ESP_LOGI(TAG, "VL53L0X Multiple Sensors Example");
|
||||
|
||||
// Step 1: Create a single shared I2C bus
|
||||
i2c_master_bus_config_t bus_config = {
|
||||
.clk_source = I2C_CLK_SRC_DEFAULT,
|
||||
.i2c_port = I2C_MASTER_NUM,
|
||||
.scl_io_num = I2C_MASTER_SCL_IO,
|
||||
.sda_io_num = I2C_MASTER_SDA_IO,
|
||||
.glitch_ignore_cnt = 7,
|
||||
.flags.enable_internal_pullup = true,
|
||||
};
|
||||
|
||||
i2c_master_bus_handle_t bus_handle;
|
||||
esp_err_t ret = i2c_new_master_bus(&bus_config, &bus_handle);
|
||||
if (ret != ESP_OK) {
|
||||
ESP_LOGE(TAG, "Failed to create I2C bus: %s", esp_err_to_name(ret));
|
||||
return;
|
||||
}
|
||||
|
||||
ESP_LOGI(TAG, "I2C bus created successfully");
|
||||
|
||||
// Step 2: Initialize sensors one at a time with unique addresses
|
||||
// We use XSHUT pins to keep sensors in reset while configuring others
|
||||
vl53l0x_t *sensors[NUM_SENSORS];
|
||||
int8_t xshut_pins[NUM_SENSORS] = {SENSOR1_XSHUT, SENSOR2_XSHUT, SENSOR3_XSHUT};
|
||||
uint8_t addresses[NUM_SENSORS] = {SENSOR1_ADDR, SENSOR2_ADDR, SENSOR3_ADDR};
|
||||
|
||||
// First, hold all sensors in reset
|
||||
for (int i = 0; i < NUM_SENSORS; i++) {
|
||||
gpio_reset_pin(xshut_pins[i]);
|
||||
gpio_set_direction(xshut_pins[i], GPIO_MODE_OUTPUT);
|
||||
gpio_set_level(xshut_pins[i], 0); // Keep in reset
|
||||
vTaskDelay(pdMS_TO_TICKS(10));
|
||||
}
|
||||
|
||||
ESP_LOGI(TAG, "All sensors held in reset");
|
||||
vTaskDelay(pdMS_TO_TICKS(100));
|
||||
|
||||
// Initialize each sensor one by one
|
||||
for (int i = 0; i < NUM_SENSORS; i++) {
|
||||
ESP_LOGI(TAG, "\nInitializing sensor %d...", i + 1);
|
||||
|
||||
// Create sensor with shared bus and default address (0x29)
|
||||
sensors[i] = vl53l0x_config_with_bus(
|
||||
bus_handle,
|
||||
xshut_pins[i],
|
||||
0x29, // All start with default address
|
||||
1 // Use 2.8V I/O mode
|
||||
);
|
||||
|
||||
if (!sensors[i]) {
|
||||
ESP_LOGE(TAG, "Failed to configure sensor %d", i + 1);
|
||||
continue;
|
||||
}
|
||||
|
||||
// Release this sensor from reset
|
||||
gpio_set_level(xshut_pins[i], 1);
|
||||
vTaskDelay(pdMS_TO_TICKS(10)); // Wait for sensor to boot
|
||||
|
||||
// Initialize the sensor
|
||||
const char *err = vl53l0x_init(sensors[i]);
|
||||
if (err) {
|
||||
ESP_LOGE(TAG, "Failed to initialize sensor %d: %s", i + 1, err);
|
||||
vl53l0x_end(sensors[i]);
|
||||
sensors[i] = NULL;
|
||||
continue;
|
||||
}
|
||||
|
||||
// Change to unique I2C address
|
||||
vl53l0x_setAddress(sensors[i], addresses[i]);
|
||||
ESP_LOGI(TAG, "Sensor %d initialized with address 0x%02X", i + 1, addresses[i]);
|
||||
|
||||
// Optional: Configure timing budget
|
||||
vl53l0x_setMeasurementTimingBudget(sensors[i], 40000); // 40ms
|
||||
}
|
||||
|
||||
ESP_LOGI(TAG, "\nAll sensors initialized!\n");
|
||||
|
||||
// Step 3: Start continuous measurements on all sensors
|
||||
for (int i = 0; i < NUM_SENSORS; i++) {
|
||||
if (sensors[i]) {
|
||||
vl53l0x_startContinuous(sensors[i], 100); // 100ms interval
|
||||
}
|
||||
}
|
||||
|
||||
// Step 4: Read from all sensors in a loop
|
||||
ESP_LOGI(TAG, "Starting continuous measurements from all sensors...");
|
||||
|
||||
for (int iteration = 0; iteration < 30; iteration++) {
|
||||
ESP_LOGI(TAG, "\n--- Measurement %d ---", iteration + 1);
|
||||
|
||||
for (int i = 0; i < NUM_SENSORS; i++) {
|
||||
if (!sensors[i]) {
|
||||
ESP_LOGW(TAG, "Sensor %d: Not available", i + 1);
|
||||
continue;
|
||||
}
|
||||
|
||||
uint16_t range_mm = vl53l0x_readRangeContinuousMillimeters(sensors[i]);
|
||||
|
||||
if (vl53l0x_timeoutOccurred(sensors[i])) {
|
||||
ESP_LOGW(TAG, "Sensor %d: Timeout", i + 1);
|
||||
} else if (vl53l0x_i2cFail(sensors[i])) {
|
||||
ESP_LOGE(TAG, "Sensor %d: I2C error", i + 1);
|
||||
} else {
|
||||
ESP_LOGI(TAG, "Sensor %d: %d mm", i + 1, range_mm);
|
||||
}
|
||||
}
|
||||
|
||||
vTaskDelay(pdMS_TO_TICKS(150));
|
||||
}
|
||||
|
||||
// Step 5: Stop and cleanup
|
||||
ESP_LOGI(TAG, "\nStopping measurements and cleaning up...");
|
||||
|
||||
for (int i = 0; i < NUM_SENSORS; i++) {
|
||||
if (sensors[i]) {
|
||||
vl53l0x_stopContinuous(sensors[i]);
|
||||
vl53l0x_end(sensors[i]); // Does NOT delete the shared bus
|
||||
}
|
||||
}
|
||||
|
||||
// Delete the shared bus only after all sensors are done
|
||||
i2c_del_master_bus(bus_handle);
|
||||
|
||||
ESP_LOGI(TAG, "Example finished");
|
||||
}
|
||||
6
components/vl53l0x/examples/single_sensor/CMakeLists.txt
Normal file
6
components/vl53l0x/examples/single_sensor/CMakeLists.txt
Normal file
@@ -0,0 +1,6 @@
|
||||
# The following lines of boilerplate have to be in your project's
|
||||
# CMakeLists in this exact order for cmake to work correctly
|
||||
cmake_minimum_required(VERSION 3.16)
|
||||
|
||||
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
|
||||
project(vl53l0x_single_sensor)
|
||||
@@ -0,0 +1,2 @@
|
||||
idf_component_register(SRCS "single_sensor_example.c"
|
||||
INCLUDE_DIRS ".")
|
||||
@@ -0,0 +1,127 @@
|
||||
/* VL53L0X Single Sensor Example
|
||||
*
|
||||
* This example demonstrates basic usage of a single VL53L0X sensor
|
||||
* using the legacy API (vl53l0x_config)
|
||||
*
|
||||
* Hardware connections:
|
||||
* - VL53L0X VCC -> 3.3V or 5V (depending on module)
|
||||
* - VL53L0X GND -> GND
|
||||
* - VL53L0X SCL -> GPIO 22 (or your chosen SCL pin)
|
||||
* - VL53L0X SDA -> GPIO 21 (or your chosen SDA pin)
|
||||
* - VL53L0X XSHUT -> GPIO 23 (optional, for power control)
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include "esp_log.h"
|
||||
#include "driver/gpio.h"
|
||||
#include "vl53l0x.h"
|
||||
|
||||
static const char *TAG = "VL53L0X_SINGLE";
|
||||
|
||||
// I2C Configuration
|
||||
#define I2C_MASTER_NUM 0
|
||||
#define I2C_MASTER_SCL_IO 22
|
||||
#define I2C_MASTER_SDA_IO 21
|
||||
#define VL53L0X_XSHUT_PIN 23 // Set to -1 if not using XSHUT
|
||||
#define VL53L0X_ADDRESS 0x29 // Default I2C address
|
||||
|
||||
void app_main(void)
|
||||
{
|
||||
ESP_LOGI(TAG, "VL53L0X Single Sensor Example");
|
||||
|
||||
// Initialize VL53L0X sensor with legacy API
|
||||
// This creates and manages its own I2C bus
|
||||
vl53l0x_t *sensor = vl53l0x_config(
|
||||
I2C_MASTER_NUM,
|
||||
I2C_MASTER_SCL_IO,
|
||||
I2C_MASTER_SDA_IO,
|
||||
VL53L0X_XSHUT_PIN,
|
||||
VL53L0X_ADDRESS,
|
||||
1 // Use 2.8V I/O mode (set to 0 for 1.8V)
|
||||
);
|
||||
|
||||
if (!sensor) {
|
||||
ESP_LOGE(TAG, "Failed to configure VL53L0X sensor");
|
||||
return;
|
||||
}
|
||||
|
||||
ESP_LOGI(TAG, "VL53L0X configured successfully");
|
||||
|
||||
// Initialize the sensor
|
||||
const char *err = vl53l0x_init(sensor);
|
||||
if (err) {
|
||||
ESP_LOGE(TAG, "VL53L0X initialization failed: %s", err);
|
||||
vl53l0x_end(sensor);
|
||||
return;
|
||||
}
|
||||
|
||||
ESP_LOGI(TAG, "VL53L0X initialized successfully");
|
||||
|
||||
// Optional: Set timing budget (default is ~33ms)
|
||||
// Higher budget = more accurate but slower
|
||||
err = vl53l0x_setMeasurementTimingBudget(sensor, 50000); // 50ms
|
||||
if (err) {
|
||||
ESP_LOGW(TAG, "Failed to set timing budget: %s", err);
|
||||
}
|
||||
|
||||
// Example 1: Single shot measurements
|
||||
ESP_LOGI(TAG, "\n=== Single Shot Mode ===");
|
||||
for (int i = 0; i < 5; i++) {
|
||||
uint16_t range_mm = vl53l0x_readRangeSingleMillimeters(sensor);
|
||||
|
||||
if (vl53l0x_timeoutOccurred(sensor)) {
|
||||
ESP_LOGW(TAG, "Measurement timeout!");
|
||||
} else {
|
||||
ESP_LOGI(TAG, "Range: %d mm", range_mm);
|
||||
}
|
||||
|
||||
vTaskDelay(pdMS_TO_TICKS(500));
|
||||
}
|
||||
|
||||
// Example 2: Continuous measurements
|
||||
ESP_LOGI(TAG, "\n=== Continuous Mode ===");
|
||||
ESP_LOGI(TAG, "Starting continuous ranging (200ms interval)...");
|
||||
|
||||
vl53l0x_startContinuous(sensor, 200); // 200ms between measurements
|
||||
|
||||
for (int i = 0; i < 20; i++) {
|
||||
uint16_t range_mm = vl53l0x_readRangeContinuousMillimeters(sensor);
|
||||
|
||||
if (vl53l0x_timeoutOccurred(sensor)) {
|
||||
ESP_LOGW(TAG, "Measurement timeout!");
|
||||
} else {
|
||||
ESP_LOGI(TAG, "Range: %d mm", range_mm);
|
||||
}
|
||||
|
||||
// Check for I2C errors
|
||||
if (vl53l0x_i2cFail(sensor)) {
|
||||
ESP_LOGE(TAG, "I2C communication error!");
|
||||
break;
|
||||
}
|
||||
|
||||
vTaskDelay(pdMS_TO_TICKS(250)); // Slightly longer than measurement interval
|
||||
}
|
||||
|
||||
vl53l0x_stopContinuous(sensor);
|
||||
ESP_LOGI(TAG, "Continuous ranging stopped");
|
||||
|
||||
// Example 3: High-speed continuous mode (back-to-back)
|
||||
ESP_LOGI(TAG, "\n=== High-Speed Mode ===");
|
||||
ESP_LOGI(TAG, "Starting back-to-back continuous ranging...");
|
||||
|
||||
vl53l0x_startContinuous(sensor, 0); // 0 = back-to-back mode (fastest)
|
||||
|
||||
for (int i = 0; i < 10; i++) {
|
||||
uint16_t range_mm = vl53l0x_readRangeContinuousMillimeters(sensor);
|
||||
ESP_LOGI(TAG, "Range: %d mm", range_mm);
|
||||
vTaskDelay(pdMS_TO_TICKS(50)); // Small delay
|
||||
}
|
||||
|
||||
vl53l0x_stopContinuous(sensor);
|
||||
|
||||
// Cleanup
|
||||
vl53l0x_end(sensor);
|
||||
ESP_LOGI(TAG, "Example finished");
|
||||
}
|
||||
80
components/vl53l0x/include/vl53l0x.h
Normal file
80
components/vl53l0x/include/vl53l0x.h
Normal file
@@ -0,0 +1,80 @@
|
||||
// VL53L0X control
|
||||
// Copyright © 2019 Adrian Kennard, Andrews & Arnold Ltd. See LICENCE file for details. GPL 3.0
|
||||
// Updated for ESP-IDF v5.2+ I2C Master Driver API
|
||||
|
||||
#ifndef VL53L0X_H
|
||||
#define VL53L0X_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdint.h>
|
||||
#include <stddef.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <malloc.h>
|
||||
#include <driver/i2c_master.h>
|
||||
|
||||
typedef struct vl53l0x_s vl53l0x_t;
|
||||
|
||||
typedef enum
|
||||
{ VcselPeriodPreRange, VcselPeriodFinalRange } vl53l0x_vcselPeriodType;
|
||||
|
||||
// Functions returning const char * are OK for NULL, else error string
|
||||
|
||||
// Legacy API: Set up I2C bus and create the vl53l0x structure
|
||||
// This will create and manage its own I2C bus (single device use case)
|
||||
vl53l0x_t *vl53l0x_config (int8_t port, int8_t scl, int8_t sda, int8_t xshut, uint8_t address, uint8_t io_2v8);
|
||||
|
||||
// New API: Create vl53l0x device using an existing I2C bus handle
|
||||
// Use this when you have multiple devices on the same I2C bus
|
||||
// bus_handle: existing I2C master bus (from i2c_new_master_bus)
|
||||
// Returns NULL on failure
|
||||
vl53l0x_t *vl53l0x_config_with_bus (i2c_master_bus_handle_t bus_handle, int8_t xshut, uint8_t address, uint8_t io_2v8);
|
||||
|
||||
// Initialise the VL53L0X
|
||||
const char *vl53l0x_init (vl53l0x_t *);
|
||||
|
||||
// End I2C and free the structure
|
||||
// If using vl53l0x_config_with_bus, this will NOT delete the bus (caller manages it)
|
||||
void vl53l0x_end (vl53l0x_t *);
|
||||
|
||||
void vl53l0x_setAddress (vl53l0x_t *, uint8_t new_addr);
|
||||
uint8_t vl53l0x_getAddress (vl53l0x_t * v);
|
||||
|
||||
void vl53l0x_writeReg8Bit (vl53l0x_t *, uint8_t reg, uint8_t value);
|
||||
void vl53l0x_writeReg16Bit (vl53l0x_t *, uint8_t reg, uint16_t value);
|
||||
void vl53l0x_writeReg32Bit (vl53l0x_t *, uint8_t reg, uint32_t value);
|
||||
uint8_t vl53l0x_readReg8Bit (vl53l0x_t *, uint8_t reg);
|
||||
uint16_t vl53l0x_readReg16Bit (vl53l0x_t *, uint8_t reg);
|
||||
uint32_t vl53l0x_readReg32Bit (vl53l0x_t *, uint8_t reg);
|
||||
|
||||
void vl53l0x_writeMulti (vl53l0x_t *, uint8_t reg, uint8_t const *src, uint8_t count);
|
||||
void vl53l0x_readMulti (vl53l0x_t *, uint8_t reg, uint8_t * dst, uint8_t count);
|
||||
|
||||
const char *vl53l0x_setSignalRateLimit (vl53l0x_t *, float limit_Mcps);
|
||||
float vl53l0x_getSignalRateLimit (vl53l0x_t *);
|
||||
|
||||
const char *vl53l0x_setMeasurementTimingBudget (vl53l0x_t *, uint32_t budget_us);
|
||||
uint32_t vl53l0x_getMeasurementTimingBudget (vl53l0x_t *);
|
||||
|
||||
const char *vl53l0x_setVcselPulsePeriod (vl53l0x_t *, vl53l0x_vcselPeriodType type, uint8_t period_pclks);
|
||||
uint8_t vl53l0x_getVcselPulsePeriod (vl53l0x_t *, vl53l0x_vcselPeriodType type);
|
||||
|
||||
void vl53l0x_startContinuous (vl53l0x_t *, uint32_t period_ms);
|
||||
void vl53l0x_stopContinuous (vl53l0x_t *);
|
||||
uint16_t vl53l0x_readRangeContinuousMillimeters (vl53l0x_t *);
|
||||
uint16_t vl53l0x_readRangeSingleMillimeters (vl53l0x_t *);
|
||||
|
||||
void vl53l0x_setTimeout (vl53l0x_t *, uint16_t timeout);
|
||||
uint16_t vl53l0x_getTimeout (vl53l0x_t *);
|
||||
int vl53l0x_timeoutOccurred (vl53l0x_t *);
|
||||
int vl53l0x_i2cFail (vl53l0x_t *);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
1106
components/vl53l0x/vl53l0x.c
Normal file
1106
components/vl53l0x/vl53l0x.c
Normal file
File diff suppressed because it is too large
Load Diff
@@ -17,7 +17,7 @@ else()
|
||||
endif()
|
||||
|
||||
idf_component_register(SRCS ${ALL_SRCS}
|
||||
PRIV_REQUIRES esp_psram spi_flash nvs_flash esp_event rpc constants config rmt esp_driver_gptimer dataLink flatbuffers esp_driver_ledc oled app_update
|
||||
PRIV_REQUIRES esp_psram spi_flash nvs_flash esp_event rpc constants config rmt esp_driver_gptimer dataLink flatbuffers esp_driver_ledc oled app_update vl53l0x
|
||||
INCLUDE_DIRS "include")
|
||||
|
||||
if(DEFINED SRC_BOARD AND SRC_BOARD)
|
||||
|
||||
@@ -8,6 +8,7 @@
|
||||
#include "SensorMessageBuilder.h"
|
||||
#include "TopologyMessageBuilder.h"
|
||||
#include "esp_wifi.h"
|
||||
#include "freertos/projdefs.h"
|
||||
|
||||
#define ACTUATOR_CMD_TAG 5
|
||||
#define TOPOLOGY_CMD_TAG 6
|
||||
@@ -16,16 +17,22 @@
|
||||
|
||||
#define METADATA_PERIOD_MS 1000
|
||||
#define SENSOR_DATA_PERIOD_MS 1000
|
||||
#define SLEEP_WITH_NO_ACTUATOR_MS 2000
|
||||
|
||||
[[noreturn]] void LoopManager::control_loop() const {
|
||||
uint8_t buffer[512];
|
||||
while (true) {
|
||||
if (m_actuator == nullptr) {
|
||||
vTaskDelay(pdMS_TO_TICKS(SLEEP_WITH_NO_ACTUATOR_MS));
|
||||
continue;
|
||||
}
|
||||
|
||||
if (m_messaging_interface->recv(buffer, 512,
|
||||
ACTUATOR_CMD_TAG)) {
|
||||
m_actuator->actuate(buffer);
|
||||
send_sensor_reading(false);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
[[noreturn]] void LoopManager::sensor_loop(char *args) {
|
||||
@@ -72,10 +79,20 @@
|
||||
|
||||
void LoopManager::send_sensor_reading(bool durable) const {
|
||||
Flatbuffers::SensorMessageBuilder smb{};
|
||||
// todo: get data from sensor
|
||||
std::vector<Flatbuffers::sensor_value> sensor_values;
|
||||
|
||||
if (m_actuator) {
|
||||
auto data = m_actuator->get_sensor_data();
|
||||
const auto [ptr, size] = smb.build_sensor_message(data);
|
||||
sensor_values.insert(sensor_values.end(), data.begin(), data.end());
|
||||
}
|
||||
|
||||
if (m_sensor) {
|
||||
auto data = m_sensor->get_sensor_data();
|
||||
sensor_values.insert(sensor_values.end(), data.begin(), data.end());
|
||||
}
|
||||
|
||||
if (sensor_values.size() > 0) {
|
||||
const auto [ptr, size] = smb.build_sensor_message(sensor_values);
|
||||
m_messaging_interface->send((uint8_t *)ptr, size, PC_ADDR, SENSOR_TAG, durable);
|
||||
}
|
||||
}
|
||||
|
||||
70
main/control/DistanceSensor.cpp
Normal file
70
main/control/DistanceSensor.cpp
Normal file
@@ -0,0 +1,70 @@
|
||||
|
||||
#include "SensorMessageBuilder.h"
|
||||
#include "constants/module.h"
|
||||
#include "control/DistanceSensor.h"
|
||||
#include "esp_log.h"
|
||||
|
||||
#define I2C_PORT 1
|
||||
#define XSHUT_PIN -1
|
||||
#define TAG "DistanceSensor"
|
||||
|
||||
DistanceSensor::DistanceSensor() {
|
||||
i2c_master_bus_config_t bus_config = {
|
||||
.i2c_port = I2C_PORT,
|
||||
.sda_io_num = (gpio_num_t)DISTANCE_SDA,
|
||||
.scl_io_num = (gpio_num_t)DISTANCE_SCL,
|
||||
.clk_source = I2C_CLK_SRC_DEFAULT,
|
||||
.glitch_ignore_cnt = 7,
|
||||
.flags = {
|
||||
.enable_internal_pullup = true,
|
||||
}
|
||||
};
|
||||
|
||||
i2c_master_bus_handle_t bus_handle;
|
||||
i2c_new_master_bus(&bus_config, &bus_handle);
|
||||
|
||||
// Initialize first sensor with default address
|
||||
m_sensor= vl53l0x_config_with_bus(bus_handle, XSHUT_PIN, 0x29, 1);
|
||||
vl53l0x_init(m_sensor);
|
||||
vl53l0x_setAddress(m_sensor, 0x30); // Change address
|
||||
|
||||
// Start continuous ranging on both
|
||||
vl53l0x_startContinuous(m_sensor, 0);
|
||||
|
||||
|
||||
// m_sensor = vl53l0x_config(I2C_PORT, DISTANCE_SCL, DISTANCE_SDA, XSHUT_PIN, 0x29, 1);
|
||||
// if (!m_sensor) {
|
||||
// ESP_LOGE(TAG, "Failed to configure sensor");
|
||||
// return;
|
||||
// }
|
||||
|
||||
// const char *err = vl53l0x_init(m_sensor);
|
||||
// if (err) {
|
||||
// ESP_LOGE(TAG, "Init failed: %s", err);
|
||||
// vl53l0x_end(m_sensor);
|
||||
// m_sensor = nullptr;
|
||||
// return;
|
||||
// }
|
||||
|
||||
// // Start continuous ranging
|
||||
// vl53l0x_startContinuous(m_sensor, 0);
|
||||
}
|
||||
|
||||
DistanceSensor::~DistanceSensor() {
|
||||
if (m_sensor == nullptr) {
|
||||
return;
|
||||
}
|
||||
|
||||
vl53l0x_end(m_sensor);
|
||||
}
|
||||
|
||||
std::vector<Flatbuffers::sensor_value> DistanceSensor::get_sensor_data() {
|
||||
uint16_t range = vl53l0x_readRangeContinuousMillimeters(m_sensor);
|
||||
if (range == 65535) {
|
||||
ESP_LOGW(TAG, "Out of range or timeout");
|
||||
} else {
|
||||
ESP_LOGI(TAG, "Range: %d mm", range);
|
||||
return {Flatbuffers::distance{(float)range}};
|
||||
}
|
||||
return {{}};
|
||||
}
|
||||
@@ -19,6 +19,7 @@ void OledActuator::actuate(uint8_t *cmd) {
|
||||
const auto new_str = text_control_message->message()->str();
|
||||
|
||||
if (m_display_str != new_str) {
|
||||
|
||||
m_display_str = new_str;
|
||||
|
||||
m_oled->clear_display();
|
||||
|
||||
15
main/control/SensorFactory.cpp
Normal file
15
main/control/SensorFactory.cpp
Normal file
@@ -0,0 +1,15 @@
|
||||
|
||||
#include <memory>
|
||||
|
||||
#include "control/SensorFactory.h"
|
||||
#include "control/DistanceSensor.h"
|
||||
#include "flatbuffers_generated/RobotModule_generated.h"
|
||||
|
||||
std::unique_ptr<ISensor> SensorFactory::create_sensor(const ModuleType type) {
|
||||
switch (type) {
|
||||
case ModuleType_DISTANCE_SENSOR:
|
||||
return std::make_unique<DistanceSensor>();
|
||||
default:
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
@@ -11,13 +11,15 @@
|
||||
|
||||
#include "MessagingInterface.h"
|
||||
#include "control/ActuatorFactory.h"
|
||||
#include "control/SensorFactory.h"
|
||||
#include "control/IActuator.h"
|
||||
|
||||
class LoopManager {
|
||||
public:
|
||||
LoopManager() : m_config_manager(ConfigManager::get_instance()),
|
||||
m_messaging_interface(std::make_unique<MessagingInterface>()),
|
||||
m_actuator(ActuatorFactory::create_actuator(m_config_manager.get_module_type())) {
|
||||
m_actuator(ActuatorFactory::create_actuator(m_config_manager.get_module_type())),
|
||||
m_sensor(SensorFactory::create_sensor(m_config_manager.get_module_type())) {
|
||||
xTaskCreate(reinterpret_cast<TaskFunction_t>(LoopManager::metadata_tx_loop),
|
||||
"metadata_tx", 3096, this, 3, nullptr);
|
||||
xTaskCreate(reinterpret_cast<TaskFunction_t>(LoopManager::sensor_loop),
|
||||
@@ -43,6 +45,7 @@ private:
|
||||
ConfigManager& m_config_manager;
|
||||
std::unique_ptr<MessagingInterface> m_messaging_interface;
|
||||
std::unique_ptr<IActuator> m_actuator;
|
||||
std::unique_ptr<ISensor> m_sensor;
|
||||
|
||||
void send_sensor_reading(bool durable) const;
|
||||
};
|
||||
|
||||
21
main/include/control/DistanceSensor.h
Normal file
21
main/include/control/DistanceSensor.h
Normal file
@@ -0,0 +1,21 @@
|
||||
|
||||
#ifndef DCMOTORACTUATOR_H
|
||||
#define DCMOTORACTUATOR_H
|
||||
|
||||
#include "control/ISensor.h"
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include "vl53l0x.h"
|
||||
|
||||
class DistanceSensor final : public ISensor {
|
||||
public:
|
||||
DistanceSensor();
|
||||
~DistanceSensor() override;
|
||||
std::vector<Flatbuffers::sensor_value> get_sensor_data() override;
|
||||
|
||||
private:
|
||||
vl53l0x_t *m_sensor = nullptr;
|
||||
|
||||
};
|
||||
|
||||
#endif //SERVO1ACTUATOR_H
|
||||
@@ -5,10 +5,13 @@
|
||||
#ifndef ISENSOR_H
|
||||
#define ISENSOR_H
|
||||
|
||||
#include <vector>
|
||||
#include "SensorMessageBuilder.h"
|
||||
|
||||
class ISensor {
|
||||
public:
|
||||
virtual ~ISensor() {}
|
||||
virtual void get_reading() = 0; // todo: return a flatbuffer object
|
||||
virtual std::vector<Flatbuffers::sensor_value> get_sensor_data() = 0;
|
||||
};
|
||||
|
||||
#endif //ISENSOR_H
|
||||
|
||||
@@ -5,6 +5,9 @@
|
||||
#ifndef SENSORFACTORY_H
|
||||
#define SENSORFACTORY_H
|
||||
|
||||
#include "flatbuffers_generated/RobotModule_generated.h"
|
||||
#include "control/ISensor.h"
|
||||
|
||||
class SensorFactory {
|
||||
public:
|
||||
static std::unique_ptr<ISensor> create_sensor(ModuleType type);
|
||||
|
||||
@@ -1,3 +1,4 @@
|
||||
#include "flatbuffers_generated/RobotModule_generated.h"
|
||||
#if !defined(RMT_TEST) || (defined(RMT_TEST) && RMT_TEST == 0)
|
||||
// #include <cstdio>
|
||||
// #include <memory>
|
||||
|
||||
@@ -18,5 +18,5 @@
|
||||
| 14 | Ch. 3 RMT RX |
|
||||
| 15 | DC Motor Encoder A |
|
||||
| 16 | DC Motor Encoder B |
|
||||
| 17 | OLED SDA |
|
||||
| 18 | OLED SCL |
|
||||
| 17 | OLED SDA, Distance SDA |
|
||||
| 18 | OLED SCL, Distance SCL |
|
||||
|
||||
Reference in New Issue
Block a user