diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index cf63b130d9..0c3049a64a 100755 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -380,6 +380,11 @@ jobs: target: esp32p4 - path: 'components/vl53l/example' target: esp32s3 + - path: 'components/vl53l/vl53l5cx_example' + target: esp32s3 + - path: 'components/vl53l/vl53l5cx_webapp_example' + target: esp32s3 + command: 'IDF_COMPONENT_MANAGER=0 idf.py build' - path: 'components/wdi/ble_example' target: esp32s3 - path: 'components/wdi/ble_central_example' diff --git a/components/dispatcher/web/test/apps_registry_test.js b/components/dispatcher/web/test/apps_registry_test.js index 84b061ef53..bbcd264485 100644 --- a/components/dispatcher/web/test/apps_registry_test.js +++ b/components/dispatcher/web/test/apps_registry_test.js @@ -18,7 +18,7 @@ const assert = require("assert"); const { spawnSync } = require("child_process"); const root = path.resolve(__dirname, "..", "..", "..", ".."); -const CATEGORIES = ["device management", "motor control", "bus tools", "input devices", "utilities"]; +const CATEGORIES = ["device management", "motor control", "bus tools", "input devices", "sensors", "utilities"]; const TRANSPORTS = ["webusb", "webserial", "webhid"]; function meta(src, name) { diff --git a/components/dispatcher/web/test/resolve_module_id_test.js b/components/dispatcher/web/test/resolve_module_id_test.js index e66a943327..83b0b18185 100644 --- a/components/dispatcher/web/test/resolve_module_id_test.js +++ b/components/dispatcher/web/test/resolve_module_id_test.js @@ -26,6 +26,7 @@ const consoles = [ "components/telemetry/web/telemetry.html", "components/system/web/system_console.html", "components/desktop/web/desktop.html", + "components/vl53l/web/vl53l5cx_console.html", ]; const hub = "components/dispatcher/web/dispatcher_hub.html"; @@ -855,7 +856,7 @@ function navTests() { if (navBlock === null) navBlock = b; else assert.strictEqual(b, navBlock, rel + ": app navigation block differs from " + consoles[0]); assert.ok(!/installAppHandBack|hubConnectQuery/.test(b), "the navigation block must hold only what every page uses"); - // the hand-back block: identical in the 8 consoles, absent elsewhere (no unused function in the plain pages) + // the hand-back block: identical in every console, absent elsewhere (no unused function in the plain pages) if (consoles.includes(rel)) { const h = extractHandBackBlock(src, rel); if (handBackBlock === null) handBackBlock = h; diff --git a/components/usb_device/CMakeLists.txt b/components/usb_device/CMakeLists.txt index 8b5d92e3df..69f51b6bf6 100644 --- a/components/usb_device/CMakeLists.txt +++ b/components/usb_device/CMakeLists.txt @@ -1,3 +1,14 @@ +include($ENV{IDF_PATH}/tools/cmake/version.cmake) + +# MSC, used only by the source: esp_partition (find the FAT partition), +# wear_levelling (wl_mount), fatfs (esp_vfs_fat_info / ff_diskio_get_drive). +set(usb_device_priv_requires esp_partition fatfs wear_levelling) +# ESP32-P4 full-speed PHY selection (usb_wrap_ll_phy_select); the USB HALs +# live in their own component from IDF 6. +if(IDF_VERSION_MAJOR GREATER_EQUAL 6) + list(APPEND usb_device_priv_requires esp_hal_usb) +endif() + idf_component_register( INCLUDE_DIRS "include" SRC_DIRS "src" @@ -5,9 +16,7 @@ idf_component_register( # esp_vfs_t) to redirect stdout to the CDC interface. # sdmmc: the public header names sdmmc_card_t (MscMedium::sd_card). REQUIRES base_component esp_tinyusb sdmmc vfs - # MSC, used only by the source: esp_partition (find the FAT partition), - # wear_levelling (wl_mount), fatfs (esp_vfs_fat_info / ff_diskio_get_drive). - PRIV_REQUIRES esp_partition fatfs wear_levelling + PRIV_REQUIRES ${usb_device_priv_requires} ) # X-Input registers a custom TinyUSB application class driver by overriding the diff --git a/components/usb_device/README.md b/components/usb_device/README.md index 1bed6274fd..2ad66e942b 100644 --- a/components/usb_device/README.md +++ b/components/usb_device/README.md @@ -82,7 +82,12 @@ for back-compatibility. - **Port selection** (`Config::port`): on targets with two USB-OTG controllers (ESP32-P4) pick the full-speed or the high-speed port; boards do not always route the high-speed port to a device-capable connector (the - M5Stack Tab5's USB-C carries the full-speed port). + M5Stack Tab5's and the Espressif / Waveshare dev kits' USB-C carry the + full-speed port). On the P4 the full-speed port also needs the right PHY + (`Config::fs_phy`): the chip has two full-speed pad pairs, IDF leaves + USB-OTG 1.1 on GPIO 26 / 27, and the USB-C (shared with the USB-Serial-JTAG + console) is GPIO 24 / 25 — the default here, so a full-speed device shows up + on the connector. - **Idiomatic espp**: no exceptions; `initialize()` reports failures via `std::error_code`. - **Safe marshaling**: the TinyUSB RX callbacks (TinyUSB task context) are drained diff --git a/components/usb_device/include/usb_device.hpp b/components/usb_device/include/usb_device.hpp index 4d5df7e542..77d8dc0e14 100644 --- a/components/usb_device/include/usb_device.hpp +++ b/components/usb_device/include/usb_device.hpp @@ -352,10 +352,20 @@ class UsbDevice : public BaseComponent { * targets that have one). -1 = TinyUSB's default for the target: the * high-speed port on the ESP32-P4, the full-speed port elsewhere. Boards * do not always route the high-speed port to a device-capable connector - * (the M5Stack Tab5 wires it to its USB-A host jack; its USB-C carries the - * full-speed port, shared with the USB-Serial-JTAG console), so this lets - * the application pick the connector. */ + * (the M5Stack Tab5 wires it to its USB-A host jack), so this lets the + * application pick the controller. Note that on the P4 the full-speed + * controller comes up on its own PHY pads (GPIO 26 / 27), not on the + * USB-C of the Tab5 / dev kits, which is the USB-Serial-JTAG pad pair: + * `fs_phy` (below) moves it there. */ int port{-1}; + /** ESP32-P4 only, for the full-speed port (`port` 0): which of the two + * internal full-speed PHYs (pad pairs) the USB-OTG 1.1 controller drives. + * 0 = GPIO 24 / 25, the pads the USB-Serial-JTAG console normally uses + * (the USB-C connector of the Espressif / Waveshare dev kits; the + * console moves to the other pair while TinyUSB owns the port), 1 = + * GPIO 26 / 27 (IDF's power-on mapping), -1 = leave the mapping alone. + * Ignored on other targets and for the high-speed port. */ + int fs_phy{0}; std::optional cdc{}; /**< Enable a CDC-ACM function. */ std::optional vendor{}; /**< Enable a vendor-specific / WebUSB function. */ diff --git a/components/usb_device/src/usb_device.cpp b/components/usb_device/src/usb_device.cpp index d384cf4951..2c99d8ebea 100644 --- a/components/usb_device/src/usb_device.cpp +++ b/components/usb_device/src/usb_device.cpp @@ -15,6 +15,10 @@ #include "tinyusb.h" #include "tinyusb_default_config.h" +#if CONFIG_IDF_TARGET_ESP32P4 +#include "hal/usb_wrap_ll.h" // usb_wrap_ll_phy_select: which FS PHY pads USB-OTG 1.1 drives +#include "soc/usb_wrap_struct.h" +#endif #include "tusb.h" // Only pull in the CDC-ACM helper when the CDC class is actually compiled in // (CONFIG_TINYUSB_CDC_COUNT > 0 -> CFG_TUD_CDC). This keeps XInput-only / vendor- @@ -1505,6 +1509,23 @@ bool UsbDevice::initialize(std::error_code &ec) { } tusb_cfg.port = static_cast(config_.port); } +#if CONFIG_IDF_TARGET_ESP32P4 + // The P4 has two internal full-speed PHYs; at power-on the USB-Serial-JTAG + // owns PHY 0 (GPIO 24 / 25, the dev kits' USB-C) and USB-OTG 1.1 is wired to + // PHY 1 (GPIO 26 / 27), and IDF never swaps them. A full-speed device meant + // for the USB-C therefore has to take PHY 0 (the console moves to PHY 1). + if (tusb_cfg.port == TINYUSB_PORT_FULL_SPEED_0 && config_.fs_phy >= 0) { + if (config_.fs_phy > 1) { + logger_.error("Invalid fs_phy {} (0 = GPIO 24/25, 1 = GPIO 26/27, -1 = leave)", + config_.fs_phy); + ec = std::make_error_code(std::errc::invalid_argument); + return false; + } + usb_wrap_ll_phy_select(&USB_WRAP, static_cast(config_.fs_phy)); + logger_.info("USB-OTG 1.1 on full-speed PHY {} (GPIO {})", config_.fs_phy, + config_.fs_phy == 0 ? "24/25" : "26/27"); + } +#endif tusb_cfg.descriptor.device = &impl_->device_desc; tusb_cfg.descriptor.string = impl_->strings.data(); tusb_cfg.descriptor.string_count = static_cast(impl_->strings.size()); diff --git a/components/vl53l/CMakeLists.txt b/components/vl53l/CMakeLists.txt index d43ade2750..1e823ba1f2 100644 --- a/components/vl53l/CMakeLists.txt +++ b/components/vl53l/CMakeLists.txt @@ -1,4 +1,10 @@ +# vl53l.hpp / vl53l5cx.hpp need base_peripheral. The optional +# vl53l5cx_service.hpp (the VL53L5CX console protocol as a dispatcher service) +# adds base_component / dispatcher / stream_frame; vl53l5cx_protocol.hpp is +# standard-library only. idf_component_register( INCLUDE_DIRS "include" - REQUIRES "base_peripheral" + # src: the VL53L5CX driver and its firmware images (~84 KB of .rodata each) + SRC_DIRS "src" + REQUIRES "base_peripheral" "base_component" "dispatcher" "stream_frame" ) diff --git a/components/vl53l/README.md b/components/vl53l/README.md index efe33ed0ec..454534e674 100644 --- a/components/vl53l/README.md +++ b/components/vl53l/README.md @@ -2,26 +2,83 @@ [![Badge](https://components.espressif.com/components/espp/vl53l/badge.svg)](https://components.espressif.com/components/espp/vl53l) -The -[VL53L4CD](https://www.st.com/en/imaging-and-photonics-solutions/vl53l4cd.html) -(and [VL53L4CX](https://www.st.com/en/imaging-and-photonics-solutions/vl53l4cx.html)) -is a Time-of-Flight (ToF) distance sensor. It is a sensor that can measure -distance from a target object without touching it. The sensor uses a laser to -send a pulse of light and measures the time it takes for the light to reflect -back to the sensor. The sensor can measure distance up to 1.3 meters (VL53L4CD) -or up to 6 meters (VL53L4CX) with a resolution of 1mm. +Drivers for ST's VL53L Time-of-Flight (ToF) sensors that talk over I2C with +16-bit register addresses: -> **Note:** This component is designed for the **VL53L4CD** and **VL53L4CX** -> sensors, which use a 16-bit register addressing scheme. It is **not** -> compatible with the older VL53L0X or VL53L1X sensors, which use a different -> register map and communication protocol. +| Class | Sensors | What it measures | +| --- | --- | --- | +| `espp::Vl53l` (`vl53l.hpp`) | VL53L4CD, VL53L4CX | one distance, up to 1.3 m (CD) or 6 m (CX), 1 mm resolution | +| `espp::Vl53l5cx` (`vl53l5cx.hpp`) | VL53L5CX, VL53L7CX | a 4x4 or 8x8 grid of distances up to 4 m over a 63° (L5CX) or 90° (L7CX) diagonal field of view, at up to 60 Hz (4x4) or 15 Hz (8x8) | -The sensor can struggle with outdoor use, as sunlight can interfere with the -sensor's ability to measure distance. The sensor is also not able to measure -distance through glass or other transparent materials. +The sensors use a laser to send a pulse of light and measure the time it takes +for the light to reflect back. They can struggle outdoors, as sunlight +interferes with the measurement, and cannot measure through glass or other +transparent materials. -## Example +> **Note:** Neither driver is compatible with the older VL53L0X or VL53L1X +> sensors, which use a different (8-bit) register map and communication +> protocol. -The [example](./example) shows the use of the `Vl53l` component to communicate -with a VL53L4CD time-of-flight distance sensor. +## VL53L4CD / VL53L4CX (`espp::Vl53l`) +Single-zone ranging: timing budget, inter-measurement period, continuous or +autonomous mode, data-ready polling and interrupt clearing. + +## VL53L5CX (`espp::Vl53l5cx`) + +Multizone ranging, for the VL53L5CX and the VL53L7CX (its 90° sibling: the +same silicon, ids and command interface, a different firmware image - +`Config::variant` picks it, since the parts cannot be told apart over I2C; the +wrong image fails at the first firmware command after boot). The sensor has +no firmware in ROM: `initialize()` (run by +the constructor by default) reboots it and uploads the ~84 KB VL53L5CX firmware +over I2C, which takes about two seconds at 400 kHz (the sensor supports 1 MHz +Fast Mode Plus). The driver then offers: + +- resolution (4x4 / 8x8), ranging frequency, integration time, sharpener, + target order (closest / strongest), ranging mode (continuous / autonomous), + power mode, I2C address change; +- `start_ranging()` / `stop_ranging()`, `is_data_ready()` polling and + `get_ranging_data()`, which fills a `RangingData` with, per zone, the + distance, sigma, signal and ambient rates, SPAD count, reflectance estimate, + number of targets and a target status (5 and 9 mean a valid range); +- the motion indicator (`enable_motion_indicator()`). + +Zones are reported in row-major order (`zone = row * width + col`); see ST's +UM2884 for the physical orientation of zone 0. One target per zone is +supported (the ULD default). The crosstalk calibration and detection threshold +plugins of ST's driver are not ported yet; the default crosstalk shape is +loaded. + +The I2C device's transaction timeout must cover the driver's longest transfers +(512-byte firmware chunks, ~1.4 KB result frames): a few tens of milliseconds +at 400 kHz, more at 100 kHz. + +### Web console (`espp::Vl53l5cxService`) + +`vl53l5cx_service.hpp` wraps a `Vl53l5cx` as an espp dispatcher module (id 10, +protocol `espp.vl53l5cx`, wire format in `vl53l5cx_protocol.hpp`): a host can +configure every setting, start / stop ranging and receive each ranging frame. +The hosted [VL53L5CX console](https://esp-cpp.github.io/espp/apps/vl53l5cx_console.html) +(`web/vl53l5cx_console.html`) shows the frames as a live 3D view over WebUSB / +Web Serial; see the [vl53l5cx_webapp_example](./vl53l5cx_webapp_example). + +![VL53L5CX console: live 3D surface view of an 8x8 frame](https://github.com/user-attachments/assets/dd696291-8066-4764-86a0-1ca3d2425e8f) + +### License note + +The VL53L5CX firmware image and default configuration (`src/vl53l5cx_firmware.cpp`) +and the sensor sequences in `src/vl53l5cx.cpp` come from STMicroelectronics' +VL53L5CX Ultra Lite Driver (ULD 1.1.2, as redistributed by +[stm32duino/VL53L5CX](https://github.com/stm32duino/VL53L5CX)) and are +redistributed under their BSD-3-Clause license (see the file headers). The +rest of the component is MIT like the rest of espp. + +## Examples + +- [example](./example): `Vl53l` with a VL53L4CD, printing the distance. +- [vl53l5cx_example](./vl53l5cx_example): `Vl53l5cx` printing the 8x8 grid of + distances at 15 Hz. +- [vl53l5cx_webapp_example](./vl53l5cx_webapp_example): `Vl53l5cx` behind + `Vl53l5cxService` over USB (WebUSB / Web Serial) for the hosted VL53L5CX + console's live 3D view and settings, next to the standard USB services. diff --git a/components/vl53l/idf_component.yml b/components/vl53l/idf_component.yml index 27d7df5412..8d4c6276c4 100644 --- a/components/vl53l/idf_component.yml +++ b/components/vl53l/idf_component.yml @@ -1,6 +1,6 @@ ## IDF Component Manager Manifest File license: "MIT" -description: "VL53L Time of Flight (ToF) Distance Sensor component for ESP-IDF" +description: "VL53L Time of Flight (ToF) sensor components for ESP-IDF: VL53L4CD / VL53L4CX distance sensors and the VL53L5CX / VL53L7CX multizone (4x4 / 8x8) sensors, with a WebUSB console service" url: "https://github.com/esp-cpp/espp/tree/main/components/vl53l" repository: "git://github.com/esp-cpp/espp.git" maintainers: @@ -8,16 +8,24 @@ maintainers: documentation: "https://esp-cpp.github.io/espp/distance_sensors/vl53l.html" examples: - path: example + - path: vl53l5cx_example + - path: vl53l5cx_webapp_example tags: - cpp - Component - Sensing - VL53L + - VL53L5CX + - VL53L7CX - ToF - Time-of-Flight - Distance + - Multizone - Laser dependencies: idf: version: '>=5.0' espp/base_peripheral: '>=1.0' + espp/base_component: '>=1.0' + espp/dispatcher: '>=1.0' + espp/stream_frame: '>=1.0' diff --git a/components/vl53l/include/vl53l5cx.hpp b/components/vl53l/include/vl53l5cx.hpp new file mode 100644 index 0000000000..06f7589e18 --- /dev/null +++ b/components/vl53l/include/vl53l5cx.hpp @@ -0,0 +1,461 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include "base_peripheral.hpp" + +namespace espp { +/// \brief VL53L5CX / VL53L7CX multizone Time-of-Flight ranging sensor (4x4 / 8x8 zones) +/// \details +/// The VL53L5CX is a Time-of-Flight (ToF) sensor with a 63 degree diagonal +/// field of view (the VL53L7CX: the same sensor with a 90 degree field of +/// view) that ranges up to 4 m in every zone of a 4x4 or 8x8 grid, at +/// up to 60 Hz (4x4) or 15 Hz (8x8). Every zone reports a distance, a signal +/// / ambient rate, a sigma, a reflectance estimate and a validity status; the +/// sensor can also run a motion indicator over the zones. +/// +/// The sensor has no ROM firmware: this driver uploads the ~84 KB VL53L5CX +/// firmware (STMicroelectronics, bundled, see the BSD-3-Clause notice in the +/// sources) over I2C at every initialize(), then talks to it through the +/// "DCI" command interface. Initialization takes about two seconds at 400 kHz +/// (the sensor supports I2C Fast Mode Plus, 1 MHz). The logic is a port of +/// ST's Ultra Lite Driver (ULD) 1.1.2. +/// +/// Results are reported per zone in row-major order (`zone = row * width + +/// col`, width 4 or 8); for the physical orientation of zone 0 see UM2884 +/// ("Ranging data arrangement"). +/// +/// \note The VL53L5CX and VL53L7CX answer the same device / revision ids and +/// take different firmware images: Config::variant selects the image, and a +/// wrong one fails at the first firmware command after boot (the NVM read) +/// with a firmware error. There is no way to tell the parts apart over I2C. +/// +/// \note The communication uses 16-bit register addresses, like the VL53L4 +/// driver (espp::Vl53l) in this component, but the two devices share nothing +/// else: use espp::Vl53l for the VL53L4CD / VL53L4CX single-zone sensors. +/// +/// \note Only one target per zone is supported (the ULD default); the +/// crosstalk calibration and detection threshold plugins of the ULD are not +/// ported (the default crosstalk shape is loaded). +/// +/// \see https://www.st.com/en/imaging-and-photonics-solutions/vl53l5cx.html +/// \see UM2884 "A guide to using the VL53L5CX multizone Time-of-Flight ranging +/// sensor with wide field of view Ultra Lite Driver (ULD)" +/// +/// \section vl53l5cx_ex1 Example +/// \snippet vl53l5cx_example.cpp vl53l5cx example +class Vl53l5cx : public BasePeripheral { + using Base = BasePeripheral; + using Base::logger_; + using Base::read_many_from_register; + using Base::set_address; + using Base::set_read; + using Base::set_write; + using Base::write_many_to_register; + +public: + static constexpr uint8_t DEFAULT_ADDRESS = 0x29; ///< 7-bit address (ULD's 8-bit 0x52) + static constexpr size_t MAX_ZONES = 64; ///< zones in 8x8 mode + /// Longest I2C transaction the driver issues (an 8x8 result frame with every + /// output enabled, plus the register address): size the bus / device + /// timeout for it, see i2c_timeout_ms(). + static constexpr size_t MAX_TRANSFER_BYTES = 1440 + 2; + /// \brief A transaction timeout that covers MAX_TRANSFER_BYTES at `clock_hz` + /// with a 2x margin (plus 10 ms), for the I2C bus and device configs + /// \param clock_hz I2C clock + /// \return Timeout in milliseconds + static constexpr int i2c_timeout_ms(uint32_t clock_hz) { + // 9 bits per byte on the wire + const uint64_t transfer_ms = + (uint64_t{MAX_TRANSFER_BYTES} * 9 * 1000 + clock_hz - 1) / clock_hz; + return static_cast(transfer_ms * 2 + 10); + } + + /// \brief Which part is on the bus (same ids, different firmware image) + enum class Variant : uint8_t { + VL53L5CX = 0, ///< 63 degree diagonal field of view + VL53L7CX = 1, ///< 90 degree diagonal field of view + }; + + /// \brief Number of ranging zones + enum class Resolution : uint8_t { + ZONES_4X4 = 16, ///< 4x4 zones, up to 60 Hz + ZONES_8X8 = 64, ///< 8x8 zones, up to 15 Hz + }; + + /// \brief Ranging mode + enum class RangingMode : uint8_t { + CONTINUOUS = 1, ///< ranges back to back at the ranging frequency (the integration time is + ///< whatever the frequency allows; highest power) + AUTONOMOUS = 3, ///< ranges once per period, for the integration time, then idles (lower + ///< power; the default) + }; + + /// \brief Which target a zone reports first + enum class TargetOrder : uint8_t { + CLOSEST = 1, ///< the closest target + STRONGEST = 2, ///< the target with the strongest signal (the default) + }; + + /// \brief Power mode + enum class PowerMode : uint8_t { + SLEEP = 0, ///< low power, no ranging possible (settings are kept) + WAKEUP = 1, ///< ready to range (the default) + }; + + /// \brief Validity of a zone's measurement (UM2884, "target status") + enum class TargetStatus : uint8_t { + NOT_UPDATED = 0, ///< ranging data not updated + SIGNAL_RATE_TOO_LOW_SPAD_ARRAY = 1, ///< signal rate too low on the SPAD array + TARGET_PHASE = 2, ///< target phase + SIGMA_TOO_HIGH = 3, ///< sigma estimator too high + TARGET_CONSISTENCY_FAILED = 4, ///< target consistency failed + RANGE_VALID = 5, ///< range valid + WRAP_AROUND_NOT_PERFORMED = 6, ///< wrap-around not performed (typically the first range) + RATE_CONSISTENCY_FAILED = 7, ///< rate consistency failed + SIGNAL_RATE_TOO_LOW_TARGET = 8, ///< signal rate too low for the current target + RANGE_VALID_LARGE_PULSE = 9, ///< range valid with a large pulse (maybe a merged target) + RANGE_VALID_NO_PREVIOUS_TARGET = 10, ///< range valid, no target detected at the previous range + MEASUREMENT_CONSISTENCY_FAILED = 11, ///< measurement consistency failed + TARGET_BLURRED = 12, ///< target blurred by another one (sharpener) + TARGET_INCONSISTENT = 13, ///< target detected but the data is inconsistent + NO_TARGET = 255, ///< no target detected in the zone + }; + + /// \brief Motion indicator results (only meaningful after + /// enable_motion_indicator()) + struct MotionIndicator { + uint32_t global_indicator_1{0}; + uint32_t global_indicator_2{0}; + uint8_t status{0}; + uint8_t nb_of_detected_aggregates{0}; + uint8_t nb_of_aggregates{0}; + uint8_t spare{0}; + std::array motion{}; ///< motion intensity per aggregate + }; + static_assert(sizeof(MotionIndicator) == 140, "MotionIndicator must match the sensor layout"); + + /// \brief One frame of ranging results. Only the first num_zones() entries + /// of every array are meaningful. + struct RangingData { + Resolution resolution{Resolution::ZONES_4X4}; ///< resolution the frame was ranged at + std::array ambient_per_spad_kcps{}; ///< ambient noise, kcps / SPAD + std::array nb_target_detected{}; ///< targets detected in the zone + std::array nb_spads_enabled{}; ///< SPADs enabled for the zone + std::array signal_per_spad_kcps{}; ///< return signal, kcps / SPAD + std::array range_sigma_mm{}; ///< sigma of the distance, mm + std::array distance_mm{}; ///< distance, mm (0 if negative) + std::array reflectance_percent{}; ///< estimated reflectance, % + std::array target_status{}; ///< \see TargetStatus + MotionIndicator motion_indicator{}; ///< \see enable_motion_indicator + + /// \brief Number of valid zones in this frame (16 or 64) + size_t num_zones() const { return static_cast(resolution); } + /// \brief Zones per row (4 or 8) + size_t width() const { return resolution == Resolution::ZONES_8X8 ? 8 : 4; } + /// \brief Index of the zone at (row, col), row-major + size_t zone_index(size_t row, size_t col) const { return row * width() + col; } + /// \brief Validity of a zone + TargetStatus status(size_t zone) const { + return static_cast(target_status[zone]); + } + /// \brief True when the zone's distance is valid (status 5 or 9) + bool is_valid(size_t zone) const { + const auto s = status(zone); + return s == TargetStatus::RANGE_VALID || s == TargetStatus::RANGE_VALID_LARGE_PULSE; + } + }; + + /// \brief Configuration + struct Config { + uint8_t device_address = DEFAULT_ADDRESS; ///< I2C address of the sensor + Variant variant = Variant::VL53L5CX; ///< The part: selects the firmware image + Base::write_fn write = nullptr; ///< Write function; the address argument is the sensor's + ///< current address (see set_i2c_address()) + Base::read_fn read = nullptr; ///< Read function (same note) + bool auto_init = true; ///< Upload the firmware and initialize in the constructor (about + ///< two seconds; see initialize()) + Logger::Verbosity log_level = Logger::Verbosity::WARN; ///< Log level for this class + }; + + /// \brief Constructor + /// \param config Configuration + /// \note With Config::auto_init the firmware is uploaded here; check + /// is_initialized() afterwards (or call initialize() yourself). + explicit Vl53l5cx(const Config &config); + + /// \brief True once initialize() succeeded + bool is_initialized() const { return initialized_; } + + /// \brief The part this driver was configured for (Config::variant) + Variant variant() const { return variant_; } + + /// \brief True once enable_motion_indicator() succeeded (until the next + /// initialize(): the sensor has no way to switch the indicator off) + bool is_motion_indicator_enabled() const { return motion_enabled_; } + + /// \brief Reboot the sensor, upload the firmware, load the NVM offset data + /// and the default configuration (4x4, 1 Hz, autonomous, strongest + /// target first, 10 ms integration time). + /// \param ec Error code if unsuccessful + /// \return True if successful + /// \note Takes about two seconds at 400 kHz I2C. Ranging must be restarted + /// (and settings re-applied) after it. + bool initialize(std::error_code &ec); + + /// \brief Check the sensor answers with the VL53L5CX device / revision ids + /// \param ec Error code if the I2C transaction failed + /// \return True if a VL53L5CX answered + bool is_alive(std::error_code &ec); + + /// \brief Change the sensor's I2C address (volatile: back to 0x29 at reset) + /// \param address New 7-bit address + /// \param ec Error code if unsuccessful + /// \return True if successful; the driver then passes the new address to the + /// Config::write / Config::read callbacks + /// \note The callbacks must honour their address argument (e.g. lambdas + /// over espp::I2c::write / read); adapters bound to one I2C device + /// (espp::make_i2c_addressed_write) keep talking to the old address. + bool set_i2c_address(uint8_t address, std::error_code &ec); + + /// \brief Read the power mode + /// \param ec Error code if unsuccessful + /// \return The power mode (WAKEUP on error) + PowerMode get_power_mode(std::error_code &ec); + /// \brief Set the power mode (not while ranging) + /// \param mode SLEEP or WAKEUP + /// \param ec Error code if unsuccessful + /// \return True if successful + bool set_power_mode(PowerMode mode, std::error_code &ec); + + /// \brief Read the resolution + /// \param ec Error code if unsuccessful + /// \return ZONES_4X4 or ZONES_8X8 (4x4 on error) + Resolution get_resolution(std::error_code &ec); + /// \brief Set the resolution (not while ranging) + /// \param resolution ZONES_4X4 or ZONES_8X8 + /// \param ec Error code if unsuccessful + /// \return True if successful + /// \note Re-applies the motion indicator configuration if it is enabled. + /// The ranging frequency limit depends on the resolution: set the + /// resolution first. + bool set_resolution(Resolution resolution, std::error_code &ec); + + /// \brief Read the ranging frequency + /// \param ec Error code if unsuccessful + /// \return Frequency in Hz (0 on error) + uint8_t get_ranging_frequency_hz(std::error_code &ec); + /// \brief Set the ranging frequency (not while ranging) + /// \param frequency_hz 1..60 Hz in 4x4, 1..15 Hz in 8x8 + /// \param ec Error code if unsuccessful + /// \return True if successful + bool set_ranging_frequency_hz(uint8_t frequency_hz, std::error_code &ec); + + /// \brief Read the integration time (AUTONOMOUS ranging mode) + /// \param ec Error code if unsuccessful + /// \return Integration time in ms (0 on error) + uint32_t get_integration_time_ms(std::error_code &ec); + /// \brief Set the integration time (AUTONOMOUS mode; not while ranging) + /// \param time_ms 2..1000 ms; must fit in the ranging period (in 8x8 four + /// integrations are done per frame) + /// \param ec Error code if unsuccessful + /// \return True if successful + bool set_integration_time_ms(uint32_t time_ms, std::error_code &ec); + + /// \brief Read the sharpener (how much a zone is blurred by its neighbours) + /// \param ec Error code if unsuccessful + /// \return Sharpener in percent (0 on error) + uint8_t get_sharpener_percent(std::error_code &ec); + /// \brief Set the sharpener (not while ranging) + /// \param percent 0..99 (default 5) + /// \param ec Error code if unsuccessful + /// \return True if successful + bool set_sharpener_percent(uint8_t percent, std::error_code &ec); + + /// \brief Read the target order + /// \param ec Error code if unsuccessful + /// \return The target order (STRONGEST on error) + TargetOrder get_target_order(std::error_code &ec); + /// \brief Set the target order (not while ranging) + /// \param order CLOSEST or STRONGEST + /// \param ec Error code if unsuccessful + /// \return True if successful + bool set_target_order(TargetOrder order, std::error_code &ec); + + /// \brief Read the ranging mode + /// \param ec Error code if unsuccessful + /// \return The ranging mode (AUTONOMOUS on error) + RangingMode get_ranging_mode(std::error_code &ec); + /// \brief Set the ranging mode (not while ranging) + /// \param mode CONTINUOUS or AUTONOMOUS + /// \param ec Error code if unsuccessful + /// \return True if successful + bool set_ranging_mode(RangingMode mode, std::error_code &ec); + + /// \brief Enable the motion indicator (not while ranging) + /// \details The sensor then reports, per aggregate of zones, how much the + /// scene moved between frames (RangingData::motion_indicator). + /// \param distance_min_mm Start of the motion detection window, >= 400 mm + /// \param distance_max_mm End of the window, <= 4000 mm and at most 1500 mm + /// past distance_min_mm + /// \param ec Error code if unsuccessful + /// \return True if successful + bool enable_motion_indicator(uint16_t distance_min_mm, uint16_t distance_max_mm, + std::error_code &ec); + + /// \brief Start ranging with the current settings + /// \param ec Error code if unsuccessful + /// \return True if successful + bool start_ranging(std::error_code &ec); + /// \brief Stop ranging + /// \param ec Error code if unsuccessful + /// \return True if successful + bool stop_ranging(std::error_code &ec); + /// \brief True between a successful start_ranging() and stop_ranging() + bool is_ranging() const { return ranging_; } + + /// \brief Check whether a new frame is available (poll at a few ms) + /// \param ec Error code if the I2C transaction failed + /// \return True once per new frame + bool is_data_ready(std::error_code &ec); + /// \brief Read the latest frame (after is_data_ready() returned true) + /// \param data Filled with the frame + /// \param ec Error code if unsuccessful + /// \return True if successful + bool get_ranging_data(RangingData &data, std::error_code &ec); + + /// \brief Name of a target status + static const char *target_status_name(TargetStatus status); + +protected: + static constexpr uint8_t DEVICE_ID = 0xF0; + static constexpr uint8_t REVISION_ID = 0x02; + static constexpr uint8_t TARGETS_PER_ZONE = 1; + static constexpr size_t NVM_DATA_SIZE = 492; + static constexpr size_t OFFSET_BUFFER_SIZE = 488; + static constexpr size_t XTALK_BUFFER_SIZE = 776; + /// metadata + common data + every output block for 8x8, one target per zone + static constexpr size_t MAX_RESULTS_SIZE = + 40 + 260 + 260 + 68 + (256 + 4) + (128 + 4) + (128 + 4) + (64 + 4) + (64 + 4) + 144 + 8; + static constexpr size_t TEMP_BUFFER_SIZE = MAX_RESULTS_SIZE > 1024 ? MAX_RESULTS_SIZE : 1024; + /// Bytes per I2C write transaction (the register address auto-increments); + /// the firmware is uploaded in chunks of this size. + static constexpr size_t MAX_WRITE_CHUNK = 512; + static_assert(MAX_TRANSFER_BYTES >= TEMP_BUFFER_SIZE + 2 && + MAX_TRANSFER_BYTES >= MAX_WRITE_CHUNK + 2, + "MAX_TRANSFER_BYTES must cover the longest read and write"); + static constexpr int POLL_INTERVAL_MS = 10; + static constexpr int POLL_ATTEMPTS = 200; // 2 s + + // DCI (firmware) parameter indices + static constexpr uint16_t DCI_ZONE_CONFIG = 0x5450; + static constexpr uint16_t DCI_FREQ_HZ = 0x5458; + static constexpr uint16_t DCI_INT_TIME = 0x545C; + static constexpr uint16_t DCI_FW_NB_TARGET = 0x5478; + static constexpr uint16_t DCI_RANGING_MODE = 0xAD30; + static constexpr uint16_t DCI_DSS_CONFIG = 0xAD38; + static constexpr uint16_t DCI_TARGET_ORDER = 0xAE64; + static constexpr uint16_t DCI_SHARPENER = 0xAED8; + static constexpr uint16_t DCI_MOTION_DETECTOR_CFG = 0xBFAC; + static constexpr uint16_t DCI_SINGLE_RANGE = 0xCD5C; + static constexpr uint16_t DCI_OUTPUT_CONFIG = 0xCD60; + static constexpr uint16_t DCI_OUTPUT_ENABLES = 0xCD68; + static constexpr uint16_t DCI_OUTPUT_LIST = 0xCD78; + static constexpr uint16_t DCI_PIPE_CONTROL = 0xCF78; + static constexpr uint16_t UI_CMD_STATUS = 0x2C00; + static constexpr uint16_t UI_CMD_START = 0x2C04; + static constexpr uint16_t UI_CMD_END = 0x2FFF; + + // result block headers (one target per zone) and their indices + static constexpr uint32_t START_BH = 0x0000000D; + static constexpr uint32_t METADATA_BH = 0x54B400C0; + static constexpr uint32_t COMMONDATA_BH = 0x54C00040; + static constexpr uint32_t AMBIENT_RATE_BH = 0x54D00104; + static constexpr uint32_t SPAD_COUNT_BH = 0x55D00404; + static constexpr uint32_t NB_TARGET_DETECTED_BH = 0xCF7C0401; + static constexpr uint32_t SIGNAL_RATE_BH = 0xCFBC0404; + static constexpr uint32_t RANGE_SIGMA_MM_BH = 0xD2BC0402; + static constexpr uint32_t DISTANCE_BH = 0xD33C0402; + static constexpr uint32_t REFLECTANCE_BH = 0xD43C0401; + static constexpr uint32_t TARGET_STATUS_BH = 0xD47C0401; + static constexpr uint32_t MOTION_DETECT_BH = 0xCC5008C0; + static constexpr uint16_t AMBIENT_RATE_IDX = 0x54D0; + static constexpr uint16_t SPAD_COUNT_IDX = 0x55D0; + static constexpr uint16_t NB_TARGET_DETECTED_IDX = 0xCF7C; + static constexpr uint16_t SIGNAL_RATE_IDX = 0xCFBC; + static constexpr uint16_t RANGE_SIGMA_MM_IDX = 0xD2BC; + static constexpr uint16_t DISTANCE_IDX = 0xD33C; + static constexpr uint16_t REFLECTANCE_EST_PC_IDX = 0xD43C; + static constexpr uint16_t TARGET_STATUS_IDX = 0xD47C; + static constexpr uint16_t MOTION_DETEC_IDX = 0xCC50; + + /// The motion indicator configuration written to DCI_MOTION_DETECTOR_CFG + /// (layout of the ULD's VL53L5CX_Motion_Configuration) + struct MotionConfiguration { + int32_t ref_bin_offset; + uint32_t detection_threshold; + uint32_t extra_noise_sigma; + uint32_t null_den_clip_value; + uint8_t mem_update_mode; + uint8_t mem_update_choice; + uint8_t sum_span; + uint8_t feature_length; + uint8_t nb_of_aggregates; + uint8_t nb_of_temporal_accumulations; + uint8_t min_nb_for_global_detection; + uint8_t global_indicator_format_1; + uint8_t global_indicator_format_2; + uint8_t spare_1; + uint8_t spare_2; + uint8_t spare_3; + int8_t map_id[64]; + uint8_t indicator_format_1[32]; + uint8_t indicator_format_2[32]; + }; + static_assert(sizeof(MotionConfiguration) == 156, "MotionConfiguration must match the sensor"); + + // raw register access (16-bit addresses) + bool write_byte(uint16_t reg, uint8_t value, std::error_code &ec); + bool read_byte(uint16_t reg, uint8_t &value, std::error_code &ec); + bool write_multi(uint16_t reg, const uint8_t *data, size_t length, std::error_code &ec); + bool read_multi(uint16_t reg, uint8_t *data, size_t length, std::error_code &ec); + /// Poll `size` bytes at `reg` until (byte[pos] & mask) == expected (2 s) + bool poll_for_answer(size_t size, size_t pos, uint16_t reg, uint8_t mask, uint8_t expected, + std::error_code &ec); + /// Byte-swap every 32-bit word (the firmware is big-endian) + static void swap_buffer(uint8_t *buffer, size_t size); + + // DCI parameter access + bool dci_read_data(uint8_t *data, uint16_t index, uint16_t size, std::error_code &ec); + bool dci_write_data(const uint8_t *data, uint16_t index, uint16_t size, std::error_code &ec); + bool dci_replace_data(uint16_t index, uint16_t size, const uint8_t *new_data, uint16_t new_size, + uint16_t new_pos, std::error_code &ec); + + /// Wait for the MCU to boot after its reset (0x06 bit 7), then read its + /// boot error code (0x07); the ULD 1.3 / L7CX 1.2 sequence. + bool wait_for_mcu_boot(std::error_code &ec); + bool send_offset_data(Resolution resolution, std::error_code &ec); + bool send_xtalk_data(Resolution resolution, std::error_code &ec); + bool refuse_while_ranging(const char *what, std::error_code &ec); + bool read_resolution_locked(Resolution &resolution, std::error_code &ec); + bool write_motion_configuration(std::error_code &ec); + void motion_set_resolution(Resolution resolution); + + std::recursive_mutex mutex_; + Variant variant_{Variant::VL53L5CX}; + std::atomic initialized_{false}; ///< read lock-free by is_initialized() + std::atomic ranging_{false}; ///< read lock-free by is_ranging() + Resolution resolution_{Resolution::ZONES_4X4}; + uint8_t stream_count_{255}; + uint32_t data_read_size_{0}; + std::atomic motion_enabled_{false}; ///< read lock-free by is_motion_indicator_enabled() + MotionConfiguration motion_config_{}; + std::array offset_data_{}; + std::array xtalk_data_{}; + std::array temp_buffer_{}; +}; +} // namespace espp diff --git a/components/vl53l/include/vl53l5cx_protocol.hpp b/components/vl53l/include/vl53l5cx_protocol.hpp new file mode 100644 index 0000000000..a65e22b4de --- /dev/null +++ b/components/vl53l/include/vl53l5cx_protocol.hpp @@ -0,0 +1,403 @@ +#pragma once + +// Wire protocol of the VL53L5CX console: a small command set that lets a host +// (the hosted vl53l5cx_console.html web app, or any other client) configure an +// espp::Vl53l5cx multizone ToF sensor that runs ON the device, start / stop +// ranging, and receive every ranging frame (4x4 / 8x8 zones) as it is read. +// +// Framed with the espp stream_frame v2 codec and routed by an espp::Dispatcher +// on MODULE ID 10 (kModuleId). Host->device requests use type 0x1X; the +// device->host replies / events use 0x9X (their high bit is the frame reply +// flag). All multi-byte fields are little-endian. +// +// This header is standard-library only (host-testable, see +// test/vl53l5cx_protocol_host_test.cpp); espp::Vl53l5cxService +// (vl53l5cx_service.hpp) implements the device side. + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace espp { +namespace vl53l5cx_protocol { + +/// Default dispatcher module id of the VL53L5CX console protocol (a routing +/// key; Vl53l5cxService::Config::module can move it). +static constexpr uint8_t kModuleId = 10; +/// Stable protocol identifier + version advertised through discovery +/// (Dispatcher::ModuleInfo::protocol); the console locates the module by this +/// rather than by its module id. +static constexpr const char *kProtocol = "espp.vl53l5cx"; +static constexpr uint16_t kProtocolVersion = 1; + +/// Host -> device requests (0x1X). +enum class Request : uint8_t { + GetStatus = 0x10, ///< request one STATUS snapshot (no payload) + SetResolution = 0x11, ///< [zones u8] 16 (4x4) or 64 (8x8); not while ranging + SetRangingFrequency = 0x12, ///< [hz u8] 1..60 (4x4) / 1..15 (8x8); not while ranging + SetIntegrationTime = 0x13, ///< [ms u32] 2..1000 (autonomous mode); not while ranging + SetSharpener = 0x14, ///< [percent u8] 0..99; not while ranging + SetTargetOrder = 0x15, ///< [order u8] 1 closest / 2 strongest; not while ranging + SetRangingMode = 0x16, ///< [mode u8] 1 continuous / 3 autonomous; not while ranging + SetPowerMode = 0x17, ///< [mode u8] 0 sleep / 1 wakeup; not while ranging + EnableMotionIndicator = 0x18, ///< [min_mm u16][max_mm u16]; not while ranging. Only an + ///< INITIALIZE disables it again (the sensor has no "off"). + StartRanging = 0x19, ///< start ranging with the current settings (no payload) + StopRanging = 0x1A, ///< stop ranging (no payload) + Initialize = 0x1B, ///< reboot the sensor + re-upload its firmware (~2 s; the + ///< reply comes after); resets every setting (no payload) + SetFrameStream = 0x1C, ///< [enable u8][divider u8] send every divider-th frame + ///< read on this transport (0 = device default) + GetFrame = 0x1D, ///< request the latest FRAME (ERROR when none was read yet) + SetI2cAddress = 0x1E, ///< [address u8] 7-bit, volatile (back to 0x29 at reset) +}; + +/// Device -> host replies / events (0x9X => reply flag set). +enum class Reply : uint8_t { + Status = 0x90, ///< status snapshot (see Status) + Frame = 0x91, ///< one ranging frame (see Frame) + Ok = 0x92, ///< ack for a request: [request_type u8] + Error = 0x93, ///< failure: [request_type u8][code u32][utf8 message] +}; + +/// Whether a type byte is a device->host reply/event (the frame reply flag). +constexpr bool is_reply(uint8_t type) { return (type & 0x80) != 0; } + +// ---- little-endian helpers ----------------------------------------------------- + +inline void put_u16(std::vector &out, uint16_t v) { + out.push_back(static_cast(v)); + out.push_back(static_cast(v >> 8)); +} +inline void put_u32(std::vector &out, uint32_t v) { + out.push_back(static_cast(v)); + out.push_back(static_cast(v >> 8)); + out.push_back(static_cast(v >> 16)); + out.push_back(static_cast(v >> 24)); +} +inline void put_i16(std::vector &out, int16_t v) { + put_u16(out, static_cast(v)); +} +inline uint16_t get_u16(std::span p, size_t off) { + return static_cast(static_cast(p[off]) | + (static_cast(p[off + 1]) << 8)); +} +inline uint32_t get_u32(std::span p, size_t off) { + return static_cast(p[off]) | (static_cast(p[off + 1]) << 8) | + (static_cast(p[off + 2]) << 16) | (static_cast(p[off + 3]) << 24); +} +inline int16_t get_i16(std::span p, size_t off) { + return static_cast(get_u16(p, off)); +} + +// ---- request payloads ------------------------------------------------------------- + +/// A one-byte request payload (SetResolution, SetRangingFrequency, SetSharpener, +/// SetTargetOrder, SetRangingMode, SetPowerMode, SetI2cAddress). +struct ByteArg { + uint8_t value{0}; + static constexpr size_t kSize = 1; + static std::optional parse(std::span p) { + if (p.size() < kSize) + return std::nullopt; + return ByteArg{p[0]}; + } + std::vector serialize() const { return {value}; } +}; + +/// SetIntegrationTime payload: [ms u32] (4 B). +struct SetIntegrationTime { + uint32_t time_ms{0}; + static constexpr size_t kSize = 4; + static std::optional parse(std::span p) { + if (p.size() < kSize) + return std::nullopt; + return SetIntegrationTime{get_u32(p, 0)}; + } + std::vector serialize() const { + std::vector out; + put_u32(out, time_ms); + return out; + } +}; + +/// EnableMotionIndicator payload: [min_mm u16][max_mm u16] (4 B). +struct EnableMotionIndicator { + uint16_t min_mm{400}; + uint16_t max_mm{1500}; + static constexpr size_t kSize = 4; + static std::optional parse(std::span p) { + if (p.size() < kSize) + return std::nullopt; + return EnableMotionIndicator{get_u16(p, 0), get_u16(p, 2)}; + } + std::vector serialize() const { + std::vector out; + put_u16(out, min_mm); + put_u16(out, max_mm); + return out; + } +}; + +/// SetFrameStream payload: [enable u8][divider u8] (2 B); divider 0 = default. +struct SetFrameStream { + bool enabled{false}; + uint8_t divider{0}; + static constexpr size_t kSize = 2; + static std::optional parse(std::span p) { + if (p.size() < kSize) + return std::nullopt; + return SetFrameStream{p[0] != 0, p[1]}; + } + std::vector serialize() const { + return {static_cast(enabled ? 1 : 0), divider}; + } +}; + +// ---- reply payloads ---------------------------------------------------------------- + +/// STATUS payload (24 B): [flags u8][variant u8][address u8][zones u8] +/// [frequency_hz u8][integration_ms u32][sharpener u8][target_order u8] +/// [ranging_mode u8][power_mode u8][motion_min_mm u16][motion_max_mm u16] +/// [frame_count u32][frame_rate_chz u16][stream_divider u8]. +/// The sensor settings are the values read back from the sensor at the time +/// of the request (its own defaults after an INITIALIZE). +struct Status { + bool initialized{false}; ///< the firmware is uploaded and the sensor answers + bool ranging{false}; ///< between a successful START and STOP + bool motion_enabled{false}; ///< the motion indicator is configured + bool stream_enabled{false}; ///< frames are streamed on this transport + uint8_t variant{0}; ///< 0 VL53L5CX / 1 VL53L7CX (the firmware image uploaded) + uint8_t address{0x29}; ///< current 7-bit I2C address + uint8_t zones{16}; ///< 16 (4x4) or 64 (8x8) + uint8_t frequency_hz{1}; ///< ranging frequency + uint32_t integration_ms{10}; ///< integration time (autonomous mode) + uint8_t sharpener{5}; ///< sharpener, percent + uint8_t target_order{2}; ///< 1 closest / 2 strongest + uint8_t ranging_mode{3}; ///< 1 continuous / 3 autonomous + uint8_t power_mode{1}; ///< 0 sleep / 1 wakeup + uint16_t motion_min_mm{0}; ///< motion window (0 when the indicator is off) + uint16_t motion_max_mm{0}; + uint32_t frame_count{0}; ///< frames read since boot + uint16_t frame_rate_chz{0}; ///< measured frame rate, centi-Hz (0 while idle) + uint8_t stream_divider{1}; ///< every divider-th frame is streamed + + static constexpr uint8_t kFlagInitialized = 0x01; + static constexpr uint8_t kFlagRanging = 0x02; + static constexpr uint8_t kFlagMotionEnabled = 0x04; + static constexpr uint8_t kFlagStreamEnabled = 0x08; + static constexpr size_t kSize = 24; + + bool operator==(const Status &) const = default; + + std::vector serialize() const { + std::vector out; + out.reserve(kSize); + uint8_t flags = 0; + if (initialized) + flags |= kFlagInitialized; + if (ranging) + flags |= kFlagRanging; + if (motion_enabled) + flags |= kFlagMotionEnabled; + if (stream_enabled) + flags |= kFlagStreamEnabled; + out.push_back(flags); + out.push_back(variant); + out.push_back(address); + out.push_back(zones); + out.push_back(frequency_hz); + put_u32(out, integration_ms); + out.push_back(sharpener); + out.push_back(target_order); + out.push_back(ranging_mode); + out.push_back(power_mode); + put_u16(out, motion_min_mm); + put_u16(out, motion_max_mm); + put_u32(out, frame_count); + put_u16(out, frame_rate_chz); + out.push_back(stream_divider); + return out; + } + + static std::optional parse(std::span p) { + if (p.size() < kSize) + return std::nullopt; + Status s; + const uint8_t flags = p[0]; + s.initialized = (flags & kFlagInitialized) != 0; + s.ranging = (flags & kFlagRanging) != 0; + s.motion_enabled = (flags & kFlagMotionEnabled) != 0; + s.stream_enabled = (flags & kFlagStreamEnabled) != 0; + s.variant = p[1]; + s.address = p[2]; + s.zones = p[3]; + s.frequency_hz = p[4]; + s.integration_ms = get_u32(p, 5); + s.sharpener = p[9]; + s.target_order = p[10]; + s.ranging_mode = p[11]; + s.power_mode = p[12]; + s.motion_min_mm = get_u16(p, 13); + s.motion_max_mm = get_u16(p, 15); + s.frame_count = get_u32(p, 17); + s.frame_rate_chz = get_u16(p, 21); + s.stream_divider = p[23]; + return s; + } +}; + +/// One zone of a FRAME (19 B on the wire): [distance_mm i16][status u8] +/// [nb_targets u8][reflectance_pct u8][sigma_mm u16][signal_kcps u32] +/// [ambient_kcps u32][spads u32]. +struct Zone { + int16_t distance_mm{0}; + uint8_t status{0}; ///< target status (5 / 9 = valid, 255 = no target) + uint8_t nb_targets{0}; + uint8_t reflectance_pct{0}; + uint16_t sigma_mm{0}; + uint32_t signal_kcps{0}; ///< return signal, kcps / SPAD + uint32_t ambient_kcps{0}; + uint32_t spads{0}; + static constexpr size_t kSize = 19; + bool operator==(const Zone &) const = default; +}; + +/// The motion indicator block of a FRAME (140 B on the wire, present when the +/// frame's kFlagMotion is set): [global_1 u32][global_2 u32][status u8] +/// [detected u8][aggregates u8][spare u8][motion u32 x 32]. +struct Motion { + uint32_t global_indicator_1{0}; + uint32_t global_indicator_2{0}; + uint8_t status{0}; + uint8_t nb_of_detected_aggregates{0}; + uint8_t nb_of_aggregates{0}; + uint8_t spare{0}; + std::array motion{}; + static constexpr size_t kSize = 4 + 4 + 4 + 32 * 4; // = 140 + bool operator==(const Motion &) const = default; +}; + +/// FRAME payload: [sequence u32][timestamp_ms u32][zones u8][flags u8], then +/// `zones` Zone records (row-major, zone = row * width + col), then a Motion +/// block when flags has kFlagMotion. 8x8 with motion = 1366 B. +struct Frame { + uint32_t sequence{0}; ///< frames read since boot (this one's number) + uint32_t timestamp_ms{0}; ///< device uptime when the frame was read + uint8_t zones{16}; ///< 16 or 64 + bool motion_present{false}; + std::array zone{}; + Motion motion{}; + + static constexpr uint8_t kFlagMotion = 0x01; + static constexpr size_t kHeaderSize = 10; + static constexpr size_t kMaxSize = kHeaderSize + 64 * Zone::kSize + Motion::kSize; + + /// Zones per row (4 or 8) + size_t width() const { return zones == 64 ? 8 : 4; } + + std::vector serialize() const { + std::vector out; + const size_t n = zones == 64 ? 64 : 16; + out.reserve(kHeaderSize + n * Zone::kSize + (motion_present ? Motion::kSize : 0)); + put_u32(out, sequence); + put_u32(out, timestamp_ms); + out.push_back(static_cast(n)); + out.push_back(motion_present ? kFlagMotion : 0); + for (size_t i = 0; i < n; i++) { + const Zone &z = zone[i]; + put_i16(out, z.distance_mm); + out.push_back(z.status); + out.push_back(z.nb_targets); + out.push_back(z.reflectance_pct); + put_u16(out, z.sigma_mm); + put_u32(out, z.signal_kcps); + put_u32(out, z.ambient_kcps); + put_u32(out, z.spads); + } + if (motion_present) { + put_u32(out, motion.global_indicator_1); + put_u32(out, motion.global_indicator_2); + out.push_back(motion.status); + out.push_back(motion.nb_of_detected_aggregates); + out.push_back(motion.nb_of_aggregates); + out.push_back(motion.spare); + for (uint32_t m : motion.motion) + put_u32(out, m); + } + return out; + } + + static std::optional parse(std::span p) { + if (p.size() < kHeaderSize) + return std::nullopt; + Frame f; + f.sequence = get_u32(p, 0); + f.timestamp_ms = get_u32(p, 4); + f.zones = p[8]; + if (f.zones != 16 && f.zones != 64) + return std::nullopt; + f.motion_present = (p[9] & kFlagMotion) != 0; + size_t off = kHeaderSize; + if (p.size() < off + f.zones * Zone::kSize + (f.motion_present ? Motion::kSize : 0)) + return std::nullopt; + for (size_t i = 0; i < f.zones; i++, off += Zone::kSize) { + Zone &z = f.zone[i]; + z.distance_mm = get_i16(p, off); + z.status = p[off + 2]; + z.nb_targets = p[off + 3]; + z.reflectance_pct = p[off + 4]; + z.sigma_mm = get_u16(p, off + 5); + z.signal_kcps = get_u32(p, off + 7); + z.ambient_kcps = get_u32(p, off + 11); + z.spads = get_u32(p, off + 15); + } + if (f.motion_present) { + f.motion.global_indicator_1 = get_u32(p, off); + f.motion.global_indicator_2 = get_u32(p, off + 4); + f.motion.status = p[off + 8]; + f.motion.nb_of_detected_aggregates = p[off + 9]; + f.motion.nb_of_aggregates = p[off + 10]; + f.motion.spare = p[off + 11]; + off += 12; + for (auto &m : f.motion.motion) { + m = get_u32(p, off); + off += 4; + } + } + return f; + } +}; + +/// OK payload: [request_type u8]. +inline std::vector make_ok_payload(uint8_t request_type) { return {request_type}; } + +/// ERROR payload: [request_type u8][code u32][utf8 message]. +inline std::vector make_error_payload(uint8_t request_type, uint32_t code, + std::string_view message) { + std::vector out{request_type}; + put_u32(out, code); + out.insert(out.end(), message.begin(), message.end()); + return out; +} + +/// Decoded ERROR payload. +struct ErrorPayload { + uint8_t request_type{0}; + uint32_t code{0}; + std::string message; +}; + +inline std::optional parse_error_payload(std::span p) { + if (p.size() < 5) + return std::nullopt; + return ErrorPayload{p[0], get_u32(p, 1), std::string(p.begin() + 5, p.end())}; +} + +} // namespace vl53l5cx_protocol +} // namespace espp diff --git a/components/vl53l/include/vl53l5cx_service.hpp b/components/vl53l/include/vl53l5cx_service.hpp new file mode 100644 index 0000000000..52381cd5cc --- /dev/null +++ b/components/vl53l/include/vl53l5cx_service.hpp @@ -0,0 +1,490 @@ +#pragma once + +// espp::Vl53l5cxService — the VL53L5CX console protocol (vl53l5cx_protocol.hpp) +// as a dispatcher service around an espp::Vl53l5cx driver running on the +// device: register it on an espp::Dispatcher / DispatcherWorker and a host (the +// hosted vl53l5cx_console.html web app) can configure the sensor, start / stop +// ranging and receive every ranging frame, with all the I2C work happening +// here. +// +// espp::Vl53l5cx sensor({...}); +// std::mutex sensor_mutex; // one sensor: shared by every user of `sensor` +// espp::Vl53l5cxService service(sensor, {.send = send, .sensor_mutex = &sensor_mutex}); +// link.register_module(service); +// // the application's poll task, on every frame it reads: +// service.on_frame(frame); +// +// The service does NOT poll the sensor itself: the application owns the one +// poll loop (there is only one sensor to read, however many transports serve +// it) and hands each frame to every service instance through on_frame(), which +// forwards it to the host when that transport asked for the frame stream. +// One instance per byte stream (like the other espp services); several +// instances (vendor + CDC) share one Vl53l5cx -- point them at the same +// `sensor_mutex` so their command sequences never interleave. + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "base_component.hpp" +#include "dispatcher.hpp" +#include "stream_frame.hpp" +#include "vl53l5cx.hpp" +#include "vl53l5cx_protocol.hpp" + +namespace espp { + +/** + * @brief Dispatcher service exposing an espp::Vl53l5cx over the VL53L5CX + * console protocol (module 10 by default). + * + * Requests are executed against the driver under the sensor mutex (a settings + * write is a few DCI transactions, an INITIALIZE re-uploads the firmware for + * about two seconds, so feed this service from a worker task, e.g. an + * espp::DispatcherWorker) and the reply is sent after the mutex is released. + * Frames arrive through on_frame() from the application's poll task and are + * forwarded (every Nth, see SetFrameStream) while the host has the stream + * enabled; the latest one is kept for GetFrame. A STATUS snapshot reads every + * setting back from the sensor (seven DCI reads; allowed while ranging). + * + * \section vl53l5cx_service_ex1 Vl53l5cxService Example + * \snippet vl53l5cx_webapp_example.cpp vl53l5cx_webapp_example + */ +class Vl53l5cxService : public BaseComponent { +public: + using Request = vl53l5cx_protocol::Request; + using Reply = vl53l5cx_protocol::Reply; + using Status = vl53l5cx_protocol::Status; + using Frame = vl53l5cx_protocol::Frame; + + /// Transmits one encoded frame to the host. + using send_fn = std::function frame)>; + + /// Configuration for the Vl53l5cxService. + struct Config { + /// Transmits an encoded frame (required). Called from the task that feeds + /// handle() (request replies) AND from the task that calls on_frame() + /// (the frame stream), so it must be thread-safe: if the transport does + /// not serialize writers (e.g. UsbDevice::write_vendor), guard it with a + /// mutex. + send_fn send{nullptr}; + /// Dispatcher module id to answer on (a routing key only: the console + /// finds it through discovery, by kProtocol, whatever id is chosen). + uint8_t module{vl53l5cx_protocol::kModuleId}; + /// Mutex serializing every use of the Vl53l5cx. Share it between all users + /// of the driver -- other service instances and the application's poll + /// loop. If null the service uses a private mutex. + std::mutex *sensor_mutex{nullptr}; + /// Frame stream divider when the host asks for 0 (1 = every frame). + uint8_t default_stream_divider{1}; + espp::Logger::Verbosity log_level{espp::Logger::Verbosity::WARN}; ///< Logger verbosity. + }; + + /** + * @brief Construct the service. + * @param sensor The driver to expose (must outlive the service). + * @param config Configuration parameters. + */ + explicit Vl53l5cxService(Vl53l5cx &sensor, const Config &config) + : BaseComponent("Vl53l5cxService", config.log_level) + , sensor_(sensor) + , config_(config) + , sensor_mutex_(config.sensor_mutex ? *config.sensor_mutex : own_mutex_) + , stream_divider_(config.default_stream_divider ? config.default_stream_divider : 1) {} + + Vl53l5cxService(const Vl53l5cxService &) = delete; + Vl53l5cxService &operator=(const Vl53l5cxService &) = delete; + + /// @brief The dispatcher module id this service answers on. + uint8_t module_id() const { return config_.module; } + + /// @brief Discovery metadata for registering this service on a Dispatcher. + Dispatcher::ModuleInfo module_info() const { + return {.name = "VL53L5CX", + .app = "vl53l5cx_console.html", + .description = "Configure a VL53L5CX / VL53L7CX multizone ToF sensor & stream frames", + .protocol = vl53l5cx_protocol::kProtocol, + .protocol_version = vl53l5cx_protocol::kProtocolVersion}; + } + + /// @brief The mutex serializing use of the driver (take it around your own + /// Vl53l5cx calls when sharing the driver with this service). + std::mutex &sensor_mutex() { return sensor_mutex_; } + + /// @brief Dispatcher entry point: handle one routed frame. Frames for other + /// modules and reply-flagged frames (echoes) are ignored. + void handle(const espp::stream_frame::Frame &frame) { + if (frame.module != module_id() || frame.is_reply()) + return; + handle_request(frame.type, frame.payload); + } + + /** + * @brief Hand the service a frame the application just read from the sensor. + * @param data The frame (Vl53l5cx::get_ranging_data() output). + * @note Call it from the poll task for EVERY frame, whether or not a host is + * streaming: it keeps the frame counter / rate (STATUS) and the latest + * frame (GetFrame), and forwards the frame on this transport when the + * stream is enabled (every `divider`-th frame). Must be called WITHOUT + * the sensor mutex held (it transmits). + */ + void on_frame(const Vl53l5cx::RangingData &data) { + const auto now = std::chrono::steady_clock::now(); + const uint32_t seq = ++frame_count_; + { + std::lock_guard lock(latest_mutex_); + if (last_frame_time_.time_since_epoch().count() != 0) { + const auto period = + std::chrono::duration_cast(now - last_frame_time_).count(); + if (period > 0) { + // exponential average of the period (a quarter of the way per frame) + const float f = period; + period_us_ = period_us_ > 0.0f ? period_us_ + (f - period_us_) * 0.25f : f; + } + } + last_frame_time_ = now; + latest_ = to_wire(data, seq, uptime_ms()); + have_latest_ = true; + if (!stream_enabled_.load()) + return; + const uint8_t divider = stream_divider_.load(); + if (divider > 1 && (seq % divider) != 0) + return; + pending_ = latest_.serialize(); + } + // transmit with no lock held (the sender may block on USB backpressure) + std::vector payload; + { + std::lock_guard lock(latest_mutex_); + payload.swap(pending_); + } + if (!payload.empty()) + send(Reply::Frame, payload); + } + + /// @brief Take a STATUS snapshot (reads the settings back from the sensor). + Status read_status() { + Status s; + { + std::lock_guard lock(sensor_mutex_); + if (sensor_.is_initialized()) + refresh_settings_locked(); // the firmware answers reads while ranging (only writes are + // refused) + s = settings_; + s.initialized = sensor_.is_initialized(); + s.ranging = sensor_.is_ranging(); + s.motion_enabled = sensor_.is_motion_indicator_enabled(); + s.variant = static_cast(sensor_.variant()); + s.address = sensor_.address(); + } + s.stream_enabled = stream_enabled_.load(); + s.stream_divider = stream_divider_.load(); + s.frame_count = frame_count_.load(); + { + std::lock_guard lock(latest_mutex_); + const bool fresh = + last_frame_time_.time_since_epoch().count() != 0 && + std::chrono::steady_clock::now() - last_frame_time_ < std::chrono::seconds(2); + s.frame_rate_chz = fresh && period_us_ > 0.0f + ? static_cast(100.0f * 1.0e6f / period_us_ + 0.5f) + : 0; + } + return s; + } + + /// @brief Send one STATUS snapshot now (what GET_STATUS does). + void send_status() { send(Reply::Status, read_status().serialize()); } + + /// @brief Enable / disable the frame stream on this transport. + /// @param divider Every divider-th frame is sent (0 = default). + void set_frame_stream(bool enabled, uint8_t divider = 0) { + stream_divider_.store(divider ? divider + : config_.default_stream_divider ? config_.default_stream_divider + : 1); + stream_enabled_.store(enabled); + logger_.info("frame stream {} (every {} frame(s))", enabled ? "enabled" : "disabled", + stream_divider_.load()); + } + + /// @brief Whether the frame stream is currently enabled. + bool stream_enabled() const { return stream_enabled_.load(); } + +protected: + /// Convert a driver frame to the wire structure. + static Frame to_wire(const Vl53l5cx::RangingData &data, uint32_t seq, uint32_t timestamp_ms) { + Frame f; + f.sequence = seq; + f.timestamp_ms = timestamp_ms; + f.zones = static_cast(data.num_zones()); + for (size_t i = 0; i < data.num_zones() && i < f.zone.size(); i++) { + auto &z = f.zone[i]; + z.distance_mm = data.distance_mm[i]; + z.status = data.target_status[i]; + z.nb_targets = data.nb_target_detected[i]; + z.reflectance_pct = data.reflectance_percent[i]; + z.sigma_mm = data.range_sigma_mm[i]; + z.signal_kcps = data.signal_per_spad_kcps[i]; + z.ambient_kcps = data.ambient_per_spad_kcps[i]; + z.spads = data.nb_spads_enabled[i]; + } + const auto &m = data.motion_indicator; + // the sensor fills the block only when the indicator is enabled: the + // aggregate count is then non-zero + f.motion_present = m.nb_of_aggregates != 0; + f.motion.global_indicator_1 = m.global_indicator_1; + f.motion.global_indicator_2 = m.global_indicator_2; + f.motion.status = m.status; + f.motion.nb_of_detected_aggregates = m.nb_of_detected_aggregates; + f.motion.nb_of_aggregates = m.nb_of_aggregates; + f.motion.spare = m.spare; + f.motion.motion = m.motion; + return f; + } + + static uint32_t uptime_ms() { + static const auto t0 = std::chrono::steady_clock::now(); + return static_cast( + std::chrono::duration_cast(std::chrono::steady_clock::now() - t0) + .count()); + } + + /// Read every setting back from the sensor (sensor mutex held). + void refresh_settings_locked() { + std::error_code ec; + settings_.zones = static_cast(sensor_.get_resolution(ec)); + settings_.frequency_hz = sensor_.get_ranging_frequency_hz(ec); + settings_.integration_ms = sensor_.get_integration_time_ms(ec); + settings_.sharpener = sensor_.get_sharpener_percent(ec); + settings_.target_order = static_cast(sensor_.get_target_order(ec)); + settings_.ranging_mode = static_cast(sensor_.get_ranging_mode(ec)); + settings_.power_mode = static_cast(sensor_.get_power_mode(ec)); + if (ec) + logger_.warn("reading the settings back failed: {}", ec.message()); + } + + /// Execute one request against the driver (under the sensor mutex) and + /// reply after the mutex is released. + void handle_request(uint8_t type, std::span payload) { + namespace proto = vl53l5cx_protocol; + using Resolution = Vl53l5cx::Resolution; + using TargetOrder = Vl53l5cx::TargetOrder; + using RangingMode = Vl53l5cx::RangingMode; + using PowerMode = Vl53l5cx::PowerMode; + switch (static_cast(type)) { + case Request::GetStatus: + send_status(); + return; + case Request::SetFrameStream: { + const auto req = proto::SetFrameStream::parse(payload); + if (!req) { + send_error(type, std::errc::invalid_argument, "short payload"); + return; + } + set_frame_stream(req->enabled, req->divider); + send_ok(type); + return; + } + case Request::GetFrame: { + std::vector frame; + { + std::lock_guard lock(latest_mutex_); + if (have_latest_) + frame = latest_.serialize(); + } + if (frame.empty()) + send_error(type, std::errc::no_message_available, "no frame read yet (start ranging)"); + else + send(Reply::Frame, frame); + return; + } + default: + break; + } + + // Everything else is a driver call: run it under the mutex, build the + // reply, then send with the mutex released. + std::vector reply; + Reply reply_type = Reply::Ok; + { + std::lock_guard lock(sensor_mutex_); + std::error_code ec; + auto result = [&](bool ok, const char *context) { + if (ok) { + reply = proto::make_ok_payload(type); + } else { + reply_type = Reply::Error; + reply = error_payload(type, ec, context); + } + }; + auto malformed = [&](const char *what) { + reply_type = Reply::Error; + reply = error_payload(type, std::make_error_code(std::errc::invalid_argument), what); + }; + const auto arg = proto::ByteArg::parse(payload); + switch (static_cast(type)) { + case Request::SetResolution: + if (arg && (arg->value == 16 || arg->value == 64)) { + const auto r = arg->value == 64 ? Resolution::ZONES_8X8 : Resolution::ZONES_4X4; + result(sensor_.set_resolution(r, ec), "set resolution failed"); + if (!ec) + settings_.zones = arg->value; + } else { + malformed("resolution must be 16 (4x4) or 64 (8x8)"); + } + break; + case Request::SetRangingFrequency: + if (arg) { + result(sensor_.set_ranging_frequency_hz(arg->value, ec), "set ranging frequency failed"); + if (!ec) + settings_.frequency_hz = arg->value; + } else { + malformed("short payload"); + } + break; + case Request::SetIntegrationTime: + if (const auto r = proto::SetIntegrationTime::parse(payload)) { + result(sensor_.set_integration_time_ms(r->time_ms, ec), "set integration time failed"); + if (!ec) + settings_.integration_ms = r->time_ms; + } else { + malformed("short payload"); + } + break; + case Request::SetSharpener: + if (arg) { + result(sensor_.set_sharpener_percent(arg->value, ec), "set sharpener failed"); + if (!ec) + settings_.sharpener = arg->value; + } else { + malformed("short payload"); + } + break; + case Request::SetTargetOrder: + if (arg && (arg->value == static_cast(TargetOrder::CLOSEST) || + arg->value == static_cast(TargetOrder::STRONGEST))) { + result(sensor_.set_target_order(static_cast(arg->value), ec), + "set target order failed"); + if (!ec) + settings_.target_order = arg->value; + } else { + malformed("target order must be 1 (closest) or 2 (strongest)"); + } + break; + case Request::SetRangingMode: + if (arg && (arg->value == static_cast(RangingMode::CONTINUOUS) || + arg->value == static_cast(RangingMode::AUTONOMOUS))) { + result(sensor_.set_ranging_mode(static_cast(arg->value), ec), + "set ranging mode failed"); + if (!ec) + settings_.ranging_mode = arg->value; + } else { + malformed("ranging mode must be 1 (continuous) or 3 (autonomous)"); + } + break; + case Request::SetPowerMode: + if (arg && (arg->value == static_cast(PowerMode::SLEEP) || + arg->value == static_cast(PowerMode::WAKEUP))) { + result(sensor_.set_power_mode(static_cast(arg->value), ec), + "set power mode failed"); + if (!ec) + settings_.power_mode = arg->value; + } else { + malformed("power mode must be 0 (sleep) or 1 (wakeup)"); + } + break; + case Request::EnableMotionIndicator: + if (const auto r = proto::EnableMotionIndicator::parse(payload)) { + result(sensor_.enable_motion_indicator(r->min_mm, r->max_mm, ec), + "enable motion indicator failed"); + if (!ec) { + settings_.motion_min_mm = r->min_mm; + settings_.motion_max_mm = r->max_mm; + } + } else { + malformed("short payload"); + } + break; + case Request::StartRanging: + result(sensor_.start_ranging(ec), "start ranging failed"); + break; + case Request::StopRanging: + result(sensor_.stop_ranging(ec), "stop ranging failed"); + break; + case Request::Initialize: + result(sensor_.initialize(ec), "initialize failed"); + settings_.motion_min_mm = settings_.motion_max_mm = 0; // the indicator is off again + if (!ec) + refresh_settings_locked(); + break; + case Request::SetI2cAddress: + if (arg) + result(sensor_.set_i2c_address(arg->value, ec), "set I2C address failed"); + else + malformed("short payload"); + break; + default: + reply_type = Reply::Error; + reply = error_payload(type, std::make_error_code(std::errc::not_supported), + "unknown VL53L5CX message"); + break; + } + } + send(reply_type, reply); + } + + std::vector error_payload(uint8_t request_type, const std::error_code &ec, + std::string_view context) const { + logger_.warn("{}: {}", context, ec.message()); + return vl53l5cx_protocol::make_error_payload(request_type, static_cast(ec.value()), + std::string(context) + ": " + ec.message()); + } + + void send_ok(uint8_t request_type) { + send(Reply::Ok, vl53l5cx_protocol::make_ok_payload(request_type)); + } + + void send_error(uint8_t request_type, std::errc errc, std::string_view context) { + send(Reply::Error, error_payload(request_type, std::make_error_code(errc), context)); + } + + /// Encode and transmit one frame (reply flag from the type's high bit). + /// Must be called WITHOUT the sensor mutex held. + void send(Reply type, std::span payload) { + if (!config_.send) { + logger_.warn("no send function configured; dropping a reply"); + return; + } + const auto t = static_cast(type); + config_.send( + espp::stream_frame::build_frame(vl53l5cx_protocol::is_reply(t), module_id(), t, payload)); + } + + Vl53l5cx &sensor_; + Config config_; + std::mutex own_mutex_; + std::mutex &sensor_mutex_; + Status settings_{}; ///< settings last read from / written to the sensor (sensor mutex) + std::atomic stream_enabled_{false}; + std::atomic stream_divider_; + std::atomic frame_count_{0}; + std::mutex latest_mutex_; ///< guards latest_ / have_latest_ / pending_ / the rate estimate + Frame latest_{}; + bool have_latest_{false}; + std::vector pending_; + std::chrono::steady_clock::time_point last_frame_time_{}; + float period_us_{0.0f}; +}; + +// Compile-time check that the service keeps satisfying the dispatcher's module +// contract (module_id() / module_info() / handle(frame)) -- see +// espp::DispatcherModuleConcept. +static_assert(DispatcherModuleConcept); + +} // namespace espp diff --git a/components/vl53l/src/vl53l5cx.cpp b/components/vl53l/src/vl53l5cx.cpp new file mode 100644 index 0000000000..8e5dbb0d12 --- /dev/null +++ b/components/vl53l/src/vl53l5cx.cpp @@ -0,0 +1,1125 @@ +// The sensor sequences in this file (reboot, firmware upload, NVM / crosstalk +// loading, the DCI command interface and the result block parsing) are a port +// of the STMicroelectronics VL53L5CX Ultra Lite Driver, API revision +// VL53L5CX_1.1.2 (vl53l5cx_api.c, vl53l5cx_plugin_motion_indicator.c): +// +// Copyright (c) 2021 STMicroelectronics +// Redistributed under the BSD-3-Clause license; see vl53l5cx_firmware.cpp for +// the full text. + +#include "vl53l5cx.hpp" + +#include +#include +#include +#include + +#include "vl53l5cx_firmware.hpp" + +using namespace espp; + +namespace { +uint32_t load_u32(const uint8_t *p) { + uint32_t v; + std::memcpy(&v, p, sizeof(v)); + return v; +} +void store_u32(uint8_t *p, uint32_t v) { std::memcpy(p, &v, sizeof(v)); } +} // namespace + +Vl53l5cx::Vl53l5cx(const Config &config) + : Base({}, "Vl53l5cx", config.log_level) + , variant_(config.variant) { + set_address(config.device_address); + set_write(config.write); + set_read(config.read); + if (config.auto_init) { + std::error_code ec; + if (!initialize(ec)) { + logger_.error("Initialization failed: {}", ec.message()); + } + } +} + +const char *Vl53l5cx::target_status_name(TargetStatus status) { + switch (status) { + case TargetStatus::NOT_UPDATED: + return "not updated"; + case TargetStatus::SIGNAL_RATE_TOO_LOW_SPAD_ARRAY: + return "signal rate too low on the SPAD array"; + case TargetStatus::TARGET_PHASE: + return "target phase"; + case TargetStatus::SIGMA_TOO_HIGH: + return "sigma estimator too high"; + case TargetStatus::TARGET_CONSISTENCY_FAILED: + return "target consistency failed"; + case TargetStatus::RANGE_VALID: + return "range valid"; + case TargetStatus::WRAP_AROUND_NOT_PERFORMED: + return "wrap-around not performed"; + case TargetStatus::RATE_CONSISTENCY_FAILED: + return "rate consistency failed"; + case TargetStatus::SIGNAL_RATE_TOO_LOW_TARGET: + return "signal rate too low for the target"; + case TargetStatus::RANGE_VALID_LARGE_PULSE: + return "range valid (large pulse)"; + case TargetStatus::RANGE_VALID_NO_PREVIOUS_TARGET: + return "range valid (no previous target)"; + case TargetStatus::MEASUREMENT_CONSISTENCY_FAILED: + return "measurement consistency failed"; + case TargetStatus::TARGET_BLURRED: + return "target blurred by another one"; + case TargetStatus::TARGET_INCONSISTENT: + return "target inconsistent"; + case TargetStatus::NO_TARGET: + return "no target"; + } + return "unknown"; +} + +// --------------------------------------------------------------------------- +// Raw register access +// --------------------------------------------------------------------------- + +bool Vl53l5cx::write_byte(uint16_t reg, uint8_t value, std::error_code &ec) { + return write_multi(reg, &value, 1, ec); +} + +bool Vl53l5cx::read_byte(uint16_t reg, uint8_t &value, std::error_code &ec) { + return read_multi(reg, &value, 1, ec); +} + +bool Vl53l5cx::write_multi(uint16_t reg, const uint8_t *data, size_t length, std::error_code &ec) { + // a stale error from an earlier call must not survive a transfer that + // succeeds (the base class's separate write / read path only sets ec) + ec.clear(); + // the register address auto-increments, so a long write (the firmware image) + // can go out in bounded transactions; the base class stages each one on the + // stack + for (size_t offset = 0; offset < length; offset += MAX_WRITE_CHUNK) { + const size_t chunk = std::min(MAX_WRITE_CHUNK, length - offset); + write_many_to_register(static_cast(reg + offset), data + offset, chunk, ec); + if (ec) { + logger_.error("Write of {} bytes to 0x{:04x} failed: {}", chunk, reg + offset, ec.message()); + return false; + } + } + return true; +} + +bool Vl53l5cx::read_multi(uint16_t reg, uint8_t *data, size_t length, std::error_code &ec) { + ec.clear(); // see write_multi + read_many_from_register(reg, data, length, ec); + if (ec) { + logger_.error("Read of {} bytes from 0x{:04x} failed: {}", length, reg, ec.message()); + return false; + } + return true; +} + +bool Vl53l5cx::poll_for_answer(size_t size, size_t pos, uint16_t reg, uint8_t mask, + uint8_t expected, std::error_code &ec) { + if (size == 0 || size > TEMP_BUFFER_SIZE || pos >= size) { + ec = std::make_error_code(std::errc::invalid_argument); + return false; + } + for (int attempt = 0; attempt <= POLL_ATTEMPTS; ++attempt) { + if (!read_multi(reg, temp_buffer_.data(), size, ec)) { + return false; + } + // byte 2 of a 4-byte command status is the firmware's error code + if (size >= 4 && temp_buffer_[2] >= 0x7f) { + logger_.error("Firmware error 0x{:02x} while polling 0x{:04x} (status bytes {:02x} {:02x} " + "{:02x} {:02x}, wanted byte {} & 0x{:02x} == 0x{:02x})", + temp_buffer_[2], reg, temp_buffer_[0], temp_buffer_[1], temp_buffer_[2], + temp_buffer_[3], pos, mask, expected); + ec = std::make_error_code(std::errc::io_error); + return false; + } + if ((temp_buffer_[pos] & mask) == expected) { + return true; + } + std::this_thread::sleep_for(std::chrono::milliseconds(POLL_INTERVAL_MS)); + } + logger_.error("Timed out polling 0x{:04x} for 0x{:02x} (mask 0x{:02x}); last 0x{:02x}", reg, + expected, mask, temp_buffer_[pos]); + ec = std::make_error_code(std::errc::timed_out); + return false; +} + +void Vl53l5cx::swap_buffer(uint8_t *buffer, size_t size) { + for (size_t i = 0; i + 4 <= size; i += 4) { + std::swap(buffer[i], buffer[i + 3]); + std::swap(buffer[i + 1], buffer[i + 2]); + } +} + +// --------------------------------------------------------------------------- +// DCI: the firmware's parameter interface +// --------------------------------------------------------------------------- + +bool Vl53l5cx::dci_read_data(uint8_t *data, uint16_t index, uint16_t size, std::error_code &ec) { + const size_t read_size = static_cast(size) + 12; + if (read_size > TEMP_BUFFER_SIZE) { + ec = std::make_error_code(std::errc::invalid_argument); + return false; + } + const uint8_t cmd[12] = {static_cast(index >> 8), + static_cast(index & 0xff), + static_cast((size & 0xff0) >> 4), + static_cast((size & 0xf) << 4), + 0x00, + 0x00, + 0x00, + 0x0f, + 0x00, + 0x02, + 0x00, + 0x08}; + // request the data, wait for the firmware, read it back (4-byte header + + // data + 8-byte footer, big-endian words) + if (!write_multi(UI_CMD_END - 11, cmd, sizeof(cmd), ec) || + !poll_for_answer(4, 1, UI_CMD_STATUS, 0xff, 0x03, ec) || + !read_multi(UI_CMD_START, temp_buffer_.data(), read_size, ec)) { + return false; + } + swap_buffer(temp_buffer_.data(), read_size); + std::memcpy(data, temp_buffer_.data() + 4, size); + return true; +} + +bool Vl53l5cx::dci_write_data(const uint8_t *data, uint16_t index, uint16_t size, + std::error_code &ec) { + const size_t write_size = static_cast(size) + 12; + if (write_size > TEMP_BUFFER_SIZE) { + ec = std::make_error_code(std::errc::invalid_argument); + return false; + } + const uint8_t header[4] = {static_cast(index >> 8), static_cast(index & 0xff), + static_cast((size & 0xff0) >> 4), + static_cast((size & 0xf) << 4)}; + const uint16_t footer_size = static_cast(size + 8); + const uint8_t footer[8] = {0x00, + 0x00, + 0x00, + 0x0f, + 0x05, + 0x01, + static_cast(footer_size >> 8), + static_cast(footer_size & 0xff)}; + std::memcpy(temp_buffer_.data(), header, sizeof(header)); + std::memcpy(temp_buffer_.data() + 4, data, size); + swap_buffer(temp_buffer_.data() + 4, size); + std::memcpy(temp_buffer_.data() + 4 + size, footer, sizeof(footer)); + const uint16_t address = static_cast(UI_CMD_END - write_size + 1); + return write_multi(address, temp_buffer_.data(), write_size, ec) && + poll_for_answer(4, 1, UI_CMD_STATUS, 0xff, 0x03, ec); +} + +bool Vl53l5cx::dci_replace_data(uint16_t index, uint16_t size, const uint8_t *new_data, + uint16_t new_size, uint16_t new_pos, std::error_code &ec) { + uint8_t buffer[32]; + if (size > sizeof(buffer) || new_pos + new_size > size) { + ec = std::make_error_code(std::errc::invalid_argument); + return false; + } + if (!dci_read_data(buffer, index, size, ec)) { + return false; + } + std::memcpy(buffer + new_pos, new_data, new_size); + return dci_write_data(buffer, index, size, ec); +} + +// --------------------------------------------------------------------------- +// Initialization +// --------------------------------------------------------------------------- + +bool Vl53l5cx::is_alive(std::error_code &ec) { + std::lock_guard lock(mutex_); + uint8_t device_id = 0; + uint8_t revision_id = 0; + const bool read_ok = write_byte(0x7fff, 0x00, ec) && read_byte(0x0000, device_id, ec) && + read_byte(0x0001, revision_id, ec); + // back to the firmware's register page whatever happened above, so a probe + // on a running sensor never leaves later DCI / frame reads on page 0 + std::error_code restore_ec; + const bool restored = write_byte(0x7fff, 0x02, restore_ec); + if (!read_ok) { + return false; + } + if (!restored) { + ec = restore_ec; + return false; + } + const bool alive = device_id == DEVICE_ID && revision_id == REVISION_ID; + if (!alive) { + logger_.warn("Device id 0x{:02x} / revision 0x{:02x} is not a VL53L5CX (0x{:02x} / 0x{:02x})", + device_id, revision_id, DEVICE_ID, REVISION_ID); + } + return alive; +} + +bool Vl53l5cx::initialize(std::error_code &ec) { + using namespace std::chrono_literals; + using namespace vl53l5cx_detail; + std::lock_guard lock(mutex_); + initialized_ = false; + ranging_ = false; + motion_enabled_ = false; + + // The first transaction after a HOST reset can fail: the sensor may still be + // clocking out the frame the previous firmware was reading when the host + // went away, holding SDA low until that byte completes (seen on the bench: + // "Write of 1 bytes to 0x7fff failed" right after a reset while ranging). + // A few retries let it finish; a sensor that stays silent still fails. + bool alive = false; + for (int attempt = 0; attempt < 5; ++attempt) { + alive = is_alive(ec); + if (alive || !ec) { + break; // answered, or answered with the wrong ids + } + std::this_thread::sleep_for(2ms); + } + if (!alive) { + // never upload the firmware into something that is not a VL53L5CX + if (!ec) { + ec = std::make_error_code(std::errc::no_such_device); + } + return false; + } + + // the sequence below is the ULD's vl53l5cx_init(); the register writes are + // undocumented (ST's "boot" and "wake the MCU" recipes) + struct Step { + uint16_t reg; + uint8_t value; + }; + auto run = [&](const Step *steps, size_t count) { + for (size_t i = 0; i < count; ++i) { + if (!write_byte(steps[i].reg, steps[i].value, ec)) { + return false; + } + } + return true; + }; + + // software reboot + static constexpr Step kReboot1[] = { + {0x7fff, 0x00}, {0x0009, 0x04}, {0x000F, 0x40}, {0x000A, 0x03}}; + if (!run(kReboot1, std::size(kReboot1))) { + return false; + } + uint8_t tmp = 0; + if (!read_byte(0x7FFF, tmp, ec)) { + return false; + } + static constexpr Step kReboot2[] = { + {0x000C, 0x01}, {0x0101, 0x00}, {0x0102, 0x00}, {0x010A, 0x01}, {0x4002, 0x01}, + {0x4002, 0x00}, {0x010A, 0x03}, {0x0103, 0x01}, {0x000C, 0x00}, {0x000F, 0x43}}; + if (!run(kReboot2, std::size(kReboot2))) { + return false; + } + std::this_thread::sleep_for(1ms); + static constexpr Step kReboot3[] = {{0x000F, 0x40}, {0x000A, 0x01}}; + if (!run(kReboot3, std::size(kReboot3))) { + return false; + } + std::this_thread::sleep_for(100ms); + + // wait for the sensor to boot + if (!write_byte(0x7fff, 0x00, ec) || !poll_for_answer(1, 0, 0x06, 0xff, 1, ec) || + !write_byte(0x000E, 0x01, ec) || !write_byte(0x7fff, 0x02, ec)) { + logger_.error("The sensor did not boot"); + return false; + } + // enable firmware access + if (!write_byte(0x03, 0x0D, ec) || !write_byte(0x7fff, 0x01, ec) || + !poll_for_answer(1, 0, 0x21, 0x10, 0x10, ec) || !write_byte(0x7fff, 0x00, ec)) { + return false; + } + // enable host access to GO1, power-on status + static constexpr Step kPowerOn[] = { + {0x0C, 0x01}, {0x7fff, 0x00}, {0x101, 0x00}, {0x102, 0x00}, {0x010A, 0x01}, {0x4002, 0x01}, + {0x4002, 0x00}, {0x010A, 0x03}, {0x103, 0x01}, {0x400F, 0x00}, {0x21A, 0x43}, {0x21A, 0x03}, + {0x21A, 0x01}, {0x21A, 0x00}, {0x219, 0x00}, {0x21B, 0x00}}; + if (!run(kPowerOn, std::size(kPowerOn))) { + return false; + } + // wake up the MCU + static constexpr Step kWakeMcu[] = { + {0x7fff, 0x00}, {0x0C, 0x00}, {0x7fff, 0x01}, {0x20, 0x07}, {0x20, 0x06}}; + if (!run(kWakeMcu, std::size(kWakeMcu))) { + return false; + } + + // upload the firmware: three RAM pages (0x7fff selects the page) + const uint8_t *firmware = variant_ == Variant::VL53L7CX ? kFirmwareVl53l7cx : kFirmware; + logger_.info("Uploading the {} firmware ({} bytes)", + variant_ == Variant::VL53L7CX ? "VL53L7CX" : "VL53L5CX", kFirmwareSize); + if (!write_byte(0x7fff, 0x09, ec) || !write_multi(0, firmware, 0x8000, ec) || + !write_byte(0x7fff, 0x0a, ec) || !write_multi(0, firmware + 0x8000, 0x8000, ec) || + !write_byte(0x7fff, 0x0b, ec) || !write_multi(0, firmware + 0x10000, 0x5000, ec) || + !write_byte(0x7fff, 0x01, ec)) { + logger_.error("Firmware upload failed"); + return false; + } + // check the firmware was taken + if (!write_byte(0x7fff, 0x02, ec) || !write_byte(0x03, 0x0D, ec) || + !write_byte(0x7fff, 0x01, ec) || !poll_for_answer(1, 0, 0x21, 0x10, 0x10, ec) || + !write_byte(0x7fff, 0x00, ec) || !write_byte(0x0C, 0x01, ec)) { + logger_.error("The firmware did not start"); + return false; + } + // reset the MCU and wait for it to boot + static constexpr Step kResetMcu[] = {{0x7FFF, 0x00}, {0x114, 0x00}, {0x115, 0x00}, {0x116, 0x42}, + {0x117, 0x00}, {0x0B, 0x00}, {0x0C, 0x00}, {0x0B, 0x01}}; + if (!run(kResetMcu, std::size(kResetMcu)) || !wait_for_mcu_boot(ec) || + !write_byte(0x7fff, 0x02, ec)) { + return false; + } + + // read the NVM (per-unit offset calibration) into the offset buffer: the + // first command to the running firmware, so this is where a firmware image + // for the other part fails + if (!write_multi(0x2fd8, kGetNvmCommand, kGetNvmCommandSize, ec) || + !poll_for_answer(4, 0, UI_CMD_STATUS, 0xff, 2, ec) || + !read_multi(UI_CMD_START, temp_buffer_.data(), NVM_DATA_SIZE, ec)) { + logger_.error("Reading the NVM data failed (a VL53L5CX and a VL53L7CX answer the same ids " + "but need different firmware: check Config::variant)"); + return false; + } + std::memcpy(offset_data_.data(), temp_buffer_.data(), OFFSET_BUFFER_SIZE); + if (!send_offset_data(Resolution::ZONES_4X4, ec)) { + return false; + } + // default crosstalk shape + std::memcpy(xtalk_data_.data(), kDefaultXtalk, XTALK_BUFFER_SIZE); + if (!send_xtalk_data(Resolution::ZONES_4X4, ec)) { + return false; + } + // default configuration + if (!write_multi(0x2c34, kDefaultConfiguration, kDefaultConfigurationSize, ec) || + !poll_for_answer(4, 1, UI_CMD_STATUS, 0xff, 0x03, ec)) { + logger_.error("Sending the default configuration failed"); + return false; + } + const uint8_t pipe_control[4] = {TARGETS_PER_ZONE, 0x00, 0x01, 0x00}; + uint8_t single_range[4]; + store_u32(single_range, 0x01); + if (!dci_write_data(pipe_control, DCI_PIPE_CONTROL, sizeof(pipe_control), ec) || + !dci_write_data(single_range, DCI_SINGLE_RANGE, sizeof(single_range), ec)) { + return false; + } + resolution_ = Resolution::ZONES_4X4; + initialized_ = true; + logger_.info("Initialized (4x4, autonomous, 1 Hz)"); + return true; +} + +bool Vl53l5cx::wait_for_mcu_boot(std::error_code &ec) { + using namespace std::chrono_literals; + for (int attempt = 0; attempt < 500; ++attempt) { + uint8_t go2_status0 = 0; + if (!read_byte(0x06, go2_status0, ec)) { + return false; + } + if (go2_status0 & 0x80) { + uint8_t go2_status1 = 0; + if (!read_byte(0x07, go2_status1, ec)) { + return false; + } + if (go2_status1 != 0) { + logger_.error("The MCU booted with error 0x{:02x} (0x06 = 0x{:02x})", go2_status1, + go2_status0); + ec = std::make_error_code(std::errc::io_error); + return false; + } + return true; + } + if (go2_status0 & 0x01) { + return true; + } + std::this_thread::sleep_for(1ms); + } + logger_.error("The MCU did not boot within 500 ms"); + ec = std::make_error_code(std::errc::timed_out); + return false; +} + +bool Vl53l5cx::send_offset_data(Resolution resolution, std::error_code &ec) { + static constexpr uint8_t kDss4x4[] = {0x0F, 0x04, 0x04, 0x00, 0x08, 0x10, 0x10, 0x07}; + static constexpr uint8_t kFooter[] = {0x00, 0x00, 0x00, 0x0F, 0x03, 0x01, 0x01, 0xE4}; + std::memcpy(temp_buffer_.data(), offset_data_.data(), OFFSET_BUFFER_SIZE); + // the NVM holds 8x8 data: average 2x2 blocks for 4x4 + if (resolution == Resolution::ZONES_4X4) { + std::memcpy(temp_buffer_.data() + 0x10, kDss4x4, sizeof(kDss4x4)); + swap_buffer(temp_buffer_.data(), OFFSET_BUFFER_SIZE); + uint32_t signal_grid[64]; + int16_t range_grid[64]; + std::memcpy(signal_grid, temp_buffer_.data() + 0x3C, sizeof(signal_grid)); + std::memcpy(range_grid, temp_buffer_.data() + 0x140, sizeof(range_grid)); + for (int j = 0; j < 4; j++) { + for (int i = 0; i < 4; i++) { + const int k = (2 * i) + (16 * j); + signal_grid[i + (4 * j)] = + (signal_grid[k] + signal_grid[k + 1] + signal_grid[k + 8] + signal_grid[k + 9]) / 4; + range_grid[i + (4 * j)] = static_cast( + (range_grid[k] + range_grid[k + 1] + range_grid[k + 8] + range_grid[k + 9]) / 4); + } + } + std::memset(&range_grid[0x10], 0, 96); + std::memset(&signal_grid[0x10], 0, 192); + std::memcpy(temp_buffer_.data() + 0x3C, signal_grid, sizeof(signal_grid)); + std::memcpy(temp_buffer_.data() + 0x140, range_grid, sizeof(range_grid)); + swap_buffer(temp_buffer_.data(), OFFSET_BUFFER_SIZE); + } + // drop the 8-byte NVM header: the payload moves down by 8 and the footer + // takes the last 8 bytes (the ULD shifts 4 bytes further, reading past the + // offset buffer into stale data the footer then overwrites) + static_assert(0x1E0 + sizeof(kFooter) == OFFSET_BUFFER_SIZE); + std::memmove(temp_buffer_.data(), temp_buffer_.data() + 8, OFFSET_BUFFER_SIZE - 8); + std::memcpy(temp_buffer_.data() + 0x1E0, kFooter, sizeof(kFooter)); + if (!write_multi(0x2e18, temp_buffer_.data(), OFFSET_BUFFER_SIZE, ec) || + !poll_for_answer(4, 1, UI_CMD_STATUS, 0xff, 0x03, ec)) { + logger_.error("Sending the offset data failed"); + return false; + } + return true; +} + +bool Vl53l5cx::send_xtalk_data(Resolution resolution, std::error_code &ec) { + static constexpr uint8_t kRes4x4[] = {0x0F, 0x04, 0x04, 0x17, 0x08, 0x10, 0x10, 0x07}; + static constexpr uint8_t kDss4x4[] = {0x00, 0x78, 0x00, 0x08, 0x00, 0x00, 0x00, 0x08}; + static constexpr uint8_t kProfile4x4[] = {0xA0, 0xFC, 0x01, 0x00}; + std::memcpy(temp_buffer_.data(), xtalk_data_.data(), XTALK_BUFFER_SIZE); + if (resolution == Resolution::ZONES_4X4) { + std::memcpy(temp_buffer_.data() + 0x8, kRes4x4, sizeof(kRes4x4)); + std::memcpy(temp_buffer_.data() + 0x020, kDss4x4, sizeof(kDss4x4)); + swap_buffer(temp_buffer_.data(), XTALK_BUFFER_SIZE); + uint32_t signal_grid[64]; + std::memcpy(signal_grid, temp_buffer_.data() + 0x34, sizeof(signal_grid)); + for (int j = 0; j < 4; j++) { + for (int i = 0; i < 4; i++) { + const int k = (2 * i) + (16 * j); + signal_grid[i + (4 * j)] = + (signal_grid[k] + signal_grid[k + 1] + signal_grid[k + 8] + signal_grid[k + 9]) / 4; + } + } + std::memset(&signal_grid[0x10], 0, 192); + std::memcpy(temp_buffer_.data() + 0x34, signal_grid, sizeof(signal_grid)); + swap_buffer(temp_buffer_.data(), XTALK_BUFFER_SIZE); + std::memcpy(temp_buffer_.data() + 0x134, kProfile4x4, sizeof(kProfile4x4)); + std::memset(temp_buffer_.data() + 0x078, 0, 4); + } + if (!write_multi(0x2cf8, temp_buffer_.data(), XTALK_BUFFER_SIZE, ec) || + !poll_for_answer(4, 1, UI_CMD_STATUS, 0xff, 0x03, ec)) { + logger_.error("Sending the crosstalk data failed"); + return false; + } + return true; +} + +// --------------------------------------------------------------------------- +// Settings +// --------------------------------------------------------------------------- + +bool Vl53l5cx::refuse_while_ranging(const char *what, std::error_code &ec) { + if (ranging_) { + logger_.error("Cannot change the {} while ranging; stop ranging first", what); + ec = std::make_error_code(std::errc::device_or_resource_busy); + return true; + } + return false; +} + +bool Vl53l5cx::set_i2c_address(uint8_t address, std::error_code &ec) { + std::lock_guard lock(mutex_); + if (address > 0x7f) { + ec = std::make_error_code(std::errc::invalid_argument); + return false; + } + if (!write_byte(0x7fff, 0x00, ec)) { + return false; + } + if (!write_byte(0x0004, address, ec)) { + // the address did not change: go back to the firmware's page on the old + // one (the original error is the one reported) + std::error_code restore_ec; + write_byte(0x7fff, 0x02, restore_ec); + return false; + } + // from here on the sensor only answers on the new address + set_address(address); + return write_byte(0x7fff, 0x02, ec); +} + +Vl53l5cx::PowerMode Vl53l5cx::get_power_mode(std::error_code &ec) { + std::lock_guard lock(mutex_); + uint8_t tmp = 0; + const bool read_ok = write_byte(0x7FFF, 0x00, ec) && read_byte(0x0009, tmp, ec); + // restore the firmware's register page even when the read failed + std::error_code restore_ec; + write_byte(0x7FFF, 0x02, restore_ec); + if (!read_ok) { + return PowerMode::WAKEUP; + } + if (restore_ec) { + ec = restore_ec; + return PowerMode::WAKEUP; + } + PowerMode mode = PowerMode::WAKEUP; + switch (tmp) { + case 0x04: + case 0x05: // awake with the xshut bypass start_ranging() sets + mode = PowerMode::WAKEUP; + break; + case 0x02: + mode = PowerMode::SLEEP; + break; + default: + logger_.error("Unknown power mode register value 0x{:02x}", tmp); + ec = std::make_error_code(std::errc::io_error); + break; + } + return mode; +} + +bool Vl53l5cx::set_power_mode(PowerMode mode, std::error_code &ec) { + std::lock_guard lock(mutex_); + if (refuse_while_ranging("power mode", ec)) { + return false; + } + const PowerMode current = get_power_mode(ec); + if (ec) { + return false; + } + if (current == mode) { + return true; + } + bool ok = write_byte(0x7FFF, 0x00, ec); + if (ok) { + if (mode == PowerMode::WAKEUP) { + ok = write_byte(0x09, 0x04, ec) && poll_for_answer(1, 0, 0x06, 0x01, 1, ec); + } else { + ok = write_byte(0x09, 0x02, ec) && poll_for_answer(1, 0, 0x06, 0x01, 0, ec); + } + } + std::error_code restore_ec; + write_byte(0x7FFF, 0x02, restore_ec); + if (restore_ec && !ec) { + ec = restore_ec; + ok = false; + } + return ok; +} + +bool Vl53l5cx::read_resolution_locked(Resolution &resolution, std::error_code &ec) { + uint8_t zone_config[8]; + if (!dci_read_data(zone_config, DCI_ZONE_CONFIG, sizeof(zone_config), ec)) { + return false; + } + const unsigned zones = static_cast(zone_config[0]) * zone_config[1]; + if (zones == 64) { + resolution = Resolution::ZONES_8X8; + } else if (zones == 16) { + resolution = Resolution::ZONES_4X4; + } else { + logger_.error("Unexpected zone configuration {}x{}", zone_config[0], zone_config[1]); + ec = std::make_error_code(std::errc::io_error); + return false; + } + resolution_ = resolution; + return true; +} + +Vl53l5cx::Resolution Vl53l5cx::get_resolution(std::error_code &ec) { + std::lock_guard lock(mutex_); + Resolution resolution = Resolution::ZONES_4X4; + read_resolution_locked(resolution, ec); + return resolution; +} + +bool Vl53l5cx::set_resolution(Resolution resolution, std::error_code &ec) { + std::lock_guard lock(mutex_); + if (refuse_while_ranging("resolution", ec)) { + return false; + } + uint8_t dss[16]; + uint8_t zone[8]; + if (!dci_read_data(dss, DCI_DSS_CONFIG, sizeof(dss), ec)) { + return false; + } + switch (resolution) { + case Resolution::ZONES_4X4: + dss[0x04] = 64; + dss[0x06] = 64; + dss[0x09] = 4; + break; + case Resolution::ZONES_8X8: + dss[0x04] = 16; + dss[0x06] = 16; + dss[0x09] = 1; + break; + default: + ec = std::make_error_code(std::errc::invalid_argument); + return false; + } + if (!dci_write_data(dss, DCI_DSS_CONFIG, sizeof(dss), ec) || + !dci_read_data(zone, DCI_ZONE_CONFIG, sizeof(zone), ec)) { + return false; + } + if (resolution == Resolution::ZONES_4X4) { + zone[0x00] = 4; + zone[0x01] = 4; + zone[0x04] = 8; + zone[0x05] = 8; + } else { + zone[0x00] = 8; + zone[0x01] = 8; + zone[0x04] = 4; + zone[0x05] = 4; + } + if (!dci_write_data(zone, DCI_ZONE_CONFIG, sizeof(zone), ec) || + !send_offset_data(resolution, ec) || !send_xtalk_data(resolution, ec)) { + return false; + } + resolution_ = resolution; + if (motion_enabled_) { + motion_set_resolution(resolution); + if (!write_motion_configuration(ec)) { + return false; + } + } + logger_.info("Resolution set to {}", resolution == Resolution::ZONES_8X8 ? "8x8" : "4x4"); + return true; +} + +uint8_t Vl53l5cx::get_ranging_frequency_hz(std::error_code &ec) { + std::lock_guard lock(mutex_); + uint8_t data[4]; + if (!dci_read_data(data, DCI_FREQ_HZ, sizeof(data), ec)) { + return 0; + } + return data[0x01]; +} + +bool Vl53l5cx::set_ranging_frequency_hz(uint8_t frequency_hz, std::error_code &ec) { + std::lock_guard lock(mutex_); + if (refuse_while_ranging("ranging frequency", ec)) { + return false; + } + Resolution resolution = resolution_; + if (!read_resolution_locked(resolution, ec)) { + return false; + } + const uint8_t max_hz = resolution == Resolution::ZONES_8X8 ? 15 : 60; + if (frequency_hz < 1 || frequency_hz > max_hz) { + logger_.error("Ranging frequency {} Hz is outside 1..{} Hz for {}", frequency_hz, max_hz, + resolution == Resolution::ZONES_8X8 ? "8x8" : "4x4"); + ec = std::make_error_code(std::errc::invalid_argument); + return false; + } + return dci_replace_data(DCI_FREQ_HZ, 4, &frequency_hz, 1, 0x01, ec); +} + +uint32_t Vl53l5cx::get_integration_time_ms(std::error_code &ec) { + std::lock_guard lock(mutex_); + uint8_t data[20]; + if (!dci_read_data(data, DCI_INT_TIME, sizeof(data), ec)) { + return 0; + } + return load_u32(data) / 1000; +} + +bool Vl53l5cx::set_integration_time_ms(uint32_t time_ms, std::error_code &ec) { + std::lock_guard lock(mutex_); + if (refuse_while_ranging("integration time", ec)) { + return false; + } + if (time_ms < 2 || time_ms > 1000) { + logger_.error("Integration time {} ms is outside 2..1000 ms", time_ms); + ec = std::make_error_code(std::errc::invalid_argument); + return false; + } + uint8_t value[4]; + store_u32(value, time_ms * 1000); + return dci_replace_data(DCI_INT_TIME, 20, value, sizeof(value), 0x00, ec); +} + +uint8_t Vl53l5cx::get_sharpener_percent(std::error_code &ec) { + std::lock_guard lock(mutex_); + uint8_t data[16]; + if (!dci_read_data(data, DCI_SHARPENER, sizeof(data), ec)) { + return 0; + } + return static_cast((static_cast(data[0xD]) * 100) / 255); +} + +bool Vl53l5cx::set_sharpener_percent(uint8_t percent, std::error_code &ec) { + std::lock_guard lock(mutex_); + if (refuse_while_ranging("sharpener", ec)) { + return false; + } + if (percent >= 100) { + logger_.error("Sharpener {} % is outside 0..99 %", percent); + ec = std::make_error_code(std::errc::invalid_argument); + return false; + } + const uint8_t sharpener = static_cast((static_cast(percent) * 255) / 100); + return dci_replace_data(DCI_SHARPENER, 16, &sharpener, 1, 0xD, ec); +} + +Vl53l5cx::TargetOrder Vl53l5cx::get_target_order(std::error_code &ec) { + std::lock_guard lock(mutex_); + uint8_t data[4]; + if (!dci_read_data(data, DCI_TARGET_ORDER, sizeof(data), ec)) { + return TargetOrder::STRONGEST; + } + return data[0] == static_cast(TargetOrder::CLOSEST) ? TargetOrder::CLOSEST + : TargetOrder::STRONGEST; +} + +bool Vl53l5cx::set_target_order(TargetOrder order, std::error_code &ec) { + std::lock_guard lock(mutex_); + if (refuse_while_ranging("target order", ec)) { + return false; + } + if (order != TargetOrder::CLOSEST && order != TargetOrder::STRONGEST) { + ec = std::make_error_code(std::errc::invalid_argument); + return false; + } + const uint8_t value = static_cast(order); + return dci_replace_data(DCI_TARGET_ORDER, 4, &value, 1, 0x0, ec); +} + +Vl53l5cx::RangingMode Vl53l5cx::get_ranging_mode(std::error_code &ec) { + std::lock_guard lock(mutex_); + uint8_t data[8]; + if (!dci_read_data(data, DCI_RANGING_MODE, sizeof(data), ec)) { + return RangingMode::AUTONOMOUS; + } + return data[0x01] == 0x1 ? RangingMode::CONTINUOUS : RangingMode::AUTONOMOUS; +} + +bool Vl53l5cx::set_ranging_mode(RangingMode mode, std::error_code &ec) { + std::lock_guard lock(mutex_); + if (refuse_while_ranging("ranging mode", ec)) { + return false; + } + uint8_t data[8]; + if (!dci_read_data(data, DCI_RANGING_MODE, sizeof(data), ec)) { + return false; + } + uint8_t single_range[4]; + switch (mode) { + case RangingMode::CONTINUOUS: + data[0x01] = 0x1; + data[0x03] = 0x3; + store_u32(single_range, 0x00); + break; + case RangingMode::AUTONOMOUS: + data[0x01] = 0x3; + data[0x03] = 0x2; + store_u32(single_range, 0x01); + break; + default: + ec = std::make_error_code(std::errc::invalid_argument); + return false; + } + return dci_write_data(data, DCI_RANGING_MODE, sizeof(data), ec) && + dci_write_data(single_range, DCI_SINGLE_RANGE, sizeof(single_range), ec); +} + +// --------------------------------------------------------------------------- +// Motion indicator (ULD plugin) +// --------------------------------------------------------------------------- + +void Vl53l5cx::motion_set_resolution(Resolution resolution) { + if (resolution == Resolution::ZONES_4X4) { + for (int i = 0; i < 16; i++) { + motion_config_.map_id[i] = static_cast(i); + } + std::memset(motion_config_.map_id + 16, -1, 48); + } else { + // 8x8 zones are aggregated 2x2 into the 16 motion aggregates + for (int i = 0; i < 64; i++) { + motion_config_.map_id[i] = static_cast(((i % 8) / 2) + (4 * (i / 16))); + } + } +} + +bool Vl53l5cx::write_motion_configuration(std::error_code &ec) { + uint8_t buffer[sizeof(MotionConfiguration)]; + std::memcpy(buffer, &motion_config_, sizeof(buffer)); + return dci_write_data(buffer, DCI_MOTION_DETECTOR_CFG, sizeof(buffer), ec); +} + +bool Vl53l5cx::enable_motion_indicator(uint16_t distance_min_mm, uint16_t distance_max_mm, + std::error_code &ec) { + std::lock_guard lock(mutex_); + if (refuse_while_ranging("motion indicator", ec)) { + return false; + } + if (distance_min_mm < 400 || distance_max_mm > 4000 || distance_max_mm < distance_min_mm || + (distance_max_mm - distance_min_mm) > 1500) { + logger_.error("Motion window {}..{} mm must lie in 400..4000 mm and span at most 1500 mm", + distance_min_mm, distance_max_mm); + ec = std::make_error_code(std::errc::invalid_argument); + return false; + } + // the ULD's vl53l5cx_motion_indicator_init() defaults ... + std::memset(&motion_config_, 0, sizeof(motion_config_)); + motion_config_.ref_bin_offset = 13633; + motion_config_.detection_threshold = 2883584; + motion_config_.mem_update_mode = 6; + motion_config_.mem_update_choice = 2; + motion_config_.sum_span = 4; + motion_config_.feature_length = 9; + motion_config_.nb_of_aggregates = 16; + motion_config_.nb_of_temporal_accumulations = 16; + motion_config_.min_nb_for_global_detection = 1; + motion_config_.global_indicator_format_1 = 8; + motion_set_resolution(resolution_); + // ... then vl53l5cx_motion_indicator_set_distance_motion() + float tmp = ((static_cast(distance_min_mm) / 37.5348f) - 4.0f) * 2048.5f; + motion_config_.ref_bin_offset = static_cast(tmp); + tmp = + (((static_cast(distance_max_mm - distance_min_mm) / 10.0f) + 30.02784f) / 15.01392f) + + 0.5f; + motion_config_.feature_length = static_cast(tmp); + if (!write_motion_configuration(ec)) { + return false; + } + motion_enabled_ = true; + return true; +} + +// --------------------------------------------------------------------------- +// Ranging +// --------------------------------------------------------------------------- + +bool Vl53l5cx::start_ranging(std::error_code &ec) { + std::lock_guard lock(mutex_); + Resolution resolution = resolution_; + if (!read_resolution_locked(resolution, ec)) { + return false; + } + const uint32_t zones = static_cast(resolution); + data_read_size_ = 0; + stream_count_ = 255; + + // every output block is enabled (bit i of the first word enables output[i]): + // the mandatory start / metadata / common data plus the nine result blocks + uint32_t output_bh_enable[4] = {0x00000007 | 8 | 16 | 32 | 64 | 128 | 256 | 512 | 1024 | 2048, + 0x00000000, 0x00000000, 0xC0000000}; + uint32_t output[12] = {START_BH, METADATA_BH, COMMONDATA_BH, AMBIENT_RATE_BH, + SPAD_COUNT_BH, NB_TARGET_DETECTED_BH, SIGNAL_RATE_BH, RANGE_SIGMA_MM_BH, + DISTANCE_BH, REFLECTANCE_BH, TARGET_STATUS_BH, MOTION_DETECT_BH}; + // size the blocks for the resolution and add up the frame size + uint32_t i = 0; + for (; i < std::size(output); i++) { + if (output[i] == 0 || (output_bh_enable[i / 32] & (1u << (i % 32))) == 0) { + continue; + } + const uint32_t type = output[i] & 0xF; + uint32_t size = (output[i] >> 4) & 0xFFF; + const uint32_t idx = output[i] >> 16; + if (type >= 0x1 && type < 0x0d) { + if (idx >= 0x54d0 && idx < 0x54d0 + 960) { + size = zones; + } else { + size = zones * TARGETS_PER_ZONE; + } + output[i] = (output[i] & 0xFFFF000F) | (size << 4); + data_read_size_ += type * size; + } else { + data_read_size_ += size; + } + data_read_size_ += 4; + } + data_read_size_ += 20; + if (data_read_size_ > TEMP_BUFFER_SIZE) { + logger_.error("Frame size {} exceeds the buffer ({})", data_read_size_, TEMP_BUFFER_SIZE); + ec = std::make_error_code(std::errc::no_buffer_space); + return false; + } + uint8_t output_bytes[sizeof(output)]; + std::memcpy(output_bytes, output, sizeof(output)); + // the ULD reports the output list length as (loop index after the list) + 1, + // i.e. 13 for the 12 entries; the firmware expects that value, keep it + uint8_t header_config[8]; + store_u32(header_config, data_read_size_); + store_u32(header_config + 4, i + 1); + uint8_t enable_bytes[sizeof(output_bh_enable)]; + std::memcpy(enable_bytes, output_bh_enable, sizeof(enable_bytes)); + if (!dci_write_data(output_bytes, DCI_OUTPUT_LIST, sizeof(output_bytes), ec) || + !dci_write_data(header_config, DCI_OUTPUT_CONFIG, sizeof(header_config), ec) || + !dci_write_data(enable_bytes, DCI_OUTPUT_ENABLES, sizeof(enable_bytes), ec)) { + return false; + } + // xshut bypass (interrupt mode): page 0, then back to the firmware's page + // even if the bypass write failed, so a retry starts on the right page + const bool page0 = write_byte(0x7fff, 0x00, ec); + const bool bypass = page0 && write_byte(0x09, 0x05, ec); + std::error_code restore_ec; + const bool restored = page0 && write_byte(0x7fff, 0x02, restore_ec); + if (!bypass) { + logger_.error("Starting ranging failed (xshut bypass)"); + return false; + } + if (!restored) { + ec = restore_ec; + return false; + } + // the start command + static constexpr uint8_t kStart[] = {0x00, 0x03, 0x00, 0x00}; + if (!write_multi(UI_CMD_END - (sizeof(kStart) - 1), kStart, sizeof(kStart), ec) || + !poll_for_answer(4, 1, UI_CMD_STATUS, 0xff, 0x03, ec)) { + logger_.error("Starting ranging failed"); + return false; + } + ranging_ = true; + logger_.info("Ranging started ({} zones, {} byte frames)", zones, data_read_size_); + return true; +} + +bool Vl53l5cx::stop_ranging(std::error_code &ec) { + using namespace std::chrono_literals; + std::lock_guard lock(mutex_); + uint8_t flag_bytes[4]; + if (!read_multi(0x2FFC, flag_bytes, sizeof(flag_bytes), ec)) { + return false; + } + bool ok = true; + if (load_u32(flag_bytes) != 0x4FF) { + // the MCU is still ranging: provoke a stop and wait for it + ok = write_byte(0x7fff, 0x00, ec) && write_byte(0x15, 0x16, ec) && write_byte(0x14, 0x01, ec); + uint8_t tmp = 0; + for (int attempt = 0; ok && (tmp & 0x80) == 0; ++attempt) { + if (attempt > 500) { // 5 s + logger_.error("The MCU did not stop ranging"); + ec = std::make_error_code(std::errc::timed_out); + ok = false; + break; + } + ok = read_byte(0x6, tmp, ec); + std::this_thread::sleep_for(10ms); + } + } + // undo the MCU stop and the xshut bypass whatever happened above, and go + // back to the firmware's register page even if that cleanup failed (the + // first error is the one reported) + std::error_code cleanup_ec; + const bool page0 = write_byte(0x7fff, 0x00, cleanup_ec); + const bool cleaned = page0 && write_byte(0x14, 0x00, cleanup_ec) && + write_byte(0x15, 0x00, cleanup_ec) && write_byte(0x09, 0x04, cleanup_ec); + std::error_code page_ec; + const bool paged = page0 && write_byte(0x7fff, 0x02, page_ec); + if ((!cleaned || !paged) && ok) { + ec = cleanup_ec ? cleanup_ec : page_ec; + ok = false; + } + // only a confirmed stop (and cleanup) releases the while-ranging guards of + // the setters: the sensor may still be active otherwise + if (ok) { + ranging_ = false; + } + return ok; +} + +bool Vl53l5cx::is_data_ready(std::error_code &ec) { + std::lock_guard lock(mutex_); + uint8_t header[4]; + if (!read_multi(0x0, header, sizeof(header), ec)) { + return false; + } + // a new stream count with the "ranging / data valid" flags set; 255 is the + // "no frame yet" value the ULD excludes as well (stream_count_ starts there) + if (header[0] != stream_count_ && header[0] != 255 && header[1] == 0x5 && + (header[2] & 0x5) == 0x5 && (header[3] & 0x10) == 0x10) { + stream_count_ = header[0]; + return true; + } + return false; +} + +bool Vl53l5cx::get_ranging_data(RangingData &data, std::error_code &ec) { + std::lock_guard lock(mutex_); + if (!ranging_ || data_read_size_ == 0) { + logger_.error("Not ranging"); + ec = std::make_error_code(std::errc::operation_not_permitted); + return false; + } + if (!read_multi(0x0, temp_buffer_.data(), data_read_size_, ec)) { + return false; + } + stream_count_ = temp_buffer_[0]; + swap_buffer(temp_buffer_.data(), data_read_size_); + data.resolution = resolution_; + + // walk the block headers (after the 16-byte frame header): type (4 bits), + // size (12 bits), index (16 bits), then the block's data + auto copy_block = [&](void *dst, size_t dst_size, size_t offset, size_t msize) { + const size_t n = std::min(msize, dst_size); + if (offset + n <= data_read_size_) { + std::memcpy(dst, temp_buffer_.data() + offset, n); + } + }; + for (size_t i = 16; i + 4 <= data_read_size_; i += 4) { + const uint32_t bh = load_u32(temp_buffer_.data() + i); + const uint32_t type = bh & 0xF; + const uint32_t size = (bh >> 4) & 0xFFF; + const uint16_t idx = static_cast(bh >> 16); + const size_t msize = (type > 0x1 && type < 0xd) ? type * size : size; + const size_t payload = i + 4; + switch (idx) { + case AMBIENT_RATE_IDX: + copy_block(data.ambient_per_spad_kcps.data(), sizeof(data.ambient_per_spad_kcps), payload, + msize); + break; + case SPAD_COUNT_IDX: + copy_block(data.nb_spads_enabled.data(), sizeof(data.nb_spads_enabled), payload, msize); + break; + case NB_TARGET_DETECTED_IDX: + copy_block(data.nb_target_detected.data(), sizeof(data.nb_target_detected), payload, msize); + break; + case SIGNAL_RATE_IDX: + copy_block(data.signal_per_spad_kcps.data(), sizeof(data.signal_per_spad_kcps), payload, + msize); + break; + case RANGE_SIGMA_MM_IDX: + copy_block(data.range_sigma_mm.data(), sizeof(data.range_sigma_mm), payload, msize); + break; + case DISTANCE_IDX: + copy_block(data.distance_mm.data(), sizeof(data.distance_mm), payload, msize); + break; + case REFLECTANCE_EST_PC_IDX: + copy_block(data.reflectance_percent.data(), sizeof(data.reflectance_percent), payload, msize); + break; + case TARGET_STATUS_IDX: + copy_block(data.target_status.data(), sizeof(data.target_status), payload, msize); + break; + case MOTION_DETEC_IDX: + copy_block(&data.motion_indicator, sizeof(data.motion_indicator), payload, msize); + break; + default: + break; + } + i += msize; + } + + // convert the firmware's fixed-point formats + for (size_t z = 0; z < MAX_ZONES; z++) { + data.ambient_per_spad_kcps[z] /= 2048; + data.distance_mm[z] = static_cast(std::max(data.distance_mm[z] / 4, 0)); + data.range_sigma_mm[z] /= 128; + data.signal_per_spad_kcps[z] /= 2048; + if (data.nb_target_detected[z] == 0) { + data.target_status[z] = static_cast(TargetStatus::NO_TARGET); + } + } + auto &motion = data.motion_indicator.motion; + std::transform(motion.begin(), motion.end(), motion.begin(), + [](uint32_t m) { return m / 65535; }); + return true; +} diff --git a/components/vl53l/src/vl53l5cx_firmware.cpp b/components/vl53l/src/vl53l5cx_firmware.cpp new file mode 100644 index 0000000000..df9da4401f --- /dev/null +++ b/components/vl53l/src/vl53l5cx_firmware.cpp @@ -0,0 +1,5547 @@ +/* + * The data in this file is the STMicroelectronics VL53L5CX firmware and default + * configuration shipped with the VL53L5CX Ultra Lite Driver (ULD, API revision + * VL53L5CX_1.1.2; taken from https://github.com/stm32duino/VL53L5CX v1.2.3, + * src/vl53l5cx_buffers.h). It is redistributed under its original license: + * + * Copyright (c) 2021 STMicroelectronics + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * 3. Neither the name of STMicroelectronics nor the names of its contributors + * may be used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +// Generated from the ULD buffers; one target per zone (the only layout this +// driver supports), so the default configuration's "number of targets the +// firmware ranges" byte is 2 as in the ULD. +// +// clang-format off +#include "vl53l5cx_firmware.hpp" + +namespace espp::vl53l5cx_detail { + +/// The VL53L5CX firmware (MM1.1), uploaded into the sensor's RAM at every boot. +const uint8_t kFirmware[86016] = { + 0xe0, 0x04, 0x07, 0x68, 0xe0, 0x04, 0x0f, 0x28, 0xe0, 0x04, 0x09, 0x68, 0xe0, 0x64, 0x17, 0x68, + 0xe0, 0x04, 0x0e, 0xe8, 0xe0, 0x04, 0x0e, 0xe8, 0xe0, 0x04, 0x0e, 0xe8, 0xe0, 0x04, 0x0e, 0xe8, + 0xe0, 0x64, 0x39, 0xa8, 0xe0, 0x64, 0x3d, 0x68, 0xe0, 0x68, 0x00, 0x68, 0xe0, 0x68, 0x06, 0xa8, + 0xe0, 0x68, 0x0f, 0x88, 0xe0, 0x68, 0x22, 0x88, 0xe0, 0x68, 0x26, 0x68, 0xe0, 0x68, 0x29, 0xe8, + 0xe0, 0x68, 0x30, 0xc8, 0xe0, 0x68, 0x33, 0xe8, 0xe0, 0x04, 0x0e, 0x48, 0xe0, 0x04, 0x0e, 0x28, + 0xe0, 0x04, 0x0e, 0x08, 0xe0, 0x04, 0x0d, 0xe8, 0xe0, 0x04, 0x0d, 0xc8, 0xe0, 0x04, 0x0d, 0xa8, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, +}; + +/// The default configuration sent to the firmware after the upload. +const uint8_t kDefaultConfiguration[972] = { + 0x54, 0x50, 0x00, 0x80, 0x00, 0x04, 0x04, 0x04, 0x00, 0x00, 0x08, 0x08, 0xad, 0x30, 0x00, 0x80, + 0x02, 0x01, 0x03, 0x03, 0x00, 0x00, 0x03, 0x00, 0xad, 0x38, 0x01, 0x00, 0x01, 0xe0, 0x01, 0x40, + 0x00, 0x40, 0x00, 0x40, 0x01, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x01, 0x54, 0x58, 0x00, 0x40, + 0x04, 0x1a, 0x01, 0x00, 0x54, 0x5c, 0x01, 0x40, 0x00, 0x00, 0x27, 0x10, 0x00, 0x00, 0x0f, 0xa0, + 0x0f, 0xa0, 0x03, 0xe8, 0x02, 0x80, 0x1f, 0x40, 0x00, 0x00, 0x05, 0x00, 0x54, 0x70, 0x00, 0x80, + 0x03, 0x20, 0x03, 0x20, 0x00, 0x00, 0x00, 0x08, 0x54, 0x78, 0x01, 0x00, 0x01, 0x13, 0x00, 0x29, + 0x00, 0x33, 0x00, 0x00, 0x02, 0x00, 0x00, 0x01, 0x04, 0x01, 0x08, 0x02, 0x54, 0x88, 0x01, 0x40, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x0c, 0x00, 0xad, 0x48, 0x01, 0x00, 0x01, 0xf4, 0x00, 0x00, 0x03, 0x06, 0x00, 0x10, + 0x08, 0x07, 0x08, 0x07, 0x00, 0x00, 0x00, 0x08, 0xad, 0x60, 0x01, 0x00, 0x00, 0x00, 0x00, 0x80, + 0x00, 0x00, 0x00, 0x00, 0x20, 0x1f, 0x01, 0xf4, 0x00, 0x00, 0x1d, 0x0a, 0xad, 0x70, 0x00, 0x80, + 0x08, 0x00, 0x1f, 0x40, 0x00, 0x00, 0x00, 0x01, 0xad, 0x78, 0x00, 0x80, 0x00, 0xa0, 0x03, 0x20, + 0x00, 0x01, 0x01, 0x90, 0xad, 0x80, 0x00, 0x40, 0x00, 0x00, 0x28, 0x00, 0xad, 0x84, 0x00, 0x80, + 0x00, 0x00, 0x32, 0x00, 0x03, 0x20, 0x00, 0x00, 0xad, 0x8c, 0x00, 0x80, 0x02, 0x58, 0xff, 0x38, + 0x00, 0x00, 0x00, 0x0c, 0xad, 0x94, 0x01, 0x00, 0x00, 0x01, 0x90, 0x00, 0xff, 0xff, 0xfc, 0x00, + 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x01, 0xad, 0xa4, 0x00, 0xc0, 0x04, 0x80, 0x06, 0x1a, + 0x00, 0x40, 0x05, 0x80, 0x00, 0x00, 0x01, 0x06, 0xad, 0xb0, 0x00, 0xc0, 0x04, 0x80, 0x06, 0x1a, + 0x19, 0x00, 0x05, 0x80, 0x00, 0x00, 0x01, 0x90, 0xad, 0xbc, 0x04, 0x40, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0x00, 0x25, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x05, + 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x0f, + 0x00, 0x00, 0x00, 0x5a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x09, 0x0b, 0x0c, 0x0b, 0x0b, + 0x03, 0x03, 0x11, 0x05, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0d, 0x00, 0x00, + 0xae, 0x00, 0x01, 0x04, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x0a, + 0x00, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x0d, 0x00, 0x00, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x08, + 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x20, + 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x05, 0x0a, 0x02, 0x00, 0x0c, 0x08, + 0x00, 0x00, 0x00, 0x00, 0xae, 0x40, 0x00, 0x40, 0x00, 0x00, 0x01, 0xff, 0xae, 0x44, 0x00, 0x40, + 0x00, 0x10, 0x04, 0x01, 0xae, 0x48, 0x00, 0x40, 0x00, 0x00, 0x10, 0x00, 0xae, 0x4c, 0x00, 0x40, + 0x00, 0x00, 0x00, 0x01, 0xae, 0x50, 0x01, 0x40, 0x00, 0x00, 0x00, 0x14, 0x04, 0x00, 0x28, 0x00, + 0x03, 0x20, 0x6c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x25, 0x80, 0xae, 0x64, 0x00, 0x40, + 0x00, 0x00, 0x00, 0x02, 0xae, 0xd8, 0x01, 0x00, 0x00, 0xc8, 0x05, 0xdc, 0x00, 0x00, 0x0c, 0xcd, + 0x01, 0x04, 0x00, 0x00, 0x00, 0x00, 0x26, 0x01, 0xb5, 0x50, 0x02, 0x82, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xb5, 0xa0, 0x02, 0x82, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xb5, 0xf0, 0x00, 0x40, 0x00, 0xff, 0x00, 0x00, 0xb3, 0x9c, 0x01, 0x00, 0x40, 0x00, 0x05, 0x1e, + 0x02, 0x1b, 0x08, 0x7c, 0x80, 0x01, 0x12, 0x01, 0x00, 0x00, 0x08, 0x00, 0xb6, 0xc0, 0x00, 0xc0, + 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0xae, 0xa8, 0x00, 0x40, + 0x00, 0x00, 0x04, 0x05, 0xae, 0xac, 0x00, 0x80, 0x01, 0x00, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, + 0xae, 0xb4, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0xae, 0xb8, 0x00, 0x81, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0xae, 0xc0, 0x00, 0x81, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xae, 0xc8, 0x00, 0x81, 0x08, 0x01, 0x01, 0x08, 0x00, 0x00, 0x00, 0x08, 0xae, 0xd0, 0x00, 0x81, + 0x01, 0x08, 0x08, 0x08, 0x00, 0x00, 0x00, 0x01, 0xb5, 0xf4, 0x00, 0x80, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0xb5, 0xfc, 0x00, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xb6, 0x04, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0xb6, 0x08, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xb6, 0x18, 0x00, 0x44, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xb6, 0x28, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0xb6, 0x38, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xb6, 0x48, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xb6, 0x58, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xb6, 0x68, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0x00, 0x01, 0x03, 0xc8, +}; + +/// The default crosstalk (Xtalk) shape. +const uint8_t kDefaultXtalk[776] = { + 0x9f, 0xd8, 0x00, 0xc0, 0x03, 0x20, 0x09, 0x60, 0x0b, 0x08, 0x08, 0x17, 0x08, 0x08, 0x08, 0x03, + 0x9f, 0xe4, 0x01, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0xe0, 0x00, 0x20, 0x00, 0x00, 0x00, 0x20, 0x9f, 0xf8, 0x00, 0x40, 0x17, 0x17, 0x17, 0x17, + 0x9f, 0xfc, 0x04, 0x04, 0x00, 0x00, 0x46, 0xa4, 0x00, 0x00, 0x37, 0x66, 0x00, 0x00, 0x26, 0x60, + 0x00, 0x00, 0x1c, 0xbc, 0x00, 0x00, 0x17, 0x73, 0x00, 0x00, 0x11, 0x25, 0x00, 0x00, 0x11, 0x07, + 0x00, 0x00, 0x0e, 0x63, 0x00, 0x00, 0x8b, 0x4c, 0x00, 0x00, 0x60, 0xa2, 0x00, 0x00, 0x3d, 0xc0, + 0x00, 0x00, 0x26, 0xaa, 0x00, 0x00, 0x1b, 0xc2, 0x00, 0x00, 0x18, 0x04, 0x00, 0x00, 0x14, 0x97, + 0x00, 0x00, 0x10, 0xed, 0x00, 0x01, 0x28, 0x1b, 0x00, 0x00, 0x93, 0xf0, 0x00, 0x00, 0x57, 0x61, + 0x00, 0x00, 0x30, 0x2b, 0x00, 0x00, 0x20, 0xaa, 0x00, 0x00, 0x1a, 0xb6, 0x00, 0x00, 0x15, 0xc3, + 0x00, 0x00, 0x16, 0x0e, 0x00, 0x01, 0x7f, 0xbb, 0x00, 0x00, 0xad, 0x58, 0x00, 0x00, 0x71, 0xaf, + 0x00, 0x00, 0x36, 0xd9, 0x00, 0x00, 0x22, 0xfb, 0x00, 0x00, 0x1c, 0x96, 0x00, 0x00, 0x18, 0x83, + 0x00, 0x00, 0x17, 0x96, 0x00, 0x01, 0x90, 0x00, 0x00, 0x00, 0x97, 0xd6, 0x00, 0x00, 0x66, 0x3b, + 0x00, 0x00, 0x33, 0x0a, 0x00, 0x00, 0x20, 0xcd, 0x00, 0x00, 0x19, 0x38, 0x00, 0x00, 0x16, 0xa5, + 0x00, 0x00, 0x14, 0xbb, 0x00, 0x00, 0xaf, 0xcf, 0x00, 0x00, 0x65, 0x7d, 0x00, 0x00, 0x3d, 0x93, + 0x00, 0x00, 0x29, 0xd1, 0x00, 0x00, 0x19, 0x4e, 0x00, 0x00, 0x15, 0xba, 0x00, 0x00, 0x11, 0xc6, + 0x00, 0x00, 0x12, 0x7f, 0x00, 0x00, 0x73, 0x1d, 0x00, 0x00, 0x42, 0x2c, 0x00, 0x00, 0x2e, 0x82, + 0x00, 0x00, 0x1e, 0x80, 0x00, 0x00, 0x18, 0x1c, 0x00, 0x00, 0x13, 0x2d, 0x00, 0x00, 0x0f, 0xc6, + 0x00, 0x00, 0x0f, 0x85, 0x00, 0x00, 0x4f, 0x04, 0x00, 0x00, 0x33, 0xe9, 0x00, 0x00, 0x1f, 0x06, + 0x00, 0x00, 0x18, 0x40, 0x00, 0x00, 0x13, 0x2c, 0x00, 0x00, 0x12, 0x97, 0x00, 0x00, 0x0e, 0x01, + 0x00, 0x00, 0x0d, 0xac, 0xa0, 0xfc, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xa1, 0x0c, 0x01, 0x00, 0x00, 0x00, 0x00, 0x80, + 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xa1, 0x1c, 0x00, 0xc0, + 0x00, 0x00, 0x70, 0xeb, 0x0c, 0x80, 0x01, 0xe0, 0x00, 0x00, 0x00, 0x26, 0xa1, 0x28, 0x09, 0x02, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, + 0x00, 0x36, 0x00, 0x03, 0x01, 0xd9, 0x01, 0x43, 0x02, 0x33, 0x02, 0x17, 0x02, 0x4b, 0x02, 0x41, + 0x01, 0x17, 0x02, 0x22, 0x00, 0x27, 0x00, 0x5d, 0x00, 0x05, 0x00, 0x11, 0x00, 0x00, 0x00, 0x01, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xa2, 0x48, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0xa2, 0x4c, 0x00, 0x81, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0xa2, 0x54, 0x00, 0x81, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xa2, 0x5c, 0x00, 0x81, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xa2, 0x64, 0x00, 0x81, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xa2, 0x6c, 0x00, 0x84, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xa2, 0x8c, 0x00, 0x82, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x0f, 0x05, 0x01, 0x03, 0x04, +}; + +/// The command that makes the firmware expose its NVM (offset) data. +const uint8_t kGetNvmCommand[40] = { + 0x54, 0x00, 0x00, 0x40, 0x9e, 0x14, 0x00, 0xc0, 0x9e, 0x20, 0x01, 0x40, 0x9e, 0x34, 0x00, 0x40, + 0x9e, 0x38, 0x04, 0x04, 0x9f, 0x38, 0x04, 0x02, 0x9f, 0xb8, 0x01, 0x00, 0x9f, 0xc8, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x0f, 0x02, 0x02, 0x00, 0x24, +}; + +} // namespace espp::vl53l5cx_detail +// clang-format on diff --git a/components/vl53l/src/vl53l5cx_firmware.hpp b/components/vl53l/src/vl53l5cx_firmware.hpp new file mode 100644 index 0000000000..f6c736e335 --- /dev/null +++ b/components/vl53l/src/vl53l5cx_firmware.hpp @@ -0,0 +1,49 @@ +/* + * The data in this file is the STMicroelectronics VL53L5CX firmware and default + * configuration shipped with the VL53L5CX Ultra Lite Driver (ULD, API revision + * VL53L5CX_1.1.2; taken from https://github.com/stm32duino/VL53L5CX v1.2.3, + * src/vl53l5cx_buffers.h). It is redistributed under its original license: + * + * Copyright (c) 2021 STMicroelectronics + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * 3. Neither the name of STMicroelectronics nor the names of its contributors + * may be used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#pragma once + +#include +#include + +/// Private to the vl53l component: the VL53L5CX firmware image and the default +/// configuration / crosstalk buffers the driver uploads at initialization. +namespace espp::vl53l5cx_detail { +inline constexpr size_t kFirmwareSize = 86016; +inline constexpr size_t kDefaultConfigurationSize = 972; +inline constexpr size_t kDefaultXtalkSize = 776; +inline constexpr size_t kGetNvmCommandSize = 40; +extern const uint8_t kFirmware[kFirmwareSize]; ///< VL53L5CX (63 deg FoV) +extern const uint8_t kFirmwareVl53l7cx[kFirmwareSize]; ///< VL53L7CX (90 deg FoV), same size +extern const uint8_t kDefaultConfiguration[kDefaultConfigurationSize]; +extern const uint8_t kDefaultXtalk[kDefaultXtalkSize]; +extern const uint8_t kGetNvmCommand[kGetNvmCommandSize]; +} // namespace espp::vl53l5cx_detail diff --git a/components/vl53l/src/vl53l7cx_firmware.cpp b/components/vl53l/src/vl53l7cx_firmware.cpp new file mode 100644 index 0000000000..d2637e610d --- /dev/null +++ b/components/vl53l/src/vl53l7cx_firmware.cpp @@ -0,0 +1,5423 @@ +/* + * The data in this file is the STMicroelectronics VL53L7CX firmware shipped with the + * VL53L7CX Ultra Lite Driver (ULD, API revision VL53L7CX_1.2.3; taken from + * https://github.com/stm32duino/VL53L7CX, src/vl53l7cx_buffers.h). It is redistributed under its + * original license: + * + * Copyright (c) 2021 STMicroelectronics + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * 3. Neither the name of STMicroelectronics nor the names of its contributors + * may be used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +// The VL53L7CX (90 deg field of view) is the same silicon, command interface, +// default configuration and crosstalk shape as the VL53L5CX and answers the +// same device / revision ids; only its firmware image differs, so the driver +// selects between the two images by Config::variant. +// +// clang-format off +#include "vl53l5cx_firmware.hpp" + +namespace espp::vl53l5cx_detail { + +/// The VL53L7CX firmware, uploaded into the sensor's RAM at every boot. +const uint8_t kFirmwareVl53l7cx[86016] = { + 0xe0, 0x04, 0x07, 0x68, 0xe0, 0x04, 0x0f, 0x28, 0xe0, 0x04, 0x09, 0x68, 0xe0, 0x64, 0x1a, 0xa8, + 0xe0, 0x04, 0x0e, 0xe8, 0xe0, 0x04, 0x0e, 0xe8, 0xe0, 0x04, 0x0e, 0xe8, 0xe0, 0x04, 0x0e, 0xe8, + 0xe0, 0x64, 0x3e, 0x28, 0xe0, 0x68, 0x01, 0xe8, 0xe0, 0x68, 0x04, 0xe8, 0xe0, 0x68, 0x0b, 0x28, + 0xe0, 0x68, 0x14, 0x08, 0xe0, 0x68, 0x27, 0x08, 0xe0, 0x68, 0x2a, 0xe8, 0xe0, 0x68, 0x2e, 0x68, + 0xe0, 0x68, 0x35, 0x48, 0xe0, 0x68, 0x38, 0x68, 0xe0, 0x04, 0x0e, 0x48, 0xe0, 0x04, 0x0e, 0x28, + 0xe0, 0x04, 0x0e, 0x08, 0xe0, 0x04, 0x0d, 0xe8, 0xe0, 0x04, 0x0d, 0xc8, 0xe0, 0x04, 0x0d, 0xa8, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, +}; + +} // namespace espp::vl53l5cx_detail +// clang-format on diff --git a/components/vl53l/test/vl53l5cx_protocol_host_test.cpp b/components/vl53l/test/vl53l5cx_protocol_host_test.cpp new file mode 100644 index 0000000000..f1bd00a331 --- /dev/null +++ b/components/vl53l/test/vl53l5cx_protocol_host_test.cpp @@ -0,0 +1,154 @@ +// Host-buildable unit tests for the VL53L5CX console wire protocol +// (include/vl53l5cx_protocol.hpp -- standard library only). Build & run: +// c++ -std=c++23 -Wall -Wextra -Werror -I components/vl53l/include \ +// components/vl53l/test/vl53l5cx_protocol_host_test.cpp -o test && ./test + +#include +#include +#include + +#include "vl53l5cx_protocol.hpp" + +namespace proto = espp::vl53l5cx_protocol; + +static int g_failures = 0; +#define CHECK(cond) \ + do { \ + if (!(cond)) { \ + std::printf(" FAIL: %s (line %d)\n", #cond, __LINE__); \ + ++g_failures; \ + } \ + } while (0) + +int main() { + // ---- direction convention ---- + CHECK(!proto::is_reply(static_cast(proto::Request::GetStatus))); + CHECK(!proto::is_reply(static_cast(proto::Request::SetI2cAddress))); + CHECK(proto::is_reply(static_cast(proto::Reply::Status))); + CHECK(proto::is_reply(static_cast(proto::Reply::Frame))); + static_assert(proto::kModuleId == 10, "10 is the published default the console falls back to"); + static_assert(std::string_view(proto::kProtocol) == "espp.vl53l5cx", + "the VL53L5CX console web app locates the module by this protocol id"); + static_assert(proto::kProtocolVersion == 1); + + // ---- request payloads ---- + { + CHECK(!proto::ByteArg::parse({}).has_value()); + const uint8_t one[] = {64}; + CHECK(proto::ByteArg::parse(one)->value == 64); + CHECK(proto::ByteArg{16}.serialize() == std::vector{16}); + + const proto::SetIntegrationTime t{0x01020304}; + const auto tb = t.serialize(); + CHECK(tb.size() == proto::SetIntegrationTime::kSize); + CHECK((tb == std::vector{0x04, 0x03, 0x02, 0x01})); // little-endian + CHECK(proto::SetIntegrationTime::parse(tb)->time_ms == 0x01020304); + CHECK(!proto::SetIntegrationTime::parse(std::span(tb).first(3)).has_value()); + + const proto::EnableMotionIndicator m{400, 1500}; + const auto mb = m.serialize(); + CHECK(mb.size() == proto::EnableMotionIndicator::kSize); + const auto mr = proto::EnableMotionIndicator::parse(mb); + CHECK(mr && mr->min_mm == 400 && mr->max_mm == 1500); + + const proto::SetFrameStream s{true, 3}; + const auto sb = s.serialize(); + CHECK(sb.size() == proto::SetFrameStream::kSize); + CHECK(proto::SetFrameStream::parse(sb)->enabled && + proto::SetFrameStream::parse(sb)->divider == 3); + CHECK(!proto::SetFrameStream::parse(std::span(sb).first(1)).has_value()); + } + + // ---- STATUS round trip + exact size + flag bits ---- + { + proto::Status s; + s.initialized = true; + s.ranging = true; + s.motion_enabled = false; + s.stream_enabled = true; + s.variant = 1; + s.address = 0x2A; + s.zones = 64; + s.frequency_hz = 15; + s.integration_ms = 20; + s.sharpener = 7; + s.target_order = 1; + s.ranging_mode = 1; + s.power_mode = 1; + s.motion_min_mm = 400; + s.motion_max_mm = 1500; + s.frame_count = 123456; + s.frame_rate_chz = 1498; + s.stream_divider = 2; + const auto b = s.serialize(); + CHECK(b.size() == proto::Status::kSize); + CHECK(b[0] == (proto::Status::kFlagInitialized | proto::Status::kFlagRanging | + proto::Status::kFlagStreamEnabled)); + const auto r = proto::Status::parse(b); + CHECK(r && *r == s); + CHECK(!proto::Status::parse(std::span(b).first(proto::Status::kSize - 1)) + .has_value()); + } + + // ---- FRAME: 4x4 without motion, 8x8 with motion, truncation ---- + { + proto::Frame f; + f.sequence = 42; + f.timestamp_ms = 1000; + f.zones = 16; + for (size_t i = 0; i < 16; i++) { + f.zone[i] = proto::Zone{.distance_mm = static_cast(100 * i), + .status = static_cast(i == 3 ? 255 : 5), + .nb_targets = 1, + .reflectance_pct = static_cast(i), + .sigma_mm = static_cast(2 + i), + .signal_kcps = static_cast(1000 + i), + .ambient_kcps = static_cast(10 + i), + .spads = static_cast(256 + i)}; + } + const auto b = f.serialize(); + CHECK(b.size() == proto::Frame::kHeaderSize + 16 * proto::Zone::kSize); + CHECK(b[8] == 16 && b[9] == 0); + const auto r = proto::Frame::parse(b); + CHECK(r && r->sequence == 42 && r->timestamp_ms == 1000 && r->zones == 16 && + !r->motion_present); + CHECK(r && r->width() == 4); + bool zones_equal = r.has_value(); + for (size_t i = 0; zones_equal && i < 16; i++) + zones_equal = r->zone[i] == f.zone[i]; + CHECK(zones_equal); + CHECK(!proto::Frame::parse(std::span(b).first(b.size() - 1)).has_value()); + + proto::Frame g = f; + g.zones = 64; + g.motion_present = true; + g.motion.global_indicator_1 = 7; + g.motion.nb_of_aggregates = 16; + g.motion.motion[9] = 180; + const auto gb = g.serialize(); + CHECK(gb.size() == proto::Frame::kMaxSize); + CHECK(gb.size() == 1366); + const auto gr = proto::Frame::parse(gb); + CHECK(gr && gr->zones == 64 && gr->width() == 8 && gr->motion_present && + gr->motion == g.motion); + // a bad zone count is rejected + std::vector bad = gb; + bad[8] = 32; + CHECK(!proto::Frame::parse(bad).has_value()); + } + + // ---- OK / ERROR payloads ---- + { + CHECK((proto::make_ok_payload(0x19) == std::vector{0x19})); + const auto e = proto::make_error_payload(0x11, 16, "busy"); + const auto r = proto::parse_error_payload(e); + CHECK(r && r->request_type == 0x11 && r->code == 16 && r->message == "busy"); + CHECK(!proto::parse_error_payload(std::span(e).first(4)).has_value()); + } + + if (g_failures == 0) + std::printf("vl53l5cx_protocol_host_test: all checks passed\n"); + else + std::printf("vl53l5cx_protocol_host_test: %d check(s) FAILED\n", g_failures); + return g_failures == 0 ? 0 : 1; +} diff --git a/components/vl53l/vl53l5cx_example/CMakeLists.txt b/components/vl53l/vl53l5cx_example/CMakeLists.txt new file mode 100644 index 0000000000..3a98bbb2ff --- /dev/null +++ b/components/vl53l/vl53l5cx_example/CMakeLists.txt @@ -0,0 +1,22 @@ +# 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 3.20) + +set(ENV{IDF_COMPONENT_MANAGER} "0") +include($ENV{IDF_PATH}/tools/cmake/project.cmake) + +# add the component directories that we want to use +set(EXTRA_COMPONENT_DIRS + "../../../components/" +) + +set( + COMPONENTS + "main esptool_py task logger vl53l i2c" + CACHE STRING + "List of components to include" + ) + +project(vl53l5cx_example) + +set(CMAKE_CXX_STANDARD 23) diff --git a/components/vl53l/vl53l5cx_example/README.md b/components/vl53l/vl53l5cx_example/README.md new file mode 100644 index 0000000000..c983866615 --- /dev/null +++ b/components/vl53l/vl53l5cx_example/README.md @@ -0,0 +1,74 @@ +# VL53L5CX Multizone ToF Example + +This example shows the use of the `Vl53l5cx` component to communicate with a +VL53L5CX multizone time-of-flight sensor. + +The example initializes the sensor (which uploads the sensor's firmware over +I2C, about two seconds at 400 kHz), configures the resolution (8x8 zones by +default) and the ranging frequency (15 Hz by default), starts ranging and then +prints every frame as a grid of distances in millimeters, with `----` for the +zones that have no valid target and a summary line of why (the target status +counts; 255 "no target" is a zone with nothing within reach). + +## Hardware Required + +This example is designed to work with any ESP32 which has I2C pins exposed, but +is pre-configured to run on QtPy boards such as the QtPy ESP32 Pico and QtPy +ESP32-S3, and on the ESP32-P4 dev kits (SDA 7, SCL 8) when the target is +esp32p4. Tested on an ESP32-P4-WIFI6 dev kit with a VL53L5CX breakout. + +It requires a VL53L5CX breakout, such as the [SparkFun Qwiic ToF Imager +VL53L5CX](https://www.sparkfun.com/products/18642) or ST's +[VL53L5CX-SATEL](https://www.st.com/en/evaluation-tools/vl53l5cx-satel.html). +The sensor needs its `LPn` pin high (it is pulled up on the breakouts) and its +I2C address is 0x29 at power-up. + +> **Note:** the sensor's firmware is uploaded at every boot and result frames +> are up to 1.4 KB, so the I2C bus timeout must cover +> the driver's longest transfers: the example derives it from the clock with +> `espp::Vl53l5cx::i2c_timeout_ms()`. + +## How to use example + +### Configure the project + +``` +idf.py menuconfig +``` + +`Example Configuration` has the I2C pins and clock speed, the resolution (4x4 +or 8x8) and the ranging frequency. + +### Build and Flash + +Build the project and flash it to the board, then run monitor tool to view +serial output: + +``` +idf.py -p PORT flash monitor +``` + +(Replace PORT with the name of the serial port to use.) + +(To exit the serial monitor, type ``Ctrl-]``.) + +See the Getting Started Guide for full steps to configure and use ESP-IDF to build projects. + +## Example Output + +``` +I (337) VL53L5CX example: Starting example! +I (347) VL53L5CX example: Creating I2C on port 0 with SDA 41 and SCL 40 at 400000 Hz +I (357) Vl53l5cx: Uploading the VL53L5CX firmware (86016 bytes) +I (2567) Vl53l5cx: Initialized (4x4, autonomous, 1 Hz) +I (2797) Vl53l5cx: Resolution set to 8x8 +I (2857) Vl53l5cx: Ranging started (64 zones, 1440 byte frames) + 812 804 799 801 806 817 835 855 + 798 792 788 790 795 804 822 843 + 790 783 777 779 785 795 811 832 + 788 780 774 776 781 790 806 826 + 791 782 776 778 783 792 808 828 + 801 791 785 787 792 801 817 838 + 817 806 800 802 807 816 833 854 + ---- 826 820 822 827 836 853 ---- +``` diff --git a/components/vl53l/vl53l5cx_example/main/CMakeLists.txt b/components/vl53l/vl53l5cx_example/main/CMakeLists.txt new file mode 100644 index 0000000000..a941e22ba7 --- /dev/null +++ b/components/vl53l/vl53l5cx_example/main/CMakeLists.txt @@ -0,0 +1,2 @@ +idf_component_register(SRC_DIRS "." + INCLUDE_DIRS ".") diff --git a/components/vl53l/vl53l5cx_example/main/Kconfig.projbuild b/components/vl53l/vl53l5cx_example/main/Kconfig.projbuild new file mode 100644 index 0000000000..eb7bd4dbe3 --- /dev/null +++ b/components/vl53l/vl53l5cx_example/main/Kconfig.projbuild @@ -0,0 +1,110 @@ +menu "Example Configuration" + + choice EXAMPLE_HARDWARE + prompt "Hardware" + default EXAMPLE_HARDWARE_QTPY if IDF_TARGET_ESP32 || IDF_TARGET_ESP32S3 + default EXAMPLE_HARDWARE_ESP32_P4_DEVKIT if IDF_TARGET_ESP32P4 + default EXAMPLE_HARDWARE_CUSTOM + help + Select the hardware to run this example on. + + config EXAMPLE_HARDWARE_QTPY + bool "QtPy ESP32 Pico or QtPy ESP32-S3" + depends on IDF_TARGET_ESP32 || IDF_TARGET_ESP32S3 + + config EXAMPLE_HARDWARE_ESP32_P4_DEVKIT + bool "ESP32-P4 dev kit (ESP32-P4-Function-EV / WIFI6 dev kit: SDA 7, SCL 8)" + depends on IDF_TARGET_ESP32P4 + + config EXAMPLE_HARDWARE_CUSTOM + bool "Custom" + endchoice + + config EXAMPLE_I2C_SCL_GPIO + int "SCL GPIO Num" + range 0 54 + default 40 if EXAMPLE_HARDWARE_QTPY && IDF_TARGET_ESP32S3 + default 19 if EXAMPLE_HARDWARE_QTPY && IDF_TARGET_ESP32 + default 8 if EXAMPLE_HARDWARE_ESP32_P4_DEVKIT + default 8 if IDF_TARGET_ESP32P4 + default 19 + help + GPIO number for I2C Master clock line. + + config EXAMPLE_I2C_SDA_GPIO + int "SDA GPIO Num" + range 0 54 + default 41 if EXAMPLE_HARDWARE_QTPY && IDF_TARGET_ESP32S3 + default 22 if EXAMPLE_HARDWARE_QTPY && IDF_TARGET_ESP32 + default 7 if EXAMPLE_HARDWARE_ESP32_P4_DEVKIT + default 7 if IDF_TARGET_ESP32P4 + default 22 + help + GPIO number for I2C Master data line. + + config EXAMPLE_I2C_CLOCK_SPEED_HZ + int "I2C Clock Speed" + range 100 1000000 + default 400000 + help + I2C clock speed in Hz. The VL53L5CX supports up to 1 MHz (Fast Mode + Plus); the firmware upload at initialization takes about two + seconds at 400 kHz. + + choice EXAMPLE_VARIANT + prompt "Sensor part" + default EXAMPLE_VARIANT_VL53L5CX + help + The VL53L5CX (63 deg field of view) and the VL53L7CX (90 deg) answer + the same ids over I2C but need different firmware images; pick the + part printed on the module. + + config EXAMPLE_VARIANT_VL53L5CX + bool "VL53L5CX" + + config EXAMPLE_VARIANT_VL53L7CX + bool "VL53L7CX" + endchoice + + choice EXAMPLE_RESOLUTION + prompt "Ranging resolution" + default EXAMPLE_RESOLUTION_8X8 + help + Number of ranging zones. + + config EXAMPLE_RESOLUTION_4X4 + bool "4x4 zones (up to 60 Hz)" + + config EXAMPLE_RESOLUTION_8X8 + bool "8x8 zones (up to 15 Hz)" + endchoice + + config EXAMPLE_RANGING_FREQUENCY_HZ + int "Ranging frequency (Hz)" + range 1 60 + default 15 + help + Frames per second: 1..60 Hz in 4x4, 1..15 Hz in 8x8. + + config EXAMPLE_MOTION_INDICATOR + bool "Enable the motion indicator" + default n + help + Have the sensor report, per aggregate of zones, how much the scene + moved between frames, and print it with every frame. + + config EXAMPLE_MOTION_MIN_MM + int "Motion window start (mm)" + depends on EXAMPLE_MOTION_INDICATOR + range 400 4000 + default 400 + + config EXAMPLE_MOTION_MAX_MM + int "Motion window end (mm)" + depends on EXAMPLE_MOTION_INDICATOR + range 400 4000 + default 1500 + help + At most 1500 mm past the window start. + +endmenu diff --git a/components/vl53l/vl53l5cx_example/main/vl53l5cx_example.cpp b/components/vl53l/vl53l5cx_example/main/vl53l5cx_example.cpp new file mode 100644 index 0000000000..e491e0968c --- /dev/null +++ b/components/vl53l/vl53l5cx_example/main/vl53l5cx_example.cpp @@ -0,0 +1,153 @@ +#include +#include +#include +#include +#include + +#include "i2c.hpp" +#include "logger.hpp" +#include "task.hpp" +#include "vl53l5cx.hpp" + +using namespace std::chrono_literals; + +namespace { +int invalid_total(const std::map &invalid) { + int total = 0; + for (const auto &[_status, count] : invalid) + total += count; + return total; +} +} // namespace + +extern "C" void app_main(void) { + static espp::Logger logger({.tag = "VL53L5CX example", .level = espp::Logger::Verbosity::INFO}); + logger.info("Starting example!"); + + //! [vl53l5cx example] + // make the i2c we'll use to communicate + static constexpr auto i2c_port = I2C_NUM_0; + static constexpr auto i2c_clock_speed = CONFIG_EXAMPLE_I2C_CLOCK_SPEED_HZ; + static constexpr gpio_num_t i2c_sda = (gpio_num_t)CONFIG_EXAMPLE_I2C_SDA_GPIO; + static constexpr gpio_num_t i2c_scl = (gpio_num_t)CONFIG_EXAMPLE_I2C_SCL_GPIO; + logger.info("Creating I2C on port {} with SDA {} and SCL {} at {} Hz", i2c_port, i2c_sda, i2c_scl, + i2c_clock_speed); + // The transaction timeout must cover the driver's longest transfers (512-byte + // firmware chunks, ~1.4 KB result frames): derived from the clock + static constexpr int i2c_timeout_ms = espp::Vl53l5cx::i2c_timeout_ms(i2c_clock_speed); + espp::I2c i2c({.port = i2c_port, + .sda_io_num = i2c_sda, + .scl_io_num = i2c_scl, + .sda_pullup_en = GPIO_PULLUP_ENABLE, + .scl_pullup_en = GPIO_PULLUP_ENABLE, + .timeout_ms = i2c_timeout_ms, + .clk_speed = i2c_clock_speed}); + std::error_code ec; + + // the constructor reboots the sensor and uploads its firmware (about two + // seconds at 400 kHz). The callbacks take the address from the driver, so + // set_i2c_address() keeps working (a per-device adapter would not). + espp::Vl53l5cx sensor(espp::Vl53l5cx::Config { + .device_address = espp::Vl53l5cx::DEFAULT_ADDRESS, +#if CONFIG_EXAMPLE_VARIANT_VL53L7CX + .variant = espp::Vl53l5cx::Variant::VL53L7CX, +#else + .variant = espp::Vl53l5cx::Variant::VL53L5CX, +#endif + .write = [&i2c](uint8_t address, const uint8_t *data, + size_t length) { return i2c.write(address, data, length); }, + .read = [&i2c](uint8_t address, uint8_t *data, + size_t length) { return i2c.read(address, data, length); }, + .log_level = espp::Logger::Verbosity::INFO, + }); + if (!sensor.is_initialized()) { + logger.error("The VL53L5CX did not initialize; check the wiring and the address"); + return; + } + + // resolution first (it bounds the ranging frequency), then the frame rate +#if CONFIG_EXAMPLE_RESOLUTION_8X8 + const auto resolution = espp::Vl53l5cx::Resolution::ZONES_8X8; +#else + const auto resolution = espp::Vl53l5cx::Resolution::ZONES_4X4; +#endif + if (!sensor.set_resolution(resolution, ec)) { + logger.error("Failed to set the resolution: {}", ec.message()); + return; + } + if (!sensor.set_ranging_frequency_hz(CONFIG_EXAMPLE_RANGING_FREQUENCY_HZ, ec)) { + logger.error("Failed to set the ranging frequency: {}", ec.message()); + return; + } +#if CONFIG_EXAMPLE_MOTION_INDICATOR + if (!sensor.enable_motion_indicator(CONFIG_EXAMPLE_MOTION_MIN_MM, CONFIG_EXAMPLE_MOTION_MAX_MM, + ec)) { + logger.error("Failed to enable the motion indicator: {}", ec.message()); + return; + } +#endif + if (!sensor.start_ranging(ec)) { + logger.error("Failed to start ranging: {}", ec.message()); + return; + } + + // poll for frames and print the distance grid (mm; "----" where the zone + // has no valid target, with a summary of why). A plain task rather than a + // periodic timer: a frame read is ~1.4 KB of I2C (about 40 ms at 400 kHz), + // far longer than a sensible data-ready poll interval. + espp::Vl53l5cx::RangingData frame; + espp::Task poll_task({ + .callback = [&](std::mutex &m, std::condition_variable &cv) -> bool { + std::error_code ec; + if (!sensor.is_data_ready(ec)) { + // nothing new yet (an I2C error is logged by the driver); check again soon + std::unique_lock lock(m); + cv.wait_for(lock, 5ms); + return false; + } + if (!sensor.get_ranging_data(frame, ec)) { + logger.error("Failed to read the frame: {}", ec.message()); + return false; + } + std::string grid; + std::map invalid; + for (size_t row = 0; row < frame.width(); row++) { + for (size_t col = 0; col < frame.width(); col++) { + const size_t zone = frame.zone_index(row, col); + if (frame.is_valid(zone)) { + grid += fmt::format("{:5d}", frame.distance_mm[zone]); + } else { + grid += " ----"; + invalid[frame.status(zone)]++; + } + } + grid += "\n"; + } + std::string why; + for (const auto &[status, count] : invalid) { + why += fmt::format(" {} x {} ({})", count, static_cast(status), + espp::Vl53l5cx::target_status_name(status)); + } + fmt::print("{}{} / {} zones valid{}\n", grid, frame.num_zones() - invalid_total(invalid), + frame.num_zones(), why.empty() ? "" : ";" + why); +#if CONFIG_EXAMPLE_MOTION_INDICATOR + const auto &motion = frame.motion_indicator; + const size_t aggregates = std::min(motion.nb_of_aggregates, motion.motion.size()); + fmt::print("motion: global {} {} status {} detected {}/{} aggregates:{}\n", + motion.global_indicator_1, motion.global_indicator_2, motion.status, + motion.nb_of_detected_aggregates, motion.nb_of_aggregates, + fmt::join(motion.motion.begin(), motion.motion.begin() + aggregates, " ")); +#endif + fmt::print("\n"); + return false; // keep polling + }, + .task_config = {.name = "vl53l5cx poll", .stack_size_bytes = 6 * 1024}, + .log_level = espp::Logger::Verbosity::WARN, + }); + poll_task.start(); + //! [vl53l5cx example] + + while (true) { + std::this_thread::sleep_for(1s); + } +} diff --git a/components/vl53l/vl53l5cx_example/sdkconfig.defaults b/components/vl53l/vl53l5cx_example/sdkconfig.defaults new file mode 100644 index 0000000000..7d48bde1f3 --- /dev/null +++ b/components/vl53l/vl53l5cx_example/sdkconfig.defaults @@ -0,0 +1,19 @@ +CONFIG_IDF_TARGET="esp32s3" + +CONFIG_FREERTOS_HZ=1000 + +# set compiler optimization level to -O2 (compile for performance) +CONFIG_COMPILER_OPTIMIZATION_PERF=y + +# ESP32-specific +# +CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_240=y +CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ=240 + +# Common ESP-related +# +CONFIG_ESP_SYSTEM_EVENT_TASK_STACK_SIZE=4096 +CONFIG_ESP_MAIN_TASK_STACK_SIZE=16384 + +# Set esp-timer task stack size to 6KB +CONFIG_ESP_TIMER_TASK_STACK_SIZE=6144 diff --git a/components/vl53l/vl53l5cx_webapp_example/CMakeLists.txt b/components/vl53l/vl53l5cx_webapp_example/CMakeLists.txt new file mode 100644 index 0000000000..f5c632c39a --- /dev/null +++ b/components/vl53l/vl53l5cx_webapp_example/CMakeLists.txt @@ -0,0 +1,60 @@ +# 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 3.20) + +# This example needs the managed `espressif/esp_tinyusb` component (required by +# usb_device). It supports two build modes: +# +# * DEFAULT (component manager ON) - how an end user builds it from the +# component registry: the manager fetches esp_tinyusb (and its tinyusb +# dependency) and the espp/* dependencies from the registry. EXTRA_COMPONENT_DIRS +# is narrowed to just the components this example uses so the manager does not +# scan every espp manifest (some board components declare target-specific +# constraints that would fail on esp32s3). +# +# * MANAGER OFF (IDF_COMPONENT_MANAGER=0) - used by CI so the build does not need +# the (as-yet unpublished) espp/* components in the registry: every espp +# dependency resolves locally from EXTRA_COMPONENT_DIRS, and esp_tinyusb / +# tinyusb come from the vendored git submodules under external/ (esp_tinyusb +# ships inside the espressif/esp-usb monorepo, so its component subdir is added). +include($ENV{IDF_PATH}/tools/cmake/project.cmake) + +set(EXTRA_COMPONENT_DIRS + "../../../components/base_component" + "../../../components/base_peripheral" + "../../../components/cli" + "../../../components/coredump" + "../../../components/dispatcher" + "../../../components/format" + "../../../components/i2c" + "../../../components/logger" + "../../../components/monitor" + "../../../components/ota" + "../../../components/stream_frame" + "../../../components/system" + "../../../components/task" + "../../../components/usb_device" + "../../../components/vl53l" +) + +# With the component manager disabled, esp_tinyusb/tinyusb are not fetched from +# the registry; add the vendored submodule copies to the component search path. +# esp_tinyusb's own CMakeLists adds `tinyusb` to its REQUIRES when the manager is +# off, so both component directories must be discoverable here. +if(DEFINED ENV{IDF_COMPONENT_MANAGER} AND "$ENV{IDF_COMPONENT_MANAGER}" STREQUAL "0") + list(APPEND EXTRA_COMPONENT_DIRS + "../../../external/esp-usb/device/esp_tinyusb" + "../../../external/tinyusb" + ) +endif() + +set( + COMPONENTS + "main esptool_py base_component base_peripheral cli dispatcher format i2c logger stream_frame task usb_device vl53l esp_tinyusb coredump monitor ota system espcoredump esp_psram" + CACHE STRING + "List of components to include" + ) + +project(vl53l5cx_webapp_example) + +set(CMAKE_CXX_STANDARD 23) diff --git a/components/vl53l/vl53l5cx_webapp_example/README.md b/components/vl53l/vl53l5cx_webapp_example/README.md new file mode 100644 index 0000000000..4d1cc86fe5 --- /dev/null +++ b/components/vl53l/vl53l5cx_webapp_example/README.md @@ -0,0 +1,107 @@ +# VL53L5CX Web Console Example + +Turns an ESP32-S3 / ESP32-P4 into a **WebUSB / Web Serial front-end** for a +VL53L5CX (or VL53L7CX) multizone Time-of-Flight sensor: the hosted +[VL53L5CX console web app](https://esp-cpp.github.io/espp/apps/vl53l5cx_console.html) +connects over native USB and can + +- **view** every ranging frame live, as a 3D surface (each zone at its + measured position in the sensor's field of view) or a bar height field, + coloured by distance / signal / ambient / sigma / reflectance / status, next + to a numeric grid with per-zone details and the motion indicator, +- **configure** the sensor — resolution (4x4 / 8x8), ranging frequency, + integration time, sharpener, target order, ranging mode, power mode, the + motion indicator window, the I2C address — and +- **control** it: start / stop ranging, re-initialize (firmware upload). + +![VL53L5CX console: surface view of an 8x8 frame, zones at their measured positions](https://github.com/user-attachments/assets/dd696291-8066-4764-86a0-1ca3d2425e8f) + +![VL53L5CX console: bars view, height = distance, with a zone's details](https://github.com/user-attachments/assets/8f81f078-9e8d-49bb-b516-2de3048baa5f) + +![VL53L5CX console live: orbiting the surface, the bars view and colouring by signal](https://github.com/user-attachments/assets/c5e4ac21-f534-4238-b0ff-1775eae6d014) + +(Live data from a VL53L5CX on an ESP32-P4-WIFI6 dev kit, 8x8 at 15 Hz.) + +The example runs the `espp::Vl53l5cx` driver **on the device** and exposes a +small high-level protocol (`vl53l5cx_protocol.hpp`, dispatcher **module id +10**, protocol id `espp.vl53l5cx`) through `espp::Vl53l5cxService`, so the web +app needs no knowledge of the sensor's I2C / firmware interface. Both the +vendor (WebUSB) and CDC (Web Serial) interfaces carry the same protocol; the +system console/logs go to **UART0** (set in `sdkconfig.defaults`): on the S3 / +P4, USB-Serial-JTAG shares the native USB port's PHY with USB-OTG, which +TinyUSB takes over. + +## Wiring & configuration + +The sensor sits on I2C (3.3 V, GND, SDA, SCL; LPn high or left to the +breakout's pull-up). `idf.py menuconfig` → *Example Configuration* selects the +hardware (QtPy ESP32-S3: SDA 41 / SCL 40; ESP32-P4 dev kits: SDA 7 / SCL 8; or +custom pins), the I2C clock, the **part** (VL53L5CX / VL53L7CX — same ids, +different firmware image), the resolution and frequency at boot, whether +ranging starts at boot, and on the ESP32-P4 which **USB port** TinyUSB drives: +the full-speed port for the dev kits (their USB-C is the full-speed port, the +one the USB-Serial-JTAG console normally uses; `espp::UsbDevice` moves the +USB-OTG 1.1 controller onto those pads, see `UsbDevice::Config::fs_phy`), or +the high-speed port where a board routes it to a device-capable connector. + +## Protocol (module 10, `espp.vl53l5cx` v1) + +Framed with `stream_frame` and routed by `espp::Dispatcher`. Requests use +types `0x1X`; replies / events use `0x9X` (reply flag set). Multi-byte fields +are little-endian. + +| Type | Dir | Meaning | +|------|-----|---------| +| `0x10` GET_STATUS | H→D | request one STATUS snapshot | +| `0x11` SET_RESOLUTION | H→D | `[zones u8]` 16 (4x4) or 64 (8x8) — not while ranging | +| `0x12` SET_RANGING_FREQUENCY | H→D | `[hz u8]` 1..60 (4x4) / 1..15 (8x8) | +| `0x13` SET_INTEGRATION_TIME | H→D | `[ms u32]` 2..1000 (autonomous mode) | +| `0x14` SET_SHARPENER | H→D | `[percent u8]` 0..99 | +| `0x15` SET_TARGET_ORDER | H→D | `[order u8]` 1 closest / 2 strongest | +| `0x16` SET_RANGING_MODE | H→D | `[mode u8]` 1 continuous / 3 autonomous | +| `0x17` SET_POWER_MODE | H→D | `[mode u8]` 0 sleep / 1 wake-up | +| `0x18` ENABLE_MOTION_INDICATOR | H→D | `[min_mm u16][max_mm u16]` (only INITIALIZE switches it off) | +| `0x19` START_RANGING | H→D | start ranging with the current settings | +| `0x1A` STOP_RANGING | H→D | stop ranging | +| `0x1B` INITIALIZE | H→D | reboot the sensor + re-upload the firmware (~2 s); resets every setting | +| `0x1C` SET_FRAME_STREAM | H→D | `[enable u8][divider u8]` stream every divider-th frame on this transport | +| `0x1D` GET_FRAME | H→D | request the latest FRAME | +| `0x1E` SET_I2C_ADDRESS | H→D | `[address u8]` 7-bit, volatile | +| `0x90` STATUS | D→H | `[flags u8][variant u8][address u8][zones u8][frequency u8][integration_ms u32][sharpener u8][target_order u8][ranging_mode u8][power_mode u8][motion_min u16][motion_max u16][frame_count u32][frame_rate_cHz u16][stream_divider u8]` — flags: bit 0 initialized, 1 ranging, 2 motion indicator on, 3 stream on | +| `0x91` FRAME | D→H | `[seq u32][time_ms u32][zones u8][flags u8]`, then per zone `[distance i16][status u8][targets u8][reflectance u8][sigma u16][signal u32][ambient u32][spads u32]` (19 B, row-major), then the 140-byte motion block when flags bit 0 is set | +| `0x92` OK | D→H | `[request_type u8]` | +| `0x93` ERROR | D→H | `[request_type u8][code u32][utf8 message]` | + +Settings are refused by the sensor while it is ranging (the device answers +ERROR); STATUS reports the settings read back from the sensor. + +## Build & flash + +``` +idf.py set-target esp32s3 # or esp32p4 +idf.py build flash monitor # console is on UART0 +``` + +Then open the VL53L5CX console web app and Connect (WebUSB or Web Serial). +The sensor ranges at boot by default: tick **Live frames** (on by default) to +see the 3D view; **Stop** to change the settings, then **Start ranging**. + +## Standard USB services + +Like every espp USB example, this one serves the standard service set on its +framed USB link(s) next to its own protocol, so the hosted consoles and the +[Device Hub](https://esp-cpp.github.io/espp/apps/dispatcher_hub.html) (which +finds each service through discovery, by protocol id) work against it: + +| Service | Module (default) | Protocol id | Console | +|---|---|---|---| +| `espp::SystemService` -- device info, reboot, reboot into the bootloader | 7 | `espp.system` | [system console](https://esp-cpp.github.io/espp/apps/system_console.html) | +| `espp::MonitorService` -- heap regions + task table, on request or streamed | 8 | `espp.monitor` | system console | +| `espp::OtaService` -- firmware update (host-driven rollback confirmation) | 0 | `espp.ota` | [OTA console](https://esp-cpp.github.io/espp/apps/ota_console.html) | +| `espp::CoreDumpService` -- last-crash report, core dump download / erase | 4 | `espp.coredump` | [coredump console](https://esp-cpp.github.io/espp/apps/coredump_console.html) | + +`partitions.csv` therefore carries the OTA layout (`otadata`, `ota_0`, `ota_1`) +plus a `coredump` partition, and `sdkconfig.defaults` enables core dumps to +flash, OTA rollback and the FreeRTOS run-time statistics the task monitor +reads. Every device->host write on a transport goes through one mutex, so the +services (and the frame stream) never interleave frames. diff --git a/components/vl53l/vl53l5cx_webapp_example/main/CMakeLists.txt b/components/vl53l/vl53l5cx_webapp_example/main/CMakeLists.txt new file mode 100644 index 0000000000..3036d329a8 --- /dev/null +++ b/components/vl53l/vl53l5cx_webapp_example/main/CMakeLists.txt @@ -0,0 +1,4 @@ +idf_component_register( + SRC_DIRS "." + INCLUDE_DIRS "." + REQUIRES vl53l i2c usb_device dispatcher stream_frame task logger coredump monitor ota system espcoredump) diff --git a/components/vl53l/vl53l5cx_webapp_example/main/Kconfig.projbuild b/components/vl53l/vl53l5cx_webapp_example/main/Kconfig.projbuild new file mode 100644 index 0000000000..30886253cb --- /dev/null +++ b/components/vl53l/vl53l5cx_webapp_example/main/Kconfig.projbuild @@ -0,0 +1,123 @@ +menu "Example Configuration" + + choice EXAMPLE_HARDWARE + prompt "Hardware" + default EXAMPLE_HARDWARE_QTPY if IDF_TARGET_ESP32S3 + default EXAMPLE_HARDWARE_ESP32_P4_DEVKIT if IDF_TARGET_ESP32P4 + default EXAMPLE_HARDWARE_CUSTOM + help + Select the hardware to run this example on. The USB vendor + (WebUSB) + CDC (Web Serial) transports need the native USB-OTG + peripheral: ESP32-S2 / S3 / P4. + + config EXAMPLE_HARDWARE_QTPY + bool "QtPy ESP32-S3 (SDA 41, SCL 40)" + depends on IDF_TARGET_ESP32S3 + + config EXAMPLE_HARDWARE_ESP32_P4_DEVKIT + bool "ESP32-P4 dev kit (ESP32-P4-Function-EV / WIFI6 dev kit: SDA 7, SCL 8)" + depends on IDF_TARGET_ESP32P4 + + config EXAMPLE_HARDWARE_CUSTOM + bool "Custom" + endchoice + + config EXAMPLE_I2C_SCL_GPIO + int "SCL GPIO Num" + range 0 54 + default 40 if EXAMPLE_HARDWARE_QTPY + default 8 if EXAMPLE_HARDWARE_ESP32_P4_DEVKIT + default 8 if IDF_TARGET_ESP32P4 + default 40 + help + GPIO number for I2C Master clock line. + + config EXAMPLE_I2C_SDA_GPIO + int "SDA GPIO Num" + range 0 54 + default 41 if EXAMPLE_HARDWARE_QTPY + default 7 if EXAMPLE_HARDWARE_ESP32_P4_DEVKIT + default 7 if IDF_TARGET_ESP32P4 + default 41 + help + GPIO number for I2C Master data line. + + config EXAMPLE_I2C_CLOCK_SPEED_HZ + int "I2C Clock Speed" + range 100 1000000 + default 400000 + help + I2C clock speed in Hz. The VL53L5CX supports up to 1 MHz (Fast Mode + Plus); the firmware upload at initialization takes about two + seconds at 400 kHz. + + choice EXAMPLE_VARIANT + prompt "Sensor part" + default EXAMPLE_VARIANT_VL53L5CX + help + The VL53L5CX (63 deg field of view) and the VL53L7CX (90 deg) answer + the same ids over I2C but need different firmware images; pick the + part printed on the module. + + config EXAMPLE_VARIANT_VL53L5CX + bool "VL53L5CX" + + config EXAMPLE_VARIANT_VL53L7CX + bool "VL53L7CX" + endchoice + + choice EXAMPLE_RESOLUTION + prompt "Ranging resolution at boot" + default EXAMPLE_RESOLUTION_8X8 + help + Number of ranging zones at boot (the web app can change it). + + config EXAMPLE_RESOLUTION_4X4 + bool "4x4 zones (up to 60 Hz)" + + config EXAMPLE_RESOLUTION_8X8 + bool "8x8 zones (up to 15 Hz)" + endchoice + + config EXAMPLE_RANGING_FREQUENCY_HZ + int "Ranging frequency at boot (Hz)" + range 1 60 + default 15 + help + Frames per second at boot: 1..60 Hz in 4x4, 1..15 Hz in 8x8 (the + web app can change it). + + config EXAMPLE_START_RANGING_AT_BOOT + bool "Start ranging at boot" + default y + help + Start ranging as soon as the sensor is initialized, so frames are + available the moment a host connects. Otherwise ranging starts + from the web app (START). + + choice EXAMPLE_USB_PORT + prompt "USB port" + default EXAMPLE_USB_PORT_FULL_SPEED if EXAMPLE_HARDWARE_ESP32_P4_DEVKIT + default EXAMPLE_USB_PORT_DEFAULT + help + Which USB-OTG port TinyUSB drives. The ESP32-P4 has two: the + USB 2.0 high-speed port (TinyUSB's default there) and the USB 1.1 + full-speed port shared with the USB-Serial-JTAG console. Boards do + not always route the high-speed port to a device-capable + connector (the Waveshare ESP32-P4-WIFI6 dev kit's USB-C is the + full-speed port; its high-speed port goes to the USB-A host jack), + so pick the one wired to the connector you plug the host into. + Other targets have a single full-speed port. + + config EXAMPLE_USB_PORT_DEFAULT + bool "TinyUSB's default for the target (P4: high-speed)" + + config EXAMPLE_USB_PORT_FULL_SPEED + bool "USB 1.1 full-speed port (shared with USB-Serial-JTAG)" + + config EXAMPLE_USB_PORT_HIGH_SPEED + bool "USB 2.0 high-speed port (ESP32-P4)" + depends on IDF_TARGET_ESP32P4 + endchoice + +endmenu diff --git a/components/vl53l/vl53l5cx_webapp_example/main/vl53l5cx_webapp_example.cpp b/components/vl53l/vl53l5cx_webapp_example/main/vl53l5cx_webapp_example.cpp new file mode 100644 index 0000000000..9913cecc40 --- /dev/null +++ b/components/vl53l/vl53l5cx_webapp_example/main/vl53l5cx_webapp_example.cpp @@ -0,0 +1,288 @@ +// USB <-> VL53L5CX web console example. +// +// Runs the espp::Vl53l5cx multizone ToF driver on an ESP32-S3 / ESP32-P4 and +// exposes it to a browser over USB: the hosted VL53L5CX console web app +// connects on the vendor (WebUSB) OR CDC (Web Serial) interface, configures the +// sensor (resolution, frequency, integration time, sharpener, target order, +// ranging mode, power mode, motion indicator), starts / stops ranging and +// receives every ranging frame, which it shows as a live 3D view of the 4x4 / +// 8x8 zone distances. All I2C work happens on the device inside +// espp::Vl53l5cxService (protocol: vl53l5cx_protocol.hpp, dispatcher module +// 10); the web app only sends requests and decodes frames. +// +// Wiring: the sensor on I2C (SDA / SCL from the example configuration; the +// ESP32-P4 dev kits use SDA 7 / SCL 8), 3.3 V, GND; LPn tied high (or left to +// the breakout's pull-up). The system console/logs go to UART0. + +#include +#include +#include +#include +#include +#include + +#include "coredump.hpp" +#include "coredump_service.hpp" +#include "dispatcher_worker.hpp" +#include "i2c.hpp" +#include "logger.hpp" +#include "monitor_service.hpp" +#include "ota.hpp" +#include "ota_service.hpp" +#include "system_service.hpp" +#include "task.hpp" +#include "usb_device.hpp" +#include "vl53l5cx.hpp" +#include "vl53l5cx_service.hpp" + +using namespace std::chrono_literals; + +extern "C" void app_main(void) { + espp::Logger logger({.tag = "VL53L5CX Console", .level = espp::Logger::Verbosity::INFO}); + logger.info("Starting USB<->VL53L5CX console example"); + + // --- Standard USB services' engines ----------------------------------------- + // Every espp USB example serves system info + reboot (module 7), the heap / + // task monitor (8), OTA (0) and core dump (4) next to its own protocol, so + // the hosted system / OTA / coredump consoles and the Device Hub work + // against it. A panic core-dumps to the `coredump` partition and is + // reported on the next boot; OTA rollback confirmation is host-driven. + espp::CoreDump core_dump({.log_level = espp::Logger::Verbosity::INFO}); + const std::string crash_report = core_dump.format_report(); + if (crash_report.empty()) + logger.info("Clean boot history (reset reason: {})", + espp::CoreDump::reset_reason_name(espp::CoreDump::reset_reason())); + else + logger.error("Previous abnormal reset:\n{}", crash_report); + espp::Ota ota({.reject_same_version = false, .log_level = espp::Logger::Verbosity::INFO}); + if (ota.is_pending_verify()) + logger.warn("This image is PENDING VERIFY (first boot after an OTA update): it rolls back on " + "the next reset unless the host confirms it (MARK_VALID from the OTA console)"); + + // --- I2C + the sensor -------------------------------------------------------- + static constexpr auto i2c_port = I2C_NUM_0; + static constexpr auto i2c_clock_speed = CONFIG_EXAMPLE_I2C_CLOCK_SPEED_HZ; + static constexpr gpio_num_t i2c_sda = (gpio_num_t)CONFIG_EXAMPLE_I2C_SDA_GPIO; + static constexpr gpio_num_t i2c_scl = (gpio_num_t)CONFIG_EXAMPLE_I2C_SCL_GPIO; + logger.info("Creating I2C on port {} with SDA {} and SCL {} at {} Hz", i2c_port, i2c_sda, i2c_scl, + i2c_clock_speed); + // The transaction timeout must cover the driver's longest transfers (512-byte + // firmware chunks, ~1.4 KB result frames): derived from the clock + espp::I2c i2c({.port = i2c_port, + .sda_io_num = i2c_sda, + .scl_io_num = i2c_scl, + .sda_pullup_en = GPIO_PULLUP_ENABLE, + .scl_pullup_en = GPIO_PULLUP_ENABLE, + .timeout_ms = espp::Vl53l5cx::i2c_timeout_ms(i2c_clock_speed), + .clk_speed = i2c_clock_speed}); + // The constructor reboots the sensor and uploads its firmware (about two + // seconds at 400 kHz). A failure is not fatal here: the web app can retry + // with INITIALIZE once the wiring is fixed. The callbacks take the address + // from the driver, so SET_I2C_ADDRESS keeps working. + espp::Vl53l5cx sensor(espp::Vl53l5cx::Config { + .device_address = espp::Vl53l5cx::DEFAULT_ADDRESS, +#if CONFIG_EXAMPLE_VARIANT_VL53L7CX + .variant = espp::Vl53l5cx::Variant::VL53L7CX, +#else + .variant = espp::Vl53l5cx::Variant::VL53L5CX, +#endif + .write = [&i2c](uint8_t address, const uint8_t *data, + size_t length) { return i2c.write(address, data, length); }, + .read = [&i2c](uint8_t address, uint8_t *data, + size_t length) { return i2c.read(address, data, length); }, + .log_level = espp::Logger::Verbosity::INFO, + }); + // One sensor: every Vl53l5cx call -- from both services and from the poll + // task below -- is serialized on one mutex. + std::mutex sensor_mutex; + if (!sensor.is_initialized()) { + logger.error("The VL53L5CX did not initialize; check the wiring, then INITIALIZE from the " + "web app"); + } else { + std::error_code ec; + std::lock_guard lock(sensor_mutex); +#if CONFIG_EXAMPLE_RESOLUTION_8X8 + const auto resolution = espp::Vl53l5cx::Resolution::ZONES_8X8; +#else + const auto resolution = espp::Vl53l5cx::Resolution::ZONES_4X4; +#endif + // resolution first (it bounds the ranging frequency), then the frame rate + if (!sensor.set_resolution(resolution, ec)) + logger.error("Failed to set the resolution: {}", ec.message()); + else if (!sensor.set_ranging_frequency_hz(CONFIG_EXAMPLE_RANGING_FREQUENCY_HZ, ec)) + logger.error("Failed to set the ranging frequency: {}", ec.message()); +#if CONFIG_EXAMPLE_START_RANGING_AT_BOOT + else if (!sensor.start_ranging(ec)) + logger.error("Failed to start ranging: {}", ec.message()); + else + logger.info("Ranging at {} Hz, {} zones", CONFIG_EXAMPLE_RANGING_FREQUENCY_HZ, + static_cast(resolution)); +#endif + } + + // --- USB: vendor (WebUSB) + CDC (Web Serial), both carry the protocol ------ + espp::UsbDevice::Config usb_cfg; + usb_cfg.manufacturer = "espp"; + usb_cfg.product = "espp VL53L5CX Console"; +#if CONFIG_EXAMPLE_USB_PORT_FULL_SPEED + usb_cfg.port = 0; +#elif CONFIG_EXAMPLE_USB_PORT_HIGH_SPEED + usb_cfg.port = 1; +#endif + usb_cfg.log_level = espp::Logger::Verbosity::WARN; + espp::UsbDevice::VendorFunction vendor; + vendor.interface_name = "espp VL53L5CX (WebUSB)"; + vendor.webusb = true; + vendor.landing_page_url = "esp-cpp.github.io/espp/apps/vl53l5cx_console.html"; + usb_cfg.vendor = vendor; + espp::UsbDevice::CdcFunction cdc; + cdc.interface_name = "espp VL53L5CX (CDC)"; + usb_cfg.cdc = cdc; + espp::UsbDevice usb(usb_cfg); + + //! [vl53l5cx_webapp_example] + // Vendor (WebUSB) and CDC (Web Serial) are independent byte streams, so each + // gets its own Vl53l5cxService (replies and the frame stream go back on the + // stream the host is using) and its own DispatcherWorker (one bounded RX + // queue + worker task feeding one parser, so the blocking sensor command + // handler never runs in the TinyUSB callback context). Both services share + // the one driver and its mutex; the poll task below feeds both. + // + // Each transport's `send` is called from TWO tasks -- the dispatcher worker + // (request + discovery replies) and the poll task (the frame stream) -- and + // UsbDevice's write_*() do not serialize writers, so guard each with a mutex + // to keep frames atomic on the wire. + std::mutex tx_mutex; + auto vendor_send = [&](std::span f) { + std::lock_guard lock(tx_mutex); + if (!usb.write_vendor(f)) + logger.warn_rate_limited("dropped a {}-byte vendor frame (TX backpressure)", f.size()); + }; + auto cdc_send = [&](std::span f) { + std::lock_guard lock(tx_mutex); + if (!usb.write_cdc(f)) + logger.warn_rate_limited("dropped a {}-byte CDC frame (TX backpressure)", f.size()); + }; + espp::Vl53l5cxService vendor_service(sensor, {.send = vendor_send, + .sensor_mutex = &sensor_mutex, + .log_level = espp::Logger::Verbosity::INFO}); + espp::Vl53l5cxService cdc_service(sensor, {.send = cdc_send, + .sensor_mutex = &sensor_mutex, + .log_level = espp::Logger::Verbosity::INFO}); + + // The standard services (system 7 / monitor 8 / OTA 0 / core dump 4), one per + // transport through the same mutex-guarded senders. A reboot request is + // permitted as is (the sensor is re-initialized at boot). + auto reboot_request = [&](espp::SystemService::RebootKind kind) { + logger.warn("Host requested a {}; allowing it", + kind == espp::SystemService::RebootKind::Bootloader ? "reboot into the bootloader" + : "reboot"); + return true; + }; + espp::SystemService vendor_system({.send = vendor_send, + .on_reboot_request = reboot_request, + .log_level = espp::Logger::Verbosity::INFO}); + espp::SystemService cdc_system({.send = cdc_send, + .on_reboot_request = reboot_request, + .log_level = espp::Logger::Verbosity::INFO}); + espp::MonitorService vendor_monitor( + {.send = vendor_send, + .task_config = {.name = "monitor_v", .stack_size_bytes = 6 * 1024}, + .log_level = espp::Logger::Verbosity::INFO}); + espp::MonitorService cdc_monitor( + {.send = cdc_send, + .task_config = {.name = "monitor_c", .stack_size_bytes = 6 * 1024}, + .log_level = espp::Logger::Verbosity::INFO}); + espp::OtaService vendor_ota(ota, + {.send = vendor_send, .log_level = espp::Logger::Verbosity::INFO}); + espp::OtaService cdc_ota(ota, {.send = cdc_send, .log_level = espp::Logger::Verbosity::INFO}); + espp::CoreDumpService vendor_coredump( + core_dump, {.send = vendor_send, .log_level = espp::Logger::Verbosity::INFO}); + espp::CoreDumpService cdc_coredump( + core_dump, {.send = cdc_send, .log_level = espp::Logger::Verbosity::INFO}); + + // On an RX overflow the OTA service aborts a transfer it owned and tells the + // host (an OTA image with dropped bytes is unusable). + espp::DispatcherWorker vendor_link( + {.send = vendor_send, + .on_overflow = [&]() { vendor_ota.on_rx_overflow(); }, + .task_config = {.name = "vl53l5cx_vendor", .stack_size_bytes = 16384}}); + espp::DispatcherWorker cdc_link( + {.send = cdc_send, + .on_overflow = [&]() { cdc_ota.on_rx_overflow(); }, + .task_config = {.name = "vl53l5cx_cdc", .stack_size_bytes = 16384}}); + vendor_link.register_module(vendor_service); // module 10 + its discovery metadata + cdc_link.register_module(cdc_service); + vendor_link.register_module(vendor_system); + vendor_link.register_module(vendor_monitor); + vendor_link.register_module(vendor_ota); + vendor_link.register_module(vendor_coredump); + cdc_link.register_module(cdc_system); + cdc_link.register_module(cdc_monitor); + cdc_link.register_module(cdc_ota); + cdc_link.register_module(cdc_coredump); + vendor_link.serve_discovery(usb_cfg.product); + cdc_link.serve_discovery(usb_cfg.product); + + // The TinyUSB callbacks just queue bytes for the workers. + usb.set_vendor_receive_callback([&](std::span data) { vendor_link.push(data); }); + usb.set_cdc_receive_callback([&](std::span data) { cdc_link.push(data); }); + + // The one poll loop: read every frame the sensor produces (a frame read is + // ~1.4 KB of I2C, about 40 ms at 400 kHz) and hand it to both services, + // which forward it on the transport(s) whose host enabled the stream. + espp::Vl53l5cx::RangingData frame; + uint32_t frames = 0; + auto last_report = std::chrono::steady_clock::now(); + espp::Task poll_task({ + .callback = [&](std::mutex &m, std::condition_variable &cv) -> bool { + if (!sensor.is_initialized() || !sensor.is_ranging()) { + std::unique_lock lock(m); + cv.wait_for(lock, 50ms); + return false; + } + bool have_frame = false; + { + std::lock_guard lock(sensor_mutex); + std::error_code ec; + if (sensor.is_data_ready(ec)) { + have_frame = sensor.get_ranging_data(frame, ec); + if (!have_frame) + logger.warn_rate_limited("Failed to read a frame: {}", ec.message()); + } + } + if (!have_frame) { + // nothing new yet (an I2C error is logged by the driver); check again soon + std::unique_lock lock(m); + cv.wait_for(lock, 3ms); + return false; + } + vendor_service.on_frame(frame); + cdc_service.on_frame(frame); + frames++; + const auto now = std::chrono::steady_clock::now(); + if (now - last_report >= 10s) { + logger.info("{} frames read ({} zones); vendor stream {}, CDC stream {}", frames, + frame.num_zones(), vendor_service.stream_enabled() ? "on" : "off", + cdc_service.stream_enabled() ? "on" : "off"); + last_report = now; + } + return false; // keep polling + }, + .task_config = {.name = "vl53l5cx poll", .stack_size_bytes = 8 * 1024}, + .log_level = espp::Logger::Verbosity::WARN, + }); + poll_task.start(); + //! [vl53l5cx_webapp_example] + + std::error_code usb_ec; + if (!usb.initialize(usb_ec)) + logger.error("Failed to initialize USB device: {} — no host transport available", + usb_ec.message()); + else + logger.info("VL53L5CX console ready. Connect the web app over WebUSB / Web Serial."); + + while (true) { + std::this_thread::sleep_for(1s); + } +} diff --git a/components/vl53l/vl53l5cx_webapp_example/partitions.csv b/components/vl53l/vl53l5cx_webapp_example/partitions.csv new file mode 100644 index 0000000000..93128cb556 --- /dev/null +++ b/components/vl53l/vl53l5cx_webapp_example/partitions.csv @@ -0,0 +1,12 @@ +# ESP-IDF Partition Table -- factory-less OTA layout (4MB flash) + core dump: +# otadata picks which of the two equal app slots boots; `idf.py flash` writes +# ota_0 and each OTA update alternates to the other slot. Panics core-dump +# into the dedicated `coredump` partition, served over USB by the core-dump +# service (every espp USB example carries this layout). +# Name, Type, SubType, Offset, Size, Flags +nvs, data, nvs, 0x9000, 0x4000, +otadata, data, ota, 0xd000, 0x2000, +phy_init, data, phy, 0xf000, 0x1000, +ota_0, app, ota_0, 0x10000, 1920K, +ota_1, app, ota_1, , 1920K, +coredump, data, coredump, , 64K, diff --git a/components/vl53l/vl53l5cx_webapp_example/sdkconfig.defaults b/components/vl53l/vl53l5cx_webapp_example/sdkconfig.defaults new file mode 100644 index 0000000000..3b5089db3d --- /dev/null +++ b/components/vl53l/vl53l5cx_webapp_example/sdkconfig.defaults @@ -0,0 +1,57 @@ +# The USB vendor / WebUSB + CDC transports use the native USB-OTG peripheral, +# available on the ESP32-S3 (also S2 / P4) -- NOT the classic ESP32. Pin the +# target so a bare `idf.py build` does not fall back to esp32; use +# `idf.py set-target esp32p4` for an ESP32-P4 board. +CONFIG_IDF_TARGET="esp32s3" + +# Common ESP-related +CONFIG_ESP_SYSTEM_EVENT_TASK_STACK_SIZE=4096 +# app_main keeps the driver (its ~3 KB of firmware / result buffers), a ranging +# frame and the two services (each holding the latest frame for GET_FRAME) on +# its stack: well over the 8 KB default. +CONFIG_ESP_MAIN_TASK_STACK_SIZE=24576 + +# Console on UART0. On the ESP32-S3 (and -P4) USB-Serial-JTAG shares the native +# USB port's PHY with USB-OTG, which TinyUSB takes over for espp::UsbDevice's +# interfaces: a primary console on USB-Serial-JTAG contends with them for that one +# port and the device is unusable over USB. UART0 is an independent peripheral, so +# the console always has a place to go (connect a USB-UART adapter to UART0 for +# `idf.py monitor`; the ESP32-P4 dev kits have one on board). +CONFIG_ESP_CONSOLE_UART_DEFAULT=y +# USB-Serial-JTAG stays the SECONDARY console so early-boot / bootloader logs are +# still visible on the native USB port before the app brings up TinyUSB. +CONFIG_ESP_CONSOLE_SECONDARY_USB_SERIAL_JTAG=y + +# Enable the TinyUSB vendor + CDC class drivers. The vendor interface carries +# the framed protocol for WebUSB; the CDC interface carries the SAME framed +# protocol for Web Serial. HID count is set only so the usb_device component's +# HID code paths compile (no HID interface is instantiated here). esp_tinyusb +# gates each class behind these counts. +CONFIG_TINYUSB_VENDOR_COUNT=1 +CONFIG_TINYUSB_CDC_ENABLED=y +CONFIG_TINYUSB_CDC_COUNT=1 +CONFIG_TINYUSB_HID_COUNT=1 + +# An 8x8 ranging frame is a ~1.4 KB framed message, written all-or-nothing +# into the TX FIFO: size the FIFOs so a frame fits behind a pending reply. +CONFIG_TINYUSB_VENDOR_RX_BUFSIZE=2048 +CONFIG_TINYUSB_VENDOR_TX_BUFSIZE=4096 +CONFIG_TINYUSB_CDC_TX_BUFSIZE=4096 + +# C++ +CONFIG_COMPILER_CXX_EXCEPTIONS=y + +# Standard USB services (system / monitor / OTA / core dump): the OTA+coredump +# partition layout (partitions.csv), core dumps to flash, OTA rollback, and the +# FreeRTOS run-time statistics the task monitor reads. +CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y +CONFIG_PARTITION_TABLE_CUSTOM=y +CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv" +CONFIG_PARTITION_TABLE_FILENAME="partitions.csv" +CONFIG_PARTITION_TABLE_OFFSET=0x8000 +CONFIG_PARTITION_TABLE_MD5=y +CONFIG_ESP_COREDUMP_ENABLE_TO_FLASH=y +CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE=y +CONFIG_FREERTOS_USE_TRACE_FACILITY=y +CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS=y +CONFIG_FREERTOS_VTASKLIST_INCLUDE_COREID=y diff --git a/components/vl53l/web/vl53l5cx_console.html b/components/vl53l/web/vl53l5cx_console.html new file mode 100644 index 0000000000..e7cbb09c08 --- /dev/null +++ b/components/vl53l/web/vl53l5cx_console.html @@ -0,0 +1,1560 @@ + + + + + + espp VL53L5CX Console (WebUSB / Web Serial) + + + + + + + + +
+
+

espp VL53L5CX Console (WebUSB / Web Serial)

+ + Disconnected +
+ +
+ This browser supports neither WebUSB nor Web Serial. Use a Chromium-based browser + (Chrome / Edge / Opera) on a secure origin (https, localhost or file://). +
+ + +
+

Device

+
+ + + + + +
+ + + +
+

Not connected. Default WebUSB filter: VID 0x1209 / PID 0x0d32 (espp default).

+
+ Sensor: - + Part: - + I2C: - + Zones: - + Sensor rate: - + Frames: - + Received: - +
+ + + + +
+
+ +
+
+ +
+

Live view

+
+ + + + + to + + + + + + +
+
+ +
-
-
+
drag to orbit · wheel / pinch to zoom · hover a zone for details
+
No frame yet - connect, start ranging and keep "Live frames" on.
+
+
+ +
+
+ +
+ +
+

Settings

+
+ Stop ranging to change the settings (the sensor refuses them while ranging). + Resolution + Frequency (Hz) + Integration (ms) + Sharpener (%) + Target order + Ranging mode + Power mode + Motion window (mm) + I2C address +
+
+ + +
+

Zone -

+
+ Distance- + Status- + Sigma- + Signal- + Ambient- + SPADs- + Reflectance- + Targets- +
+
+
Frame - · device time - · valid -
+
+ + + +
+
+ + +
+

Log

+
+
+ +
+ espp VL53L5CX Console · talks to the espp VL53L5CX webapp example + (components/vl53l/vl53l5cx_webapp_example), which runs the + espp::Vl53l5cx driver over I2C. Single-file, offline, no dependencies. +
+
+ + + + diff --git a/doc/Doxyfile b/doc/Doxyfile index 39bcf59910..c763f12c82 100755 --- a/doc/Doxyfile +++ b/doc/Doxyfile @@ -216,6 +216,8 @@ EXAMPLE_PATH = \ $(PROJECT_PATH)/components/wdi/usb_example/main/wdi_usb_example.cpp \ $(PROJECT_PATH)/components/wdi/usb_host_example/main/wdi_usb_host_example.cpp \ $(PROJECT_PATH)/components/vl53l/example/main/vl53l_example.cpp \ + $(PROJECT_PATH)/components/vl53l/vl53l5cx_example/main/vl53l5cx_example.cpp \ + $(PROJECT_PATH)/components/vl53l/vl53l5cx_webapp_example/main/vl53l5cx_webapp_example.cpp \ $(PROJECT_PATH)/components/wifi/example/main/wifi_example.cpp \ $(PROJECT_PATH)/components/wrover-kit/example/main/wrover_kit_example.cpp \ $(PROJECT_PATH)/components/ws-s3-geek/example/main/ws_s3_geek_example.cpp \ @@ -506,6 +508,9 @@ INPUT = \ $(PROJECT_PATH)/components/wdi/include/wdi_usb_host.hpp \ $(PROJECT_PATH)/components/wdi/include/wdi_ble_central.hpp \ $(PROJECT_PATH)/components/vl53l/include/vl53l.hpp \ + $(PROJECT_PATH)/components/vl53l/include/vl53l5cx.hpp \ + $(PROJECT_PATH)/components/vl53l/include/vl53l5cx_protocol.hpp \ + $(PROJECT_PATH)/components/vl53l/include/vl53l5cx_service.hpp \ $(PROJECT_PATH)/components/utils/include/bitmask_operators.hpp \ $(PROJECT_PATH)/components/wifi/include/wifi.hpp \ $(PROJECT_PATH)/components/wifi/include/wifi_base.hpp \ diff --git a/doc/en/dispatcher/custom_modules.rst b/doc/en/dispatcher/custom_modules.rst index e4d1278d03..a96a81d6f1 100644 --- a/doc/en/dispatcher/custom_modules.rst +++ b/doc/en/dispatcher/custom_modules.rst @@ -69,6 +69,7 @@ Module id Protocol Protocol id 7 System info / reboot control (``espp::SystemService``) ``espp.system`` v1 8 Heap / task monitor (``espp::MonitorService``) ``espp.monitor`` v1 9 Windowed desktop (``espp::DesktopService``) ``espp.desktop`` v2 +10 VL53L5CX ToF console (``espp::Vl53l5cxService``) ``espp.vl53l5cx`` v1 0xF0-0xFE reserved for dispatcher / meta use 0xFF capability discovery ========= ======================================================== ================================== @@ -833,7 +834,8 @@ tags the generator and the hub read: `espp-category` (required) is one of ``device management``, ``motor -control``, ``bus tools``, ``input devices``, ``utilities``; `espp-protocols` +control``, ``bus tools``, ``input devices``, ``sensors``, ``utilities``; +`espp-protocols` lists the protocol ids + versions your console implements (``id:version``, space-separated, a trailing ``?`` for one it can do without — the exact `ModuleInfo::protocol` / `protocol_version` your module advertises); the diff --git a/doc/en/distance_sensors/index.rst b/doc/en/distance_sensors/index.rst index 952ba79ed8..d6a1136240 100644 --- a/doc/en/distance_sensors/index.rst +++ b/doc/en/distance_sensors/index.rst @@ -5,5 +5,6 @@ Distance Sensor APIs :maxdepth: 1 vl53l + vl53l5cx Code examples for the Distance Sensor APIs are provided in the respective component folders. diff --git a/doc/en/distance_sensors/vl53l5cx.rst b/doc/en/distance_sensors/vl53l5cx.rst new file mode 100644 index 0000000000..a359a0d094 --- /dev/null +++ b/doc/en/distance_sensors/vl53l5cx.rst @@ -0,0 +1,62 @@ +VL53L5CX Multizone ToF Sensor +***************************** + +The `VL53L5CX +`_ is a +multizone Time-of-Flight (ToF) sensor: it ranges up to 4 meters in every zone +of a 4x4 or 8x8 grid over a 63 degree diagonal field of view, at up to 60 Hz +(4x4) or 15 Hz (8x8). Every zone reports a distance, signal and ambient rates, +a sigma, a reflectance estimate and a validity status, and the sensor can run a +motion indicator over the zones. + +The sensor has no firmware in ROM: the driver uploads the firmware (bundled, +from STMicroelectronics' Ultra Lite Driver, BSD-3-Clause) over I2C at every +initialization, which takes about two seconds at 400 kHz. The driver is a port +of ST's Ultra Lite Driver 1.1.2 to the espp peripheral conventions; one target +per zone is supported, and the crosstalk calibration / detection threshold +plugins are not ported yet. + +.. note:: + + The VL53L5CX shares this component with the single-zone + :doc:`VL53L4CD / VL53L4CX driver ` (both use 16-bit register + addresses), but the two drivers share nothing else. + +Web console +----------- + +``espp::Vl53l5cxService`` (``vl53l5cx_service.hpp``) exposes a sensor over the +:doc:`dispatcher <../dispatcher/dispatcher>` / ``stream_frame`` protocol +(module id 10, protocol id ``espp.vl53l5cx``, see ``vl53l5cx_protocol.hpp``): +a host can configure every setting, start / stop ranging and receive each +ranging frame. The hosted `VL53L5CX console +`_ web app +(``components/vl53l/web/vl53l5cx_console.html``) draws the frames as a live 3D +surface or bar height field over WebUSB / Web Serial; the +:doc:`vl53l5cx_webapp_example` runs it next to the standard USB services. + +.. image:: https://github.com/user-attachments/assets/dd696291-8066-4764-86a0-1ca3d2425e8f + :alt: VL53L5CX console: live 3D surface view of an 8x8 frame, zones at their measured positions + :width: 100% + :target: https://esp-cpp.github.io/espp/apps/vl53l5cx_console.html + +.. image:: https://github.com/user-attachments/assets/c5e4ac21-f534-4238-b0ff-1775eae6d014 + :alt: VL53L5CX console live: orbiting the surface, the bars view and colouring by signal + :width: 100% + :target: https://esp-cpp.github.io/espp/apps/vl53l5cx_console.html + +.. ------------------------------- Examples ------------------------------------ + +.. toctree:: + + vl53l5cx_example + vl53l5cx_webapp_example + +.. ---------------------------- API Reference ---------------------------------- + +API Reference +------------- + +.. include-build-file:: inc/vl53l5cx.inc +.. include-build-file:: inc/vl53l5cx_protocol.inc +.. include-build-file:: inc/vl53l5cx_service.inc diff --git a/doc/en/distance_sensors/vl53l5cx_example.md b/doc/en/distance_sensors/vl53l5cx_example.md new file mode 100644 index 0000000000..49d05bce7b --- /dev/null +++ b/doc/en/distance_sensors/vl53l5cx_example.md @@ -0,0 +1,2 @@ +```{include} ../../../components/vl53l/vl53l5cx_example/README.md +``` diff --git a/doc/en/distance_sensors/vl53l5cx_webapp_example.md b/doc/en/distance_sensors/vl53l5cx_webapp_example.md new file mode 100644 index 0000000000..daa4e24552 --- /dev/null +++ b/doc/en/distance_sensors/vl53l5cx_webapp_example.md @@ -0,0 +1,2 @@ +```{include} ../../../components/vl53l/vl53l5cx_webapp_example/README.md +``` diff --git a/doc/en/web_apps.rst b/doc/en/web_apps.rst index 7d625700fe..5ff0834bb3 100644 --- a/doc/en/web_apps.rst +++ b/doc/en/web_apps.rst @@ -12,7 +12,7 @@ Each app is a single HTML file; it also runs offline straight from its ``components//web/`` directory via a ``file://`` URL. The landing page groups the apps by category (*device management*, *motor -control*, *bus tools*, *input devices*, *utilities*), can be filtered by name, +control*, *bus tools*, *input devices*, *sensors*, *utilities*), can be filtered by name, description, protocol id, transport or category, and sorted by name or category. Each card shows the espp dispatcher protocols the app speaks (a trailing ``?`` marks an optional one, e.g. the System Console's @@ -59,6 +59,12 @@ device may serve a protocol on any dispatcher module id. over SDO). - **MCP266 Console** (``mcp266_console.html``) — status, motor, and configuration controls for the :doc:`mcp266 ` motor controller. +- **VL53L5CX Console** (``vl53l5cx_console.html``) — live 3D view (surface or + bar height field, coloured by distance / signal / sigma / reflectance / + status) of a :doc:`VL53L5CX / VL53L7CX ` + multizone ToF sensor's 4x4 or 8x8 zones, with a numeric grid, per-zone + details, the motion indicator, every sensor setting and start / stop / + initialize controls. - **System Console** (``system_console.html``) — device info (chip, firmware, partitions, reset reason, uptime, memory), reboot and reboot-into-bootloader for the :doc:`system ` component, plus live heap gauges and a @@ -71,6 +77,11 @@ device may serve a protocol on any dispatcher module id. clicks, edits, selections and key presses back; window placement is remembered per app and title. +.. image:: https://github.com/user-attachments/assets/c5e4ac21-f534-4238-b0ff-1775eae6d014 + :alt: espp VL53L5CX Console showing a live 8x8 frame as a 3D surface and as bars + :width: 100% + :target: https://esp-cpp.github.io/espp/apps/vl53l5cx_console.html + Motor control ============= @@ -138,8 +149,8 @@ hand-maintained list; the page describes itself with tags in its ````: - ```` / ``description`` — the card's title and blurb. - ``espp-category`` (**required**) — one of ``device management``, - ``motor control``, ``bus tools``, ``input devices``, ``utilities``; the - section the card is listed under. + ``motor control``, ``bus tools``, ``input devices``, ``sensors``, + ``utilities``; the section the card is listed under. - ``espp-protocols`` — space-separated ``id:version`` entries naming the espp dispatcher protocols the app speaks (the same ids a device advertises in discovery, see :doc:`dispatcher/custom_modules`); a trailing ``?`` marks diff --git a/doc/generate_apps_index.py b/doc/generate_apps_index.py index bb9ab0ab72..82e1280923 100644 --- a/doc/generate_apps_index.py +++ b/doc/generate_apps_index.py @@ -43,7 +43,7 @@ from pathlib import Path # Section order on the landing page. -CATEGORIES = ["device management", "motor control", "bus tools", "input devices", "utilities"] +CATEGORIES = ["device management", "motor control", "bus tools", "input devices", "sensors", "utilities"] TRANSPORTS = ["webusb", "webserial", "webhid"] TRANSPORT_LABEL = {"webusb": "WebUSB", "webserial": "Web Serial", "webhid": "WebHID"} # A protocol id is a dotted, namespaced identifier (e.g. espp.can-bridge).