Merge pull request #156 from PSVL/master.vl53l0x_driver

VL53L0X Time of Flight Sensor Driver
bitcraze · Oct 11, 2016 · 0840732 · 0840732
2 parents 71bbf60 + 049776e
commit 0840732
Show file tree

Hide file tree

Showing 4 changed files with 1,364 additions and 0 deletions.
diff --git a/Makefile b/Makefile
@@ -178,6 +178,7 @@ PROJ_OBJ_CF2 += buzzdeck.o
 PROJ_OBJ_CF2 += gtgps.o
 PROJ_OBJ_CF2 += dwm1000.o
 PROJ_OBJ_CF2 += cppmdeck.o
+PROJ_OBJ_CF2 += vl53l0x.o
 #Deck tests
 PROJ_OBJ_CF2 += exptest.o
 #PROJ_OBJ_CF2 += bigquadtest.o

diff --git a/src/deck/drivers/interface/vl53l0x.h b/src/deck/drivers/interface/vl53l0x.h
@@ -0,0 +1,238 @@
+/**
+ *    ||          ____  _ __
+ * +------+      / __ )(_) /_______________ _____  ___
+ * | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *  ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2012 BitCraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * vl53l0x.h: Time-of-flight distance sensor driver
+ */
+
+#ifndef _VL53L0X_H_
+#define _VL53L0X_H_
+
+#define VL53L0X_DEFAULT_ADDRESS 0b0101001
+
+#define VL53L0X_RA_SYSRANGE_START                              0x00
+
+#define VL53L0X_RA_SYSTEM_THRESH_HIGH                          0x0C
+#define VL53L0X_RA_SYSTEM_THRESH_LOW                           0x0E
+
+#define VL53L0X_RA_SYSTEM_SEQUENCE_CONFIG                      0x01
+#define VL53L0X_RA_SYSTEM_RANGE_CONFIG                         0x09
+#define VL53L0X_RA_SYSTEM_INTERMEASUREMENT_PERIOD              0x04
+
+#define VL53L0X_RA_SYSTEM_INTERRUPT_CONFIG_GPIO                0x0A
+
+#define VL53L0X_RA_GPIO_HV_MUX_ACTIVE_HIGH                     0x84
+
+#define VL53L0X_RA_SYSTEM_INTERRUPT_CLEAR                      0x0B
+
+#define VL53L0X_RA_RESULT_INTERRUPT_STATUS                     0x13
+#define VL53L0X_RA_RESULT_RANGE_STATUS                         0x14
+
+#define VL53L0X_RA_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN       0xBC
+#define VL53L0X_RA_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN        0xC0
+#define VL53L0X_RA_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF       0xD0
+#define VL53L0X_RA_RESULT_CORE_RANGING_TOTAL_EVENTS_REF        0xD4
+#define VL53L0X_RA_RESULT_PEAK_SIGNAL_RATE_REF                 0xB6
+
+#define VL53L0X_RA_ALGO_PART_TO_PART_RANGE_OFFSET_MM           0x28
+
+#define VL53L0X_RA_I2C_SLAVE_DEVICE_ADDRESS                    0x8A
+
+#define VL53L0X_RA_MSRC_CONFIG_CONTROL                         0x60
+
+#define VL53L0X_RA_PRE_RANGE_CONFIG_MIN_SNR                    0x27
+#define VL53L0X_RA_PRE_RANGE_CONFIG_VALID_PHASE_LOW            0x56
+#define VL53L0X_RA_PRE_RANGE_CONFIG_VALID_PHASE_HIGH           0x57
+#define VL53L0X_RA_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT          0x64
+
+#define VL53L0X_RA_FINAL_RANGE_CONFIG_MIN_SNR                  0x67
+#define VL53L0X_RA_FINAL_RANGE_CONFIG_VALID_PHASE_LOW          0x47
+#define VL53L0X_RA_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH         0x48
+#define VL53L0X_RA_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT 0x44
+
+#define VL53L0X_RA_PRE_RANGE_CONFIG_SIGMA_THRESH_HI            0x61
+#define VL53L0X_RA_PRE_RANGE_CONFIG_SIGMA_THRESH_LO            0x62
+
+#define VL53L0X_RA_PRE_RANGE_CONFIG_VCSEL_PERIOD               0x50
+#define VL53L0X_RA_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI          0x51
+#define VL53L0X_RA_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO          0x52
+
+#define VL53L0X_RA_SYSTEM_HISTOGRAM_BIN                        0x81
+#define VL53L0X_RA_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT       0x33
+#define VL53L0X_RA_HISTOGRAM_CONFIG_READOUT_CTRL               0x55
+
+#define VL53L0X_RA_FINAL_RANGE_CONFIG_VCSEL_PERIOD             0x70
+#define VL53L0X_RA_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI        0x71
+#define VL53L0X_RA_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO        0x72
+#define VL53L0X_RA_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS       0x20
+
+#define VL53L0X_RA_MSRC_CONFIG_TIMEOUT_MACROP                  0x46
+
+#define VL53L0X_RA_SOFT_RESET_GO2_SOFT_RESET_N                 0xBF
+#define VL53L0X_RA_IDENTIFICATION_MODEL_ID                     0xC0
+#define VL53L0X_RA_IDENTIFICATION_REVISION_ID                  0xC2
+
+#define VL53L0X_IDENTIFICATION_MODEL_ID                        0xEEAA
+#define VL53L0X_IDENTIFICATION_REVISION_ID                     0x10
+
+#define VL53L0X_RA_OSC_CALIBRATE_VAL                           0xF8
+
+#define VL53L0X_RA_GLOBAL_CONFIG_VCSEL_WIDTH                   0x32
+#define VL53L0X_RA_GLOBAL_CONFIG_SPAD_ENABLES_REF_0            0xB0
+#define VL53L0X_RA_GLOBAL_CONFIG_SPAD_ENABLES_REF_1            0xB1
+#define VL53L0X_RA_GLOBAL_CONFIG_SPAD_ENABLES_REF_2            0xB2
+#define VL53L0X_RA_GLOBAL_CONFIG_SPAD_ENABLES_REF_3            0xB3
+#define VL53L0X_RA_GLOBAL_CONFIG_SPAD_ENABLES_REF_4            0xB4
+#define VL53L0X_RA_GLOBAL_CONFIG_SPAD_ENABLES_REF_5            0xB5
+
+#define VL53L0X_RA_GLOBAL_CONFIG_REF_EN_START_SELECT           0xB6
+#define VL53L0X_RA_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD         0x4E
+#define VL53L0X_RA_DYNAMIC_SPAD_REF_EN_START_OFFSET            0x4F
+#define VL53L0X_RA_POWER_MANAGEMENT_GO1_POWER_FORCE            0x80
+
+#define VL53L0X_RA_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV           0x89
+
+#define VL53L0X_RA_ALGO_PHASECAL_LIM                           0x30
+#define VL53L0X_RA_ALGO_PHASECAL_CONFIG_TIMEOUT                0x30
+
+// TCC: Target CentreCheck
+// MSRC: Minimum Signal Rate Check
+// DSS: Dynamic Spad Selection
+typedef struct {
+  bool tcc;
+  bool msrc;
+  bool dss;
+  bool pre_range;
+  bool final_range;
+} SequenceStepEnables;
+
+typedef struct
+{
+  uint16_t pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks;
+  uint16_t msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks;
+  uint32_t msrc_dss_tcc_us,    pre_range_us,    final_range_us;
+} SequenceStepTimeouts;
+
+typedef enum vcselPeriodType_t { VcselPeriodPreRange, VcselPeriodFinalRange } vcselPeriodType;
+
+/** Default constructor, uses external I2C address.
+ * @see VL53L0X_DEFAULT_ADDRESS
+ */
+void vl53l0xInit(DeckInfo* info);
+
+bool vl53l0xTest(void);
+void vl53l0xTask(void* arg);
+
+/** Verify the I2C connection.
+ * Make sure the device is connected and responds as expected.
+ * @return True if connection is valid, false otherwise
+ */
+bool vl53l0xTestConnection();
+
+/** Get Model ID.
+ * This register is used to verify the model number of the device,
+ * but only before it has been configured to run
+ * @return Model ID
+ * @see VL53L0X_RA_IDENTIFICATION_MODEL_ID
+ * @see VL53L0X_IDENTIFICATION_MODEL_ID
+ */
+uint16_t vl53l0xGetModelID();
+
+/** Get Revision ID.
+ * This register is used to verify the revision number of the device,
+ * but only before it has been configured to run
+ * @return Revision ID
+ * @see VL53L0X_RA_IDENTIFICATION_REVISION_ID
+ * @see VL53L0X_IDENTIFICATION_REVISION_ID
+ */
+uint8_t vl53l0xGetRevisionID();
+
+// Initialize sensor using sequence based on VL53L0X_DataInit(),
+// VL53L0X_StaticInit(), and VL53L0X_PerformRefCalibration().
+// This function does not perform reference SPAD calibration
+// (VL53L0X_PerformRefSpadManagement()), since the API user manual says that it
+// is performed by ST on the bare modules; it seems like that should work well
+// enough unless a cover glass is added.
+// If io_2v8 (optional) is true or not given, the sensor is configured for 2V8
+// mode.
+bool vl53l0xInitSensor(bool io_2v8);
+
+// Set the return signal rate limit check value in units of MCPS (mega counts
+// per second). "This represents the amplitude of the signal reflected from the
+// target and detected by the device"; setting this limit presumably determines
+// the minimum measurement necessary for the sensor to report a valid reading.
+// Setting a lower limit increases the potential range of the sensor but also
+// seems to increase the likelihood of getting an inaccurate reading because of
+// unwanted reflections from objects other than the intended target.
+// Defaults to 0.25 MCPS as initialized by the ST API and this library.
+bool vl53l0xSetSignalRateLimit(float limit_Mcps);
+
+// Set the measurement timing budget in microseconds, which is the time allowed
+// for one measurement; the ST API and this library take care of splitting the
+// timing budget among the sub-steps in the ranging sequence. A longer timing
+// budget allows for more accurate measurements. Increasing the budget by a
+// factor of N decreases the range measurement standard deviation by a factor of
+// sqrt(N). Defaults to about 33 milliseconds; the minimum is 20 ms.
+// based on VL53L0X_set_measurement_timing_budget_micro_seconds()
+bool vl53l0xSetMeasurementTimingBudget(uint32_t budget_us);
+
+// Get the measurement timing budget in microseconds
+// based on VL53L0X_get_measurement_timing_budget_micro_seconds()
+// in us
+uint32_t vl53l0xGetMeasurementTimingBudget(void);
+
+// Set the VCSEL (vertical cavity surface emitting laser) pulse period for the
+// given period type (pre-range or final range) to the given value in PCLKs.
+// Longer periods seem to increase the potential range of the sensor.
+// Valid values are (even numbers only):
+//  pre:  12 to 18 (initialized default: 14)
+//  final: 8 to 14 (initialized default: 10)
+// based on VL53L0X_set_vcsel_pulse_period()
+bool vl53l0xSetVcselPulsePeriod(vcselPeriodType type, uint8_t period_pclks);
+
+// Get the VCSEL pulse period in PCLKs for the given period type.
+// based on VL53L0X_get_vcsel_pulse_period()
+uint8_t vl53l0xGetVcselPulsePeriod(vcselPeriodType type);
+
+// Start continuous ranging measurements. If period_ms (optional) is 0 or not
+// given, continuous back-to-back mode is used (the sensor takes measurements as
+// often as possible); otherwise, continuous timed mode is used, with the given
+// inter-measurement period in milliseconds determining how often the sensor
+// takes a measurement.
+// based on VL53L0X_StartMeasurement()
+void vl53l0xStartContinuous(uint32_t period_ms);
+
+// Stop continuous measurements
+// based on VL53L0X_StopMeasurement()
+void vl53l0xStopContinuous(void);
+
+// Returns a range reading in millimeters when continuous mode is active
+// (readRangeSingleMillimeters() also calls this function after starting a
+// single-shot range measurement)
+uint16_t vl53l0xReadRangeContinuousMillimeters(void);
+
+// Performs a single-shot range measurement and returns the reading in
+// millimeters
+// based on VL53L0X_PerformSingleRangingMeasurement()
+uint16_t vl53l0xReadRangeSingleMillimeters(void);
+
+#endif /* _VL53L0X_H_ */