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Add distance sensor, rewrite OLED to use new i2c library

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This commit is contained in:
Johnathon Slightham
2026-02-19 14:48:31 -05:00
parent 29b79fbbb5
commit 20b047bbfe
31 changed files with 3040 additions and 122 deletions
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3
components/constants/include/constants/module.h
View File

@@ -42,6 +42,9 @@ inline std::unordered_map<int, int> MODULE_TO_NUM_CHANNELS_MAP {
#define OLED_SDA 17
#define OLED_SCL 18
#define DISTANCE_SDA 17
#define DISTANCE_SCL 18
inline std::unordered_map<uint8_t, uint8_t> CHANNEL_TO_0_DEG_MAP{{0, 9} };
inline std::unordered_map<uint8_t, uint8_t> CHANNEL_TO_90_DEG_MAP{{0, 7} };
inline std::unordered_map<uint8_t, uint8_t> CHANNEL_TO_180_DEG_MAP{{0, 8} };

12
components/flatbuffers/SensorMessageBuilder.cpp
View File

@@ -30,6 +30,18 @@ SerializedMessage SensorMessageBuilder::build_sensor_message(std::vector<sensor_
auto text_offset = builder_.CreateString(t.text);
values_vec.push_back(Messaging::CreateCurrentText(builder_, text_offset).Union());
sensor_values_vec.push_back(Messaging::SensorValue_CurrentText);
},
[&](distance d) {
values_vec.push_back(Messaging::CreateDistance(builder_, d.distance).Union());
sensor_values_vec.push_back(Messaging::SensorValue_Distance);
},
[&](temperature t) {
values_vec.push_back(Messaging::CreateTemperature(builder_, t.temperature).Union());
sensor_values_vec.push_back(Messaging::SensorValue_Temperature);
},
[&](position p) {
values_vec.push_back(Messaging::CreatePosition(builder_, p.heading, p.pitch, p.roll).Union());
sensor_values_vec.push_back(Messaging::SensorValue_Temperature);
}
},
v);

16
components/flatbuffers/include/SensorMessageBuilder.h
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@@ -19,7 +19,21 @@ struct target_text {
std::string text;
};
typedef std::variant<target_angle, current_angle, target_text> sensor_value;
struct distance {
float distance;
};
struct temperature {
float temperature;
};
struct position {
float heading;
float pitch;
float roll;
};
typedef std::variant<target_angle, current_angle, target_text, distance, temperature, position> sensor_value;
class SensorMessageBuilder {
public:

195
components/flatbuffers/include/flatbuffers_generated/SensorMessage_generated.h
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@@ -24,6 +24,15 @@ struct CurrentTextBuilder;
struct CurrentAngle;
struct CurrentAngleBuilder;
struct Distance;
struct DistanceBuilder;
struct Temperature;
struct TemperatureBuilder;
struct Position;
struct PositionBuilder;
struct SensorMessage;
struct SensorMessageBuilder;
@@ -32,33 +41,42 @@ enum SensorValue : uint8_t {
SensorValue_TargetAngle = 1,
SensorValue_CurrentAngle = 2,
SensorValue_CurrentText = 3,
SensorValue_Distance = 4,
SensorValue_Temperature = 5,
SensorValue_Position = 6,
SensorValue_MIN = SensorValue_NONE,
SensorValue_MAX = SensorValue_CurrentText
SensorValue_MAX = SensorValue_Position
};
inline const SensorValue (&EnumValuesSensorValue())[4] {
inline const SensorValue (&EnumValuesSensorValue())[7] {
static const SensorValue values[] = {
SensorValue_NONE,
SensorValue_TargetAngle,
SensorValue_CurrentAngle,
SensorValue_CurrentText
SensorValue_CurrentText,
SensorValue_Distance,
SensorValue_Temperature,
SensorValue_Position
};
return values;
}
inline const char * const *EnumNamesSensorValue() {
static const char * const names[5] = {
static const char * const names[8] = {
"NONE",
"TargetAngle",
"CurrentAngle",
"CurrentText",
"Distance",
"Temperature",
"Position",
nullptr
};
return names;
}
inline const char *EnumNameSensorValue(SensorValue e) {
if (::flatbuffers::IsOutRange(e, SensorValue_NONE, SensorValue_CurrentText)) return "";
if (::flatbuffers::IsOutRange(e, SensorValue_NONE, SensorValue_Position)) return "";
const size_t index = static_cast<size_t>(e);
return EnumNamesSensorValue()[index];
}
@@ -79,6 +97,18 @@ template<> struct SensorValueTraits<Messaging::CurrentText> {
static const SensorValue enum_value = SensorValue_CurrentText;
};
template<> struct SensorValueTraits<Messaging::Distance> {
static const SensorValue enum_value = SensorValue_Distance;
};
template<> struct SensorValueTraits<Messaging::Temperature> {
static const SensorValue enum_value = SensorValue_Temperature;
};
template<> struct SensorValueTraits<Messaging::Position> {
static const SensorValue enum_value = SensorValue_Position;
};
bool VerifySensorValue(::flatbuffers::Verifier &verifier, const void *obj, SensorValue type);
bool VerifySensorValueVector(::flatbuffers::Verifier &verifier, const ::flatbuffers::Vector<::flatbuffers::Offset<void>> *values, const ::flatbuffers::Vector<uint8_t> *types);
@@ -215,6 +245,149 @@ inline ::flatbuffers::Offset<CurrentAngle> CreateCurrentAngle(
return builder_.Finish();
}
struct Distance FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
typedef DistanceBuilder Builder;
enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
VT_VALUE = 4
};
float value() const {
return GetField<float>(VT_VALUE, 0.0f);
}
bool Verify(::flatbuffers::Verifier &verifier) const {
return VerifyTableStart(verifier) &&
VerifyField<float>(verifier, VT_VALUE, 4) &&
verifier.EndTable();
}
};
struct DistanceBuilder {
typedef Distance Table;
::flatbuffers::FlatBufferBuilder &fbb_;
::flatbuffers::uoffset_t start_;
void add_value(float value) {
fbb_.AddElement<float>(Distance::VT_VALUE, value, 0.0f);
}
explicit DistanceBuilder(::flatbuffers::FlatBufferBuilder &_fbb)
: fbb_(_fbb) {
start_ = fbb_.StartTable();
}
::flatbuffers::Offset<Distance> Finish() {
const auto end = fbb_.EndTable(start_);
auto o = ::flatbuffers::Offset<Distance>(end);
return o;
}
};
inline ::flatbuffers::Offset<Distance> CreateDistance(
::flatbuffers::FlatBufferBuilder &_fbb,
float value = 0.0f) {
DistanceBuilder builder_(_fbb);
builder_.add_value(value);
return builder_.Finish();
}
struct Temperature FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
typedef TemperatureBuilder Builder;
enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
VT_VALUE = 4
};
float value() const {
return GetField<float>(VT_VALUE, 0.0f);
}
bool Verify(::flatbuffers::Verifier &verifier) const {
return VerifyTableStart(verifier) &&
VerifyField<float>(verifier, VT_VALUE, 4) &&
verifier.EndTable();
}
};
struct TemperatureBuilder {
typedef Temperature Table;
::flatbuffers::FlatBufferBuilder &fbb_;
::flatbuffers::uoffset_t start_;
void add_value(float value) {
fbb_.AddElement<float>(Temperature::VT_VALUE, value, 0.0f);
}
explicit TemperatureBuilder(::flatbuffers::FlatBufferBuilder &_fbb)
: fbb_(_fbb) {
start_ = fbb_.StartTable();
}
::flatbuffers::Offset<Temperature> Finish() {
const auto end = fbb_.EndTable(start_);
auto o = ::flatbuffers::Offset<Temperature>(end);
return o;
}
};
inline ::flatbuffers::Offset<Temperature> CreateTemperature(
::flatbuffers::FlatBufferBuilder &_fbb,
float value = 0.0f) {
TemperatureBuilder builder_(_fbb);
builder_.add_value(value);
return builder_.Finish();
}
struct Position FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
typedef PositionBuilder Builder;
enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
VT_HEADING = 4,
VT_PITCH = 6,
VT_ROLL = 8
};
float heading() const {
return GetField<float>(VT_HEADING, 0.0f);
}
float pitch() const {
return GetField<float>(VT_PITCH, 0.0f);
}
float roll() const {
return GetField<float>(VT_ROLL, 0.0f);
}
bool Verify(::flatbuffers::Verifier &verifier) const {
return VerifyTableStart(verifier) &&
VerifyField<float>(verifier, VT_HEADING, 4) &&
VerifyField<float>(verifier, VT_PITCH, 4) &&
VerifyField<float>(verifier, VT_ROLL, 4) &&
verifier.EndTable();
}
};
struct PositionBuilder {
typedef Position Table;
::flatbuffers::FlatBufferBuilder &fbb_;
::flatbuffers::uoffset_t start_;
void add_heading(float heading) {
fbb_.AddElement<float>(Position::VT_HEADING, heading, 0.0f);
}
void add_pitch(float pitch) {
fbb_.AddElement<float>(Position::VT_PITCH, pitch, 0.0f);
}
void add_roll(float roll) {
fbb_.AddElement<float>(Position::VT_ROLL, roll, 0.0f);
}
explicit PositionBuilder(::flatbuffers::FlatBufferBuilder &_fbb)
: fbb_(_fbb) {
start_ = fbb_.StartTable();
}
::flatbuffers::Offset<Position> Finish() {
const auto end = fbb_.EndTable(start_);
auto o = ::flatbuffers::Offset<Position>(end);
return o;
}
};
inline ::flatbuffers::Offset<Position> CreatePosition(
::flatbuffers::FlatBufferBuilder &_fbb,
float heading = 0.0f,
float pitch = 0.0f,
float roll = 0.0f) {
PositionBuilder builder_(_fbb);
builder_.add_roll(roll);
builder_.add_pitch(pitch);
builder_.add_heading(heading);
return builder_.Finish();
}
struct SensorMessage FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
typedef SensorMessageBuilder Builder;
enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
@@ -298,6 +471,18 @@ inline bool VerifySensorValue(::flatbuffers::Verifier &verifier, const void *obj
auto ptr = reinterpret_cast<const Messaging::CurrentText *>(obj);
return verifier.VerifyTable(ptr);
}
case SensorValue_Distance: {
auto ptr = reinterpret_cast<const Messaging::Distance *>(obj);
return verifier.VerifyTable(ptr);
}
case SensorValue_Temperature: {
auto ptr = reinterpret_cast<const Messaging::Temperature *>(obj);
return verifier.VerifyTable(ptr);
}
case SensorValue_Position: {
auto ptr = reinterpret_cast<const Messaging::Position *>(obj);
return verifier.VerifyTable(ptr);
}
default: return true;
}
}

179
components/oled/Oled.cpp
View File

@@ -1,8 +1,7 @@
#include <string>
#include "driver/gpio.h"
#include "driver/i2c.h"
#include <driver/i2c_master.h>
#include "esp_err.h"
#include "esp_log.h"
#include "Oled.h"
@@ -18,80 +17,91 @@
#define DISPLAY_HEIGHT 64
#define PAGE_SIZE 128
#define PAGE_COUNT 8
#define I2C_PORT I2C_NUM_0
#define I2C_TIMEOUT_MS 100
void Oled::init(uint8_t sda_pin, uint8_t scl_pin) {
i2c_config_t i2c_config = {
.mode = I2C_MODE_MASTER,
.sda_io_num = sda_pin,
.scl_io_num = scl_pin,
.sda_pullup_en = GPIO_PULLUP_ENABLE,
.scl_pullup_en = GPIO_PULLUP_ENABLE,
.master = {
.clk_speed = 1000000
i2c_master_bus_config_t bus_config = {
.i2c_port = I2C_NUM_0,
.sda_io_num = (gpio_num_t)sda_pin,
.scl_io_num = (gpio_num_t)scl_pin,
.clk_source = I2C_CLK_SRC_DEFAULT,
.glitch_ignore_cnt = 7,
.intr_priority = 0,
.trans_queue_depth = 0,
.flags = {
.enable_internal_pullup = true,
},
.clk_flags = 0,
};
i2c_param_config(I2C_PORT, &i2c_config);
ESP_ERROR_CHECK(i2c_new_master_bus(&bus_config, &bus_handle));
i2c_driver_install(I2C_PORT, I2C_MODE_MASTER, 0, 0, 0);
i2c_device_config_t dev_config = {
.dev_addr_length = I2C_ADDR_BIT_LEN_7,
.device_address = OLED_I2C_ADDRESS,
.scl_speed_hz = 400000,
.scl_wait_us = 0,
.flags = {
.disable_ack_check = false,
},
};
ESP_ERROR_CHECK(i2c_master_bus_add_device(bus_handle, &dev_config, &dev_handle));
i2c_cmd_handle_t 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_CHARGE_PUMP, true);
i2c_master_write_byte(cmd, 0x14, true);
i2c_master_write_byte(cmd, OLED_CMD_SET_SEGMENT_REMAP, true);
i2c_master_write_byte(cmd, OLED_CMD_SET_COM_SCAN_MODE, true);
i2c_master_write_byte(cmd, OLED_CMD_DISPLAY_ON, true);
i2c_master_stop(cmd);
// Full SSD1306 initialisation sequence
uint8_t init_cmd[] = {
OLED_CONTROL_BYTE_CMD_STREAM,
OLED_CMD_DISPLAY_OFF, // display off during init
OLED_CMD_SET_DISPLAY_CLK_DIV, 0x80, // clock divide ratio / oscillator frequency
OLED_CMD_SET_MUX_RATIO, 0x3F, // 1/64 duty (64 rows)
OLED_CMD_SET_DISPLAY_OFFSET, 0x00, // no vertical shift
OLED_CMD_SET_DISPLAY_START_LINE, // start line = 0
OLED_CMD_SET_CHARGE_PUMP, 0x14, // enable charge pump
OLED_CMD_SET_MEMORY_ADDR_MODE, 0x02,// page addressing mode
OLED_CMD_SET_SEGMENT_REMAP, // mirror horizontally (0xA1)
OLED_CMD_SET_COM_SCAN_MODE, // mirror vertically (0xC8)
OLED_CMD_SET_COM_PIN_MAP, 0x12, // alt COM pin config for 128x64
OLED_CMD_SET_CONTRAST, 0x7F, // mid contrast
OLED_CMD_SET_PRECHARGE, 0xF1, // pre-charge period
OLED_CMD_SET_VCOMH_DESELCT, 0x30, // VCOMH deselect level
OLED_CMD_DISPLAY_RAM, // display follows RAM
OLED_CMD_DISPLAY_NORMAL, // non-inverted
OLED_CMD_DISPLAY_ON, // turn display on
};
if (ESP_OK != i2c_master_cmd_begin(I2C_PORT, cmd, 10 / portTICK_PERIOD_MS)) {
if (ESP_OK != i2c_master_transmit(dev_handle, init_cmd, sizeof(init_cmd), I2C_TIMEOUT_MS)) {
ESP_LOGE(TAG, "configuration failed");
}
i2c_cmd_link_delete(cmd);
clear_display();
}
void Oled::clear_display() {
ESP_LOGI(TAG, "clear_display");
i2c_cmd_handle_t cmd;
uint8_t page[PAGE_SIZE] = {0};
// Data packet: control byte + PAGE_SIZE zero bytes
uint8_t data_buf[1 + PAGE_SIZE] = { OLED_CONTROL_BYTE_DATA_STREAM };
// rest is already zero-initialised
for (uint8_t i = 0; i < PAGE_COUNT; i++) {
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_SINGLE, true);
i2c_master_write_byte(cmd, 0xB0 | i, true);
i2c_master_write_byte(cmd, OLED_CONTROL_BYTE_DATA_STREAM, true);
i2c_master_write(cmd, page, PAGE_SIZE, true);
i2c_master_stop(cmd);
i2c_master_cmd_begin(I2C_PORT, cmd, 10 / portTICK_PERIOD_MS);
i2c_cmd_link_delete(cmd);
// Set page address and reset column to 0
uint8_t page_cmd[] = {
OLED_CONTROL_BYTE_CMD_STREAM,
(uint8_t)(0xB0 | i), // page address
0x00, // column low nibble = 0
0x10, // column high nibble = 0
};
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;
@@ -99,49 +109,38 @@ void Oled::display_text(const std::string& text) {
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);
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
i2c_master_stop(cmd);
i2c_master_cmd_begin(I2C_NUM_0, cmd, 10 / portTICK_PERIOD_MS);
i2c_cmd_link_delete(cmd);
// 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);
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);
// 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 {
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);
// 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++;
}
}
@@ -151,8 +150,8 @@ 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
}
}
}

3
components/oled/include/Oled.h
View File

@@ -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
View File

@@ -0,0 +1,5 @@
idf_component_register(
SRCS "vl53l0x.c"
INCLUDE_DIRS "include"
REQUIRES "driver" "esp_timer"
)

9
components/vl53l0x/Kconfig Normal file
View 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
View 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
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360
components/vl53l0x/README.md Normal file
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@@ -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

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#
# "main" pseudo-component makefile.
#
# (Uses default behaviour of compiling all source files in directory, adding 'include' to include path.)

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# 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)

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idf_component_register(SRCS "multiple_sensors_example.c"
INCLUDE_DIRS ".")

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/* 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");
}

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# 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)

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idf_component_register(SRCS "single_sensor_example.c"
INCLUDE_DIRS ".")

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/* 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");
}

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// 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
View File

File diff suppressed because it is too large Load Diff

2
main/CMakeLists.txt
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@@ -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)

21
main/LoopManager.cpp
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@@ -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
@@ -16,10 +17,16 @@
#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);
@@ -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
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@@ -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 {{}};
}

1
main/control/OledActuator.cpp
View File

@@ -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
View 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;
}
}

5
main/include/LoopManager.h
View File

@@ -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
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@@ -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
main/include/control/ISensor.h
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@@ -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

3
main/include/control/SensorFactory.h
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@@ -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
main/main.cpp
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@@ -1,3 +1,4 @@
#include "flatbuffers_generated/RobotModule_generated.h"
#if !defined(RMT_TEST) || (defined(RMT_TEST) && RMT_TEST == 0)
// #include <cstdio>
// #include <memory>

4
pinout.md
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@@ -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 |

6
sdkconfig
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@@ -1936,6 +1936,12 @@ CONFIG_VFS_SEMIHOSTFS_MAX_MOUNT_POINTS=1
CONFIG_VFS_INITIALIZE_DEV_NULL=y
# end of Virtual file system
#
# VL53L0X
#
# CONFIG_VL53L0X_DEBUG is not set
# end of VL53L0X
#
# mDNS
#