Migrated to Polulu VL53L0X library
Saves around 7.5kb of precious program space
This commit is contained in:
parent
5d013b4273
commit
b1600ab1d6
@ -38,3 +38,14 @@ upload_protocol = usbtiny
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upload_flags = -e
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upload_speed = 19200
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; This environment is not actually one I use for the hardware, but
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; PlatformIO's Home includes a very useful Inspect feature that
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; requires a debug build. These builds are significantly larger and
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; will cause the build to fail on the "checkprogsize" step.
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; Targetting a microprocessor with more space allows the build to succeed.
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[env:platformio-home-debug]
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platform = atmelavr
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board = atmega2560
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board_build.f_cpu = 16000000L
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framework = arduino
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@ -52,8 +52,12 @@ class Config
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Settings for a VL53L0X time-of-flight sensor.
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*/
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// Note that this must correspond to the default address of the module,
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// the initialisation code skips reassigning the address to save calls.
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static const uint8_t HeightSensorI2CAddress = 0x29;
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static const uint16_t HeightSensorBudget = 33000;
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// Values above this will be disregarded as invalid
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static const uint16_t HeightMeasurementMax = 1500;
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@ -2,6 +2,7 @@
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#define __motor
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// Low-level functions to control the motor
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enum class MotorDirection
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{
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Up = 0,
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80
src/lib/motorstate.cpp
Normal file
80
src/lib/motorstate.cpp
Normal file
@ -0,0 +1,80 @@
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#include "./motorstate.h"
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#include "./motor.h"
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#include "./state.h"
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#include "./settings.h"
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#include "include/config.h"
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void motorStateMoveTo(uint16_t height)
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{
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}
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bool motorStateCheckTargetReached()
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{
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switch (State.MoveDirection)
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{
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case Direction::Up:
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if (State.CurrentHeight >= State.MoveTarget - Config::HeightMeasurementDeltaStop)
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{
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if (State.CurrentHeight - State.MoveTarget <= Config::HeightMeasurementDeltaOnTarget)
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State.CurrentHeight = State.MoveTarget;
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motorStateStop();
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return true;
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}
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break;
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case Direction::Down:
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if (State.CurrentHeight <= State.MoveTarget + Config::HeightMeasurementDeltaStop)
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{
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if (State.MoveTarget - State.CurrentHeight <= Config::HeightMeasurementDeltaOnTarget)
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State.CurrentHeight = State.MoveTarget;
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motorStateStop();
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return true;
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}
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break;
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default:
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break;
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}
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return false;
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}
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bool motorStateCheckOverCurrent()
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{
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if (motorIsOverCurrent())
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{
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motorStateStop();
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return true;
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}
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return false;
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}
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void motorStateStop()
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{
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motorStop();
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State.MoveDirection = Direction::None;
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}
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void getDisplayHeight(char* buffer, uint16_t value)
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{
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uint8_t displayValue = (value + Settings.Height.Offset) / 10;
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if (displayValue > 99)
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buffer[0] = '0' + ((displayValue / 100) % 10);
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else
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buffer[0] = '0';
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buffer[1] = '.';
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buffer[2] = '0' + ((displayValue / 10) % 10);
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buffer[3] = '0' + (displayValue % 10);
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buffer[4] = 'm';
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}
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19
src/lib/motorstate.h
Normal file
19
src/lib/motorstate.h
Normal file
@ -0,0 +1,19 @@
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#ifndef __motorstate
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#define __motorstate
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#include <stdint.h>
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// High-level functions to control the motor and update the global state
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extern void motorStateMoveTo(uint16_t height);
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extern bool motorStateCheckTargetReached();
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extern bool motorStateCheckOverCurrent();
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extern void motorStateStop();
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// Formats a height value as "0.00m" (always exactly 5 characters long).
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// Buffer must be at least 5 bytes long. No null character is added.
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// The value is the raw height sensor value, the offset is added by this function.
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extern void getDisplayHeight(char* buffer, uint16_t value);
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#endif
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@ -1,7 +1,9 @@
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#include "./home.h"
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#include "./move.h"
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#include "fonts/FreeSansBold18pt7b.trimmed.h"
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#include "include/config.h"
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#include "lib/settings.h"
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#include "lib/motorstate.h"
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#define HOME_FONT_BASELINE 25
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@ -16,22 +18,6 @@
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#define PRESET_LINEHEIGHT (HOME_FONT_BASELINE + (2 * PRESET_MARGIN))
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// TODO move to shared file
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// Formats a height value as "0.00m" (always exactly 5 characters long).
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// Buffer must be at least 5 bytes long. No null character is added.
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void getDisplayHeight(char* buffer, uint8_t value)
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{
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if (value > 99)
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buffer[0] = '0' + ((value / 100) % 10);
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else
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buffer[0] = '0';
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buffer[1] = '.';
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buffer[2] = '0' + ((value / 10) % 10);
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buffer[3] = '0' + (value % 10);
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buffer[4] = 'm';
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}
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void HomeScreen::onShow()
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{
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@ -52,6 +38,22 @@ void HomeScreen::onShow()
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void HomeScreen::onButton(Button button)
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{
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switch (button)
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{
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case Button::Up:
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motorStateMoveTo(Settings.Height.Preset[0]);
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this->getScreenManager()->show<MoveScreen>();
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break;
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case Button::Down:
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motorStateMoveTo(Settings.Height.Preset[1]);
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this->getScreenManager()->show<MoveScreen>();
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break;
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case Button::Menu:
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// TODO show menu
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break;
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}
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}
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@ -74,7 +76,7 @@ void HomeScreen::drawPreset2()
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}
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void HomeScreen::drawPreset(uint8_t number, uint8_t y, uint8_t value)
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void HomeScreen::drawPreset(uint8_t number, uint8_t y, uint16_t value)
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{
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auto display = this->getDisplay();
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uint16_t numberColor;
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@ -23,7 +23,7 @@ class HomeScreen : public BaseScreen
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void drawPreset1();
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void drawPreset2();
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void drawPreset(uint8_t number, uint8_t y, uint8_t value);
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void drawPreset(uint8_t number, uint8_t y, uint16_t value);
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void drawMenu();
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};
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@ -3,6 +3,7 @@
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#include "fonts/FreeSansBold18pt7b.trimmed.h"
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#include "include/config.h"
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#include "lib/settings.h"
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#include "lib/motorstate.h"
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#define MOVE_FONT_BASELINE 25
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@ -24,7 +25,7 @@ void MoveScreen::onShow()
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void MoveScreen::onButton(Button button)
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{
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// TODO stop the motor
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motorStateStop();
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this->getScreenManager()->show<HomeScreen>();
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}
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1059
src/lib/vl53l0x.cpp
1059
src/lib/vl53l0x.cpp
File diff suppressed because it is too large
Load Diff
@ -1,53 +1,189 @@
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/*
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// Slightly modified version of https://github.com/pololu/vl53l0x-arduino
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// which returns an error code if initialization fails.
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The Adafruit VL53L0X library is included because it's an easy way to get
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access to the VL53L0X API headers. I will not be using the Adafruit library
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however because it lacks a way to set the timing budget, which I found to be
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very much required for accurate results.
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#ifndef VL53L0X_h
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#define VL53L0X_h
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*/
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#include <Arduino.h>
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#ifndef __vl53l0x
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#define __vl53l0x
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#include "Arduino.h"
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#include "Wire.h"
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#include "vl53l0x_api.h"
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typedef int8_t VL53L0XPosition;
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typedef struct
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enum class VL53L0XInitResult
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{
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VL53L0X_Error error;
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VL53L0XPosition position;
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} VL53L0XResult;
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Success = 0,
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InvalidIdentification = 1,
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GetSpadInfoFailed = 2,
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VHVCalibrationFailed = 3,
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PhaseCalibrationFailed = 4,
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};
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#define VL53L0X_POSITION_UNKNOWN ((VL53L0XPosition) 0)
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// Positions for the init method
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#define VL53L0X_POSITION_DATAINIT ((VL53L0XPosition) 1)
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#define VL53L0X_POSITION_SETDEVICEADDRESS ((VL53L0XPosition) 2)
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#define VL53L0X_POSITION_GETDEVICEINFO ((VL53L0XPosition) 3)
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#define VL53L0X_POSITION_STATICINIT ((VL53L0XPosition) 4)
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#define VL53L0X_POSITION_REFSPAD ((VL53L0XPosition) 5)
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#define VL53L0X_POSITION_REFCAL ((VL53L0XPosition) 6)
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#define VL53L0X_POSITION_DEVICEMODE ((VL53L0XPosition) 7)
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#define VL53L0X_POSITION_LIMITRANGE ((VL53L0XPosition) 8)
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#define VL53L0X_POSITION_LIMITRATE ((VL53L0XPosition) 9)
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#define VL53L0X_POSITION_TRESHOLD1 ((VL53L0XPosition) 10)
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#define VL53L0X_POSITION_TRESHOLD2 ((VL53L0XPosition) 11)
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class VL53L0X
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{
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public:
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bool init(uint8_t address, VL53L0XResult* result);
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bool setMeasurementTimingBudget(uint32_t budget_us, VL53L0X_Error* error);
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bool getSingleRangingMeasurement(VL53L0X_RangingMeasurementData_t* data, VL53L0X_Error* error);
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bool getSingleRangingMeasurement(uint16_t* distanceMillimeters, VL53L0X_Error* error, uint16_t maxValidHeight);
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// register addresses from API vl53l0x_device.h (ordered as listed there)
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enum regAddr
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{
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SYSRANGE_START = 0x00,
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private:
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VL53L0X_Dev_t device;
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SYSTEM_THRESH_HIGH = 0x0C,
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SYSTEM_THRESH_LOW = 0x0E,
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SYSTEM_SEQUENCE_CONFIG = 0x01,
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SYSTEM_RANGE_CONFIG = 0x09,
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SYSTEM_INTERMEASUREMENT_PERIOD = 0x04,
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SYSTEM_INTERRUPT_CONFIG_GPIO = 0x0A,
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GPIO_HV_MUX_ACTIVE_HIGH = 0x84,
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SYSTEM_INTERRUPT_CLEAR = 0x0B,
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RESULT_INTERRUPT_STATUS = 0x13,
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RESULT_RANGE_STATUS = 0x14,
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RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN = 0xBC,
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RESULT_CORE_RANGING_TOTAL_EVENTS_RTN = 0xC0,
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RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF = 0xD0,
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RESULT_CORE_RANGING_TOTAL_EVENTS_REF = 0xD4,
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RESULT_PEAK_SIGNAL_RATE_REF = 0xB6,
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ALGO_PART_TO_PART_RANGE_OFFSET_MM = 0x28,
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I2C_SLAVE_DEVICE_ADDRESS = 0x8A,
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MSRC_CONFIG_CONTROL = 0x60,
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PRE_RANGE_CONFIG_MIN_SNR = 0x27,
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PRE_RANGE_CONFIG_VALID_PHASE_LOW = 0x56,
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PRE_RANGE_CONFIG_VALID_PHASE_HIGH = 0x57,
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PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT = 0x64,
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FINAL_RANGE_CONFIG_MIN_SNR = 0x67,
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FINAL_RANGE_CONFIG_VALID_PHASE_LOW = 0x47,
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FINAL_RANGE_CONFIG_VALID_PHASE_HIGH = 0x48,
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FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT = 0x44,
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PRE_RANGE_CONFIG_SIGMA_THRESH_HI = 0x61,
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PRE_RANGE_CONFIG_SIGMA_THRESH_LO = 0x62,
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PRE_RANGE_CONFIG_VCSEL_PERIOD = 0x50,
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PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x51,
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PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x52,
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SYSTEM_HISTOGRAM_BIN = 0x81,
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HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT = 0x33,
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HISTOGRAM_CONFIG_READOUT_CTRL = 0x55,
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FINAL_RANGE_CONFIG_VCSEL_PERIOD = 0x70,
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FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x71,
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FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x72,
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CROSSTALK_COMPENSATION_PEAK_RATE_MCPS = 0x20,
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MSRC_CONFIG_TIMEOUT_MACROP = 0x46,
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SOFT_RESET_GO2_SOFT_RESET_N = 0xBF,
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IDENTIFICATION_MODEL_ID = 0xC0,
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IDENTIFICATION_REVISION_ID = 0xC2,
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OSC_CALIBRATE_VAL = 0xF8,
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GLOBAL_CONFIG_VCSEL_WIDTH = 0x32,
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GLOBAL_CONFIG_SPAD_ENABLES_REF_0 = 0xB0,
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GLOBAL_CONFIG_SPAD_ENABLES_REF_1 = 0xB1,
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GLOBAL_CONFIG_SPAD_ENABLES_REF_2 = 0xB2,
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GLOBAL_CONFIG_SPAD_ENABLES_REF_3 = 0xB3,
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GLOBAL_CONFIG_SPAD_ENABLES_REF_4 = 0xB4,
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GLOBAL_CONFIG_SPAD_ENABLES_REF_5 = 0xB5,
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GLOBAL_CONFIG_REF_EN_START_SELECT = 0xB6,
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DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD = 0x4E,
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DYNAMIC_SPAD_REF_EN_START_OFFSET = 0x4F,
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POWER_MANAGEMENT_GO1_POWER_FORCE = 0x80,
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VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV = 0x89,
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ALGO_PHASECAL_LIM = 0x30,
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ALGO_PHASECAL_CONFIG_TIMEOUT = 0x30,
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};
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enum vcselPeriodType { VcselPeriodPreRange, VcselPeriodFinalRange };
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uint8_t last_status; // status of last I2C transmission
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VL53L0X(void);
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void setAddress(uint8_t new_addr);
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inline uint8_t getAddress(void) { return address; }
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VL53L0XInitResult init(bool io_2v8 = true);
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void writeReg(uint8_t reg, uint8_t value);
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void writeReg16Bit(uint8_t reg, uint16_t value);
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void writeReg32Bit(uint8_t reg, uint32_t value);
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uint8_t readReg(uint8_t reg);
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uint16_t readReg16Bit(uint8_t reg);
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uint32_t readReg32Bit(uint8_t reg);
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void writeMulti(uint8_t reg, uint8_t const * src, uint8_t count);
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void readMulti(uint8_t reg, uint8_t * dst, uint8_t count);
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bool setSignalRateLimit(float limit_Mcps);
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float getSignalRateLimit(void);
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bool setMeasurementTimingBudget(uint32_t budget_us);
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uint32_t getMeasurementTimingBudget(void);
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bool setVcselPulsePeriod(vcselPeriodType type, uint8_t period_pclks);
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uint8_t getVcselPulsePeriod(vcselPeriodType type);
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void startContinuous(uint32_t period_ms = 0);
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void stopContinuous(void);
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uint16_t readRangeContinuousMillimeters(void);
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uint16_t readRangeSingleMillimeters(void);
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inline void setTimeout(uint16_t timeout) { io_timeout = timeout; }
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inline uint16_t getTimeout(void) { return io_timeout; }
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bool timeoutOccurred(void);
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private:
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// TCC: Target CentreCheck
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// MSRC: Minimum Signal Rate Check
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// DSS: Dynamic Spad Selection
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struct SequenceStepEnables
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{
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boolean tcc, msrc, dss, pre_range, final_range;
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};
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struct SequenceStepTimeouts
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{
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uint16_t pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks;
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uint16_t msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks;
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uint32_t msrc_dss_tcc_us, pre_range_us, final_range_us;
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};
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uint8_t address;
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uint16_t io_timeout;
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bool did_timeout;
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uint16_t timeout_start_ms;
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uint8_t stop_variable; // read by init and used when starting measurement; is StopVariable field of VL53L0X_DevData_t structure in API
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uint32_t measurement_timing_budget_us;
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bool getSpadInfo(uint8_t * count, bool * type_is_aperture);
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void getSequenceStepEnables(SequenceStepEnables * enables);
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void getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts);
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bool performSingleRefCalibration(uint8_t vhv_init_byte);
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static uint16_t decodeTimeout(uint16_t value);
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static uint16_t encodeTimeout(uint32_t timeout_mclks);
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static uint32_t timeoutMclksToMicroseconds(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks);
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static uint32_t timeoutMicrosecondsToMclks(uint32_t timeout_period_us, uint8_t vcsel_period_pclks);
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};
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#endif
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#endif
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115
src/main.cpp
115
src/main.cpp
@ -10,6 +10,7 @@
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#include "./lib/vl53l0x.h"
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#include "./lib/state.h"
|
||||
#include "./lib/motor.h"
|
||||
#include "./lib/motorstate.h"
|
||||
#include "./lib/screen/home.h"
|
||||
|
||||
|
||||
@ -17,8 +18,7 @@ enum class InitSequenceStep
|
||||
{
|
||||
EEPROM = 0,
|
||||
HeightSensorInit = 1,
|
||||
HeightSensorBudget = 2,
|
||||
HeightSensorTest = 3,
|
||||
HeightSensorTest = 2,
|
||||
|
||||
Last = HeightSensorTest
|
||||
};
|
||||
@ -26,7 +26,7 @@ enum class InitSequenceStep
|
||||
|
||||
// Forward declarations
|
||||
inline void setupHeightSensor();
|
||||
inline uint8_t testHeightSensor();
|
||||
inline uint16_t testHeightSensor();
|
||||
|
||||
void initSequenceStart();
|
||||
void initSequenceSuccess(InitSequenceStep step);
|
||||
@ -34,6 +34,7 @@ void initSequenceError(InitSequenceStep step);
|
||||
void initSequenceDisplayHeight(uint16_t measurement);
|
||||
void initSequenceEnd();
|
||||
|
||||
bool heightSensorGetRange(uint16_t* measurement);
|
||||
|
||||
|
||||
auto display = Adafruit_ST7789(Config::DisplayPortCS, Config::DisplayPortDC, Config::DisplayPortRST);
|
||||
@ -88,45 +89,55 @@ inline void setupHeightSensor()
|
||||
{
|
||||
Wire.begin();
|
||||
|
||||
VL53L0XResult result;
|
||||
if (!heightSensor.init(Config::HeightSensorI2CAddress, &result))
|
||||
heightSensor.setTimeout(500);
|
||||
auto error = heightSensor.init();
|
||||
|
||||
if (error != VL53L0XInitResult::Success)
|
||||
{
|
||||
initSequenceError(InitSequenceStep::HeightSensorInit);
|
||||
|
||||
display.print(result.error);
|
||||
display.print(" @ ");
|
||||
display.print(result.position);
|
||||
switch (error)
|
||||
{
|
||||
case VL53L0XInitResult::InvalidIdentification:
|
||||
display.print("Invalid identification");
|
||||
break;
|
||||
|
||||
case VL53L0XInitResult::GetSpadInfoFailed:
|
||||
display.print("GetSpadInfo failed");
|
||||
break;
|
||||
|
||||
case VL53L0XInitResult::VHVCalibrationFailed:
|
||||
display.print("VHV calibration failed");
|
||||
break;
|
||||
|
||||
case VL53L0XInitResult::PhaseCalibrationFailed:
|
||||
display.print("Phase calibration failed");
|
||||
break;
|
||||
|
||||
default:
|
||||
display.print("Unknown error");
|
||||
break;
|
||||
}
|
||||
|
||||
while(1);
|
||||
}
|
||||
|
||||
heightSensor.setMeasurementTimingBudget(Config::HeightSensorBudget);
|
||||
|
||||
initSequenceSuccess(InitSequenceStep::HeightSensorInit);
|
||||
|
||||
|
||||
VL53L0X_Error error;
|
||||
if (!heightSensor.setMeasurementTimingBudget(33000, &error))
|
||||
{
|
||||
initSequenceError(InitSequenceStep::HeightSensorBudget);
|
||||
|
||||
display.print(result.error);
|
||||
|
||||
while(1);
|
||||
}
|
||||
initSequenceSuccess(InitSequenceStep::HeightSensorBudget);
|
||||
}
|
||||
|
||||
|
||||
|
||||
inline uint8_t testHeightSensor()
|
||||
inline uint16_t testHeightSensor()
|
||||
{
|
||||
VL53L0X_Error error;
|
||||
uint16_t reference = 0;
|
||||
uint8_t closeCount = 0;
|
||||
uint16_t measurement;
|
||||
|
||||
while (closeCount < 3)
|
||||
{
|
||||
uint16_t measurement;
|
||||
|
||||
if (heightSensor.getSingleRangingMeasurement(&measurement, &error, Config::HeightMeasurementMax))
|
||||
if (heightSensorGetRange(&measurement))
|
||||
{
|
||||
initSequenceDisplayHeight(measurement);
|
||||
|
||||
@ -150,7 +161,7 @@ inline uint8_t testHeightSensor()
|
||||
}
|
||||
|
||||
initSequenceSuccess(InitSequenceStep::HeightSensorTest);
|
||||
return reference / 10;
|
||||
return reference;
|
||||
}
|
||||
|
||||
|
||||
@ -171,11 +182,8 @@ void loop()
|
||||
|
||||
if (State.MoveDirection != Direction::None)
|
||||
{
|
||||
if (motorIsOverCurrent())
|
||||
if (motorStateCheckOverCurrent())
|
||||
{
|
||||
motorStop();
|
||||
State.MoveDirection = Direction::None;
|
||||
|
||||
// TODO go to overcurrent screen
|
||||
}
|
||||
else
|
||||
@ -191,54 +199,32 @@ uint32_t lastValidMeasurement;
|
||||
|
||||
void updateHeight()
|
||||
{
|
||||
VL53L0X_Error error;
|
||||
uint16_t measurement;
|
||||
|
||||
if (heightSensor.getSingleRangingMeasurement(&measurement, &error, Config::HeightMeasurementMax))
|
||||
if (heightSensorGetRange(&measurement))
|
||||
{
|
||||
State.CurrentHeight = measurement;
|
||||
lastValidMeasurement = State.CurrentTime;
|
||||
|
||||
|
||||
// Check if we've reached the target
|
||||
switch (State.MoveDirection)
|
||||
{
|
||||
case Direction::Up:
|
||||
if (measurement >= State.MoveTarget - Config::HeightMeasurementDeltaStop)
|
||||
{
|
||||
if (measurement - State.MoveTarget <= Config::HeightMeasurementDeltaOnTarget)
|
||||
State.CurrentHeight = State.MoveTarget;
|
||||
|
||||
motorStop();
|
||||
State.MoveDirection = Direction::None;
|
||||
}
|
||||
break;
|
||||
|
||||
case Direction::Down:
|
||||
if (measurement <= State.MoveTarget + Config::HeightMeasurementDeltaStop)
|
||||
{
|
||||
if (State.MoveTarget - measurement <= Config::HeightMeasurementDeltaOnTarget)
|
||||
State.CurrentHeight = State.MoveTarget;
|
||||
|
||||
motorStop();
|
||||
State.MoveDirection = Direction::None;
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
if (motorStateCheckTargetReached())
|
||||
screenManager.show<HomeScreen>();
|
||||
}
|
||||
else if (State.CurrentTime - lastValidMeasurement >= Config::HeightMeasurementAbortTimeout)
|
||||
{
|
||||
motorStop();
|
||||
State.MoveDirection = Direction::None;
|
||||
motorStateStop();
|
||||
|
||||
// TODO go to height sensor error screen
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
bool heightSensorGetRange(uint16_t* measurement)
|
||||
{
|
||||
*measurement = heightSensor.readRangeSingleMillimeters();
|
||||
return !heightSensor.timeoutOccurred() && *measurement <= Config::HeightMeasurementMax;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
|
||||
For display sleep:
|
||||
@ -283,9 +269,6 @@ void initSequenceStart()
|
||||
display.print(" height sensor");
|
||||
|
||||
display.setCursor(0, initSequenceTextY(2));
|
||||
display.print(" timing budget");
|
||||
|
||||
display.setCursor(0, initSequenceTextY(3));
|
||||
display.print(" sensor test");
|
||||
}
|
||||
|
||||
|
Loading…
Reference in New Issue
Block a user