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Update VL53L4CD after PR feedback
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@tyeth
tyeth committed Apr 16, 2024
1 parent 656f32d commit a75bfc1
Showing 1 changed file with 6 additions and 80 deletions.
86 changes: 6 additions & 80 deletions src/components/i2c/drivers/WipperSnapper_I2C_Driver_VL53L4CD.h
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Original file line number Diff line number Diff line change
Expand Up @@ -52,67 +52,7 @@ class WipperSnapper_I2C_Driver_VL53L4CD : public WipperSnapper_I2C_Driver {

// Status codes for VL53L4CD sensor measurements
#define VL53L4CD_STATUS_VALID 0 ///< Returned distance is valid
#define VL53L4CD_STATUS_WARNING_SIGMA_THRESHOLD \
1 ///< Sigma is above the defined threshold
#define VL53L4CD_STATUS_WARNING_SIGNAL_LOW \
2 ///< Signal is below the defined threshold
#define VL53L4CD_STATUS_ERROR_DISTANCE_LOW \
3 ///< Measured distance is below detection threshold
#define VL53L4CD_STATUS_ERROR_PHASE_OUT_OF_LIMIT 4 ///< Phase out of valid limit
#define VL53L4CD_STATUS_ERROR_HARDWARE_FAIL 5 ///< Hardware failure
#define VL53L4CD_STATUS_WARNING_NO_WRAP_CHECK \
6 ///< Phase valid but no wrap around check performed
#define VL53L4CD_STATUS_ERROR_WRAP_TARGET \
7 ///< Wrapped target, phase does not match
#define VL53L4CD_STATUS_ERROR_PROCESSING_FAIL 8 ///< Processing failure
#define VL53L4CD_STATUS_ERROR_CROSSTALK_FAIL 9 ///< Crosstalk signal failure
#define VL53L4CD_STATUS_ERROR_INTERRUPT 10 ///< Interrupt error
#define VL53L4CD_STATUS_ERROR_MERGED_TARGET 11 ///< Merged target detected
#define VL53L4CD_STATUS_ERROR_SIGNAL_TOO_LOW \
12 ///< Signal is too low for accurate measurement
#define VL53L4CD_STATUS_ERROR_OTHER 255 ///< Other error (e.g., boot error)

/**************************************************************************/
/*!
@brief Gets a human-readable description of a VL53L4CD status code.
@param statusCode
The status code to describe.
@returns A human-readable description of the status code.
*/
const char *getVL53L4CDStatusDescription(int statusCode) {
switch (statusCode) {
case VL53L4CD_STATUS_VALID:
return "Returned distance is valid";
case VL53L4CD_STATUS_WARNING_SIGMA_THRESHOLD:
return "Sigma is above the defined threshold";
case VL53L4CD_STATUS_WARNING_SIGNAL_LOW:
return "Signal is below the defined threshold";
case VL53L4CD_STATUS_ERROR_DISTANCE_LOW:
return "Measured distance is below detection threshold";
case VL53L4CD_STATUS_ERROR_PHASE_OUT_OF_LIMIT:
return "Phase out of valid limit";
case VL53L4CD_STATUS_ERROR_HARDWARE_FAIL:
return "Hardware failure";
case VL53L4CD_STATUS_WARNING_NO_WRAP_CHECK:
return "Phase valid but no wrap around check performed";
case VL53L4CD_STATUS_ERROR_WRAP_TARGET:
return "Wrapped target, phase does not match";
case VL53L4CD_STATUS_ERROR_PROCESSING_FAIL:
return "Processing failure";
case VL53L4CD_STATUS_ERROR_CROSSTALK_FAIL:
return "Crosstalk signal failure";
case VL53L4CD_STATUS_ERROR_INTERRUPT:
return "Interrupt error";
case VL53L4CD_STATUS_ERROR_MERGED_TARGET:
return "Merged target detected";
case VL53L4CD_STATUS_ERROR_SIGNAL_TOO_LOW:
return "Signal is too low for accurate measurement";
case VL53L4CD_STATUS_ERROR_OTHER:
return "Other error (e.g., boot error)";
default:
return "Unknown status";
}
}

/*******************************************************************************/
/*!
Expand All @@ -123,14 +63,6 @@ class WipperSnapper_I2C_Driver_VL53L4CD : public WipperSnapper_I2C_Driver {
bool begin() {
_VL53L4CD = new VL53L4CD(_i2c, -1);

/* Reinstate if shutdown pin utilised
* // Configure VL53L4CD satellite component.
* _VL53L4CD->begin();
*
* // Switch off VL53L4CD satellite component.
* _VL53L4CD->VL53L4CD_Off();
*/

if (_VL53L4CD->InitSensor((uint8_t)_sensorAddress) != VL53L4CD_ERROR_NONE) {
WS_DEBUG_PRINTLN("Failed to initialize VL53L4CD sensor!");
return false;
Expand All @@ -150,10 +82,7 @@ class WipperSnapper_I2C_Driver_VL53L4CD : public WipperSnapper_I2C_Driver {
WS_DEBUG_PRINTLN(signalThreshold);
}
if (_VL53L4CD->VL53L4CD_SetSignalThreshold(50) != VL53L4CD_ERROR_NONE) {
WS_DEBUG_PRINTLN("Failed to set VL53L4CD signal threshold!");
} else {
WS_DEBUG_PRINT("VL53L4CD new signal threshold: ");
WS_DEBUG_PRINTLN(8);
WS_DEBUG_PRINTLN("Failed to set new VL53L4CD signal threshold!");
}

uint16_t sigmaThreshold = -1;
Expand All @@ -166,9 +95,6 @@ class WipperSnapper_I2C_Driver_VL53L4CD : public WipperSnapper_I2C_Driver {
}
if (_VL53L4CD->VL53L4CD_SetSigmaThreshold(100) != VL53L4CD_ERROR_NONE) {
WS_DEBUG_PRINTLN("Failed to set VL53L4CD sigma threshold!");
} else {
WS_DEBUG_PRINT("VL53L4CD new sigma threshold: ");
WS_DEBUG_PRINTLN(100);
}

if (_VL53L4CD->VL53L4CD_StartRanging() != VL53L4CD_ERROR_NONE) {
Expand Down Expand Up @@ -196,10 +122,10 @@ class WipperSnapper_I2C_Driver_VL53L4CD : public WipperSnapper_I2C_Driver {
WS_DEBUG_PRINT("Waiting for VL53L4CD data ready...");
delay(250);

for (uint8_t i = 0;
for (uint8_t retries = 0;
(status = _VL53L4CD->VL53L4CD_CheckForDataReady(&NewDataReady)) &&
!NewDataReady && i < 3;
i++) {
!NewDataReady && retries < 3;
retries++) {
delay(300);
WS_DEBUG_PRINT(" .");
}
Expand All @@ -212,13 +138,13 @@ class WipperSnapper_I2C_Driver_VL53L4CD : public WipperSnapper_I2C_Driver {
if (_VL53L4CD->VL53L4CD_GetResult(&results) == VL53L4CD_ERROR_NONE) {
if (results.range_status != VL53L4CD_STATUS_VALID) {
WS_DEBUG_PRINT("VL53L4CD range status: ");
WS_DEBUG_PRINTLN(getVL53L4CDStatusDescription(results.range_status));
WS_DEBUG_PRINTLN(results.range_status);
return false;
}
proximityEvent->data[0] = (float)results.distance_mm;
return true;
}
// TODO: Once I2C sensors fire all data points during a single call, we
// NOTE: Once I2C sensors fire all data points during a single call, we
// can return the std deviation in MM for the measurements. See
// https://github.com/stm32duino/VL53L4CD/blob/066664f983bcf70819133c7fcf43101035b09bab/src/vl53l4cd_api.h#L130-L131
} else {
Expand Down

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