8x8 data @15Hz + sketch for processing
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37
.vscode/c_cpp_properties.json
vendored
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37
.vscode/c_cpp_properties.json
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@ -0,0 +1,37 @@
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{
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"env": {
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"myDefaultIncludePath": [
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"${workspaceFolder}",
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"${workspaceFolder}/VL53L8CX_ULD_API/inc",
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"${workspaceFolder}/build",
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"${env:PICO_SDK_PATH}/src/**/include",
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"${env:PICO_SDK_PATH}/src/common/pico_base/include",
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"${env:PICO_SDK_PATH}/build/generated/pico_base",
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"${env:PICO_SDK_PATH}/src/common/pico_base/include/pico",
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"${env:PICO_SDK_PATH}/src/common/pico_stdlib/include"
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],
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"myCompilerPath": "/usr/bin/arm-none-eabi-gcc"
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},
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"configurations": [
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{
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"name": "Linux",
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"intelliSenseMode": "linux-gcc-arm",
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"includePath": [
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"${myDefaultIncludePath}",
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"${workspaceFolder}/build/"
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],
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"compilerPath": "/usr/bin/arm-none-eabi-gcc",
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"cStandard": "c11",
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"cppStandard": "c++17",
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"browse": {
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"path": [
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"${workspaceFolder}"
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],
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"limitSymbolsToIncludedHeaders": true,
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"databaseFilename": ""
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},
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"configurationProvider": "ms-vscode.cmake-tools"
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}
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],
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"version": 4
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}
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25
.vscode/tasks.json
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25
.vscode/tasks.json
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@ -0,0 +1,25 @@
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{
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"tasks": [
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{
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"type": "shell",
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"command": "cd build; cmake ../; make",
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"label": "CMake in build/",
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"problemMatcher": [],
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"group": {
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"kind": "build",
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"isDefault": false
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}
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},
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{
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"type": "shell",
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"command": "cd build; cmake ../; make Flash",
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"label": "CMake & Make & Flash",
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"problemMatcher": [],
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"group": {
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"kind": "build",
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"isDefault": true
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}
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}
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],
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"version": "2.0.0"
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}
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110
Processing/VL53L8CX_8x8/VL53L8CX_8x8.pde
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110
Processing/VL53L8CX_8x8/VL53L8CX_8x8.pde
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@ -0,0 +1,110 @@
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/**
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* Simple Read
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*
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* Read data from the serial port and change the color of a rectangle
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* when a switch connected to a Wiring or Arduino board is pressed and released.
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* This example works with the Wiring / Arduino program that follows below.
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*/
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import processing.serial.*;
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Serial myPort; // Create object from Serial class
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int val; // Data received from the serial port
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int square_size = 40;
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int square_gap = 4;
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int square_space = (square_size + square_gap);
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int max_distance = 650;
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int max_color = 650;
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void setup()
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{
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size(360, 360);
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colorMode(HSB, 1000);
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// I know that the first port in the serial list on my mac
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// is always my FTDI adaptor, so I open Serial.list()[0].
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// On Windows machines, this generally opens COM1.
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// Open whatever port is the one you're using.
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print(Serial.list());
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String portName = Serial.list()[0];
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myPort = new Serial(this, portName, 115200);
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}
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boolean record_started=false;
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String data="";
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void draw()
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{
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if ( myPort.available() > 0) { // If data is available,
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String inBuffer = myPort.readString();
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String[] lines = inBuffer.split("\n");
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for(int index = 0; index<lines.length; index++){
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if ( lines[index].startsWith(">distance:")){
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data = lines[index];
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record_started=true;
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continue;
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}
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if(record_started){
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data += lines[index];
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if(count(data) >= 64){
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record_started=false;
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display_my_data(data);
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}
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}
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}
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}
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}
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int count(String line){
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return line.length() - line.replace(",", "").length();
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}
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void display_my_data(String data){
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String distances[] = data.split(":")[1].split(",");
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print(distances[0]);
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for(int row=0; row < 8; row++){
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for(int col=0; col < 8; col++){
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int distance = int(distances[row+8*col]);
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if( distance >max_distance)distance = max_distance;
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fill(color(distance * max_color/ max_distance, 1000, 1000));
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square(row * square_space + square_gap, col * square_space + square_gap, square_size);
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}
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}
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}
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/*
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// Wiring / Arduino Code
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// Code for sensing a switch status and writing the value to the serial port.
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int switchPin = 4; // Switch connected to pin 4
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void setup() {
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pinMode(switchPin, INPUT); // Set pin 0 as an input
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Serial.begin(9600); // Start serial communication at 9600 bps
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}
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void loop() {
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if (digitalRead(switchPin) == HIGH) { // If switch is ON,
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Serial.write(1); // send 1 to Processing
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} else { // If the switch is not ON,
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Serial.write(0); // send 0 to Processing
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}
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delay(100); // Wait 100 milliseconds
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}
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*/
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49
Readme.md
49
Readme.md
@ -1,47 +1,6 @@
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Détection de l'adversaire - 2023
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================================
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VL53L8CX with the Raspberry Pi Pico (RP2040)
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============================================
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Le code présenté ici sert à la détection de l'adversaire pour les robots de l'équipe [Poivron Robotique](http://poivron-robotique.fr) qui participe à la coupe de France de Robotique. Ce code tourne sur un Raspberry Pi Pico et une carte personnalisé sur laquelle sont banchés 12 capteurs VL53L1X.
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This code use a Raspberry Pi Pico (RP2040) to read the data of a VL53L8CX.
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Principe de fonctionnement
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--------------------------
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Les capteurs VL53L1X sont des capteurs I2C dont l'adresse est configurable. Cependant, le capteur revient à son adresse par défaut dès qu'il est éteint ou désactivé par la broche `XSHUT`. Le Raspberry Pi Pico est relié à un 74HC4067, qui lui permet de désactiver un capteur à la fois.
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Le code utilisé ici repose sur [VL53L1X_Raspberry_Pi_Pico](https://git.poivron-robotique.fr/Keuronde/Raspberry_Pi_Pico_VL53L1X) et l'exemple pour piloter les LED RGB ws2812 fourni avec le SDK du Raspberry Pi Pico.
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Initialisation
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--------------
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La première étape de l'initialisation consiste à changer tous les capteurs d'adresses en une seule commande I2C.
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La seconde étape consiste, pour chaque capteur, à le désactiver puis à le réactiver à l'aide du 74HC4067 et de la boche `XSHUT` du composant. Ce faisant, il reprend son adresse par défaut et il est le seul à cette adresse. Ainsi il est possible, via le bus I2C de lui attribuer une adresse unique.
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Communication I2C
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-----------------
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Avec le reste du robot, la carte communique en I2C sur le bus i2c1, se comportant comme une EPROM en utilisant le code de Valentin Milea <valentin.milea@gmail.com>, [Pico_i2c_slave](https://github.com/vmilea/pico_i2c_slave).
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Description de la mémoire d'échange:
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------------------------------------
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Les adresses 0 à 11 (0x0B) contiennent les distances des capteurs en centimètre. Cette distance est saturée à 200 cm.
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Les adresses 16 (0x10) à 18 (0x12) contiennent les consignes d'éclairage des LEDs:
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* 0x10 : Couleur sur 8 bits.
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* 0x11 : octet de poids fort pour le masque sélectionnant les LEDs à commander.
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* 0x12 : octet de poids faible pour le masque sélectionnant les LEDs à commander.
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Couleur sur 8 bits structurée ainsi : 3-3-2 (Rouge - vert - bleu).
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Le masque sur 16 bits, 1 : la led doit être piloter de la couleur indiquée, 0 la led affiche la distance.
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Valeur spéciale pour le masque : 0x00. Dans ce cas, toutes les LEDs reprennent leur fonction par défaut (affichage de la distance).
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Démo - Ne fonctionne plus
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----
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La démo ne fonctionne plus, la carte initialise automatiquement les capteurs et lit leurs valeurs en continu. Le code esclave I2C envoi ces valeurs qui sont stockée de l'adresse 0x0 à 0x0B de la "mémoire" I2C.
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Le code I2C pour la partie esclave est repris de [pico_i2c_slave](https://github.com/vmilea/pico_i2c_slave).
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Une fois branchée à un ordinateur, le Raspberry Pi Pico propose un menu par la liaison USB/série.
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- La commande "i" initialise les capteurs et change d'état les LEDs en fonction du succès de l'initialisation.
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- La commande "j" démarre une lecture continue et renvoie les données des capteurs dans un format compatible avec [Teleplot](https://github.com/nesnes/teleplot/).
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Current status : ability to read @15Hz the 8x8 values and send them to a computer through the USB connection. Based mainly on the "example 1" of the "Ultra Lite Driver" provided by ST Microelectronics.
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@ -12,7 +12,6 @@
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#include <stdlib.h>
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#include <string.h>
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#include <stdio.h>
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#include "vl53l8cx_api.h"
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#include "vl53l8cx_buffers.h"
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@ -224,15 +223,10 @@ uint8_t vl53l8cx_is_alive(
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uint8_t status = VL53L8CX_STATUS_OK;
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uint8_t device_id, revision_id;
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printf("Alive 1\n");
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status |= WrByte(&(p_dev->platform), 0x7fff, 0x00);
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printf("Alive 2\n");
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status |= RdByte(&(p_dev->platform), 0, &device_id);
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printf("Alive 3\n");
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status |= RdByte(&(p_dev->platform), 1, &revision_id);
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printf("Alive 4\n");
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status |= WrByte(&(p_dev->platform), 0x7fff, 0x02);
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printf("Alive 5\n");
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if (!status) return status;
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@ -261,7 +255,6 @@ uint8_t vl53l8cx_init(
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p_dev->is_auto_stop_enabled = (uint8_t)0x0;
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/* SW reboot sequence */
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printf("Init 0\n");
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status |= WrByte(&(p_dev->platform), 0x7fff, 0x00);
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status |= WrByte(&(p_dev->platform), 0x0009, 0x04);
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status |= WrByte(&(p_dev->platform), 0x000F, 0x40);
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@ -269,8 +262,6 @@ uint8_t vl53l8cx_init(
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status |= RdByte(&(p_dev->platform), 0x7FFF, &tmp);
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status |= WrByte(&(p_dev->platform), 0x000C, 0x01);
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printf("Init 1, %d\n", status);
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status |= WrByte(&(p_dev->platform), 0x0101, 0x00);
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status |= WrByte(&(p_dev->platform), 0x0102, 0x00);
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status |= WrByte(&(p_dev->platform), 0x010A, 0x01);
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@ -282,22 +273,17 @@ uint8_t vl53l8cx_init(
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status |= WrByte(&(p_dev->platform), 0x000F, 0x43);
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status |= WaitMs(&(p_dev->platform), 1);
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printf("Init 2, %d\n", status);
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status |= WrByte(&(p_dev->platform), 0x000F, 0x40);
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status |= WrByte(&(p_dev->platform), 0x000A, 0x01);
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status |= WaitMs(&(p_dev->platform), 100);
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printf("Init 3, %d\n", status);
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/* Wait for sensor booted (several ms required to get sensor ready ) */
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status |= WrByte(&(p_dev->platform), 0x7fff, 0x00);
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status |= _vl53l8cx_poll_for_answer(p_dev, 1, 0, 0x06, 0xff, 1);
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if(status != (uint8_t)0){
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goto exit;
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}
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printf("Init 4, %d\n", status);
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status |= WrByte(&(p_dev->platform), 0x000E, 0x01);
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status |= WrByte(&(p_dev->platform), 0x7fff, 0x02);
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@ -308,14 +294,10 @@ uint8_t vl53l8cx_init(
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status |= WrByte(&(p_dev->platform), 0x7fff, 0x00);
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printf("Init 5, %d\n", status);
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/* Enable host access to GO1 */
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status |= RdByte(&(p_dev->platform), 0x7fff, &tmp);
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status |= WrByte(&(p_dev->platform), 0x0C, 0x01);
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printf("Init 6, %d\n", status);
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/* Power ON status */
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status |= WrByte(&(p_dev->platform), 0x7fff, 0x00);
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status |= WrByte(&(p_dev->platform), 0x101, 0x00);
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@ -333,8 +315,6 @@ uint8_t vl53l8cx_init(
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status |= WrByte(&(p_dev->platform), 0x219, 0x00);
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status |= WrByte(&(p_dev->platform), 0x21B, 0x00);
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printf("Init 7, %d\n", status);
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/* Wake up MCU */
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status |= WrByte(&(p_dev->platform), 0x7fff, 0x00);
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status |= RdByte(&(p_dev->platform), 0x7fff, &tmp);
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@ -342,28 +322,18 @@ uint8_t vl53l8cx_init(
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status |= WrByte(&(p_dev->platform), 0x20, 0x07);
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status |= WrByte(&(p_dev->platform), 0x20, 0x06);
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printf("Init 8, %d\n", status);
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/* Download FW into VL53L8CX */
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status |= WrByte(&(p_dev->platform), 0x7fff, 0x09);
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printf("Init 9, %d\n", status);
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status |= WrMulti(&(p_dev->platform),0,
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(uint8_t*)&VL53L8CX_FIRMWARE[0],0x8000);
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printf("Init 10, %d\n", status);
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status |= WrByte(&(p_dev->platform), 0x7fff, 0x0a);
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printf("Init 11, %d\n", status);
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status |= WrMulti(&(p_dev->platform),0,
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(uint8_t*)&VL53L8CX_FIRMWARE[0x8000],0x8000);
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printf("Init 12, %d\n", status);
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status |= WrByte(&(p_dev->platform), 0x7fff, 0x0b);
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printf("Init 13, %d\n", status);
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status |= WrMulti(&(p_dev->platform),0,
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(uint8_t*)&VL53L8CX_FIRMWARE[0x10000],0x5000);
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printf("Init 14, %d\n", status);
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status |= WrByte(&(p_dev->platform), 0x7fff, 0x01);
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printf("Init 15, %d\n", status);
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/* Check if FW correctly downloaded */
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status |= WrByte(&(p_dev->platform), 0x7fff, 0x01);
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status |= WrByte(&(p_dev->platform), 0x06, 0x03);
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@ -373,8 +343,6 @@ uint8_t vl53l8cx_init(
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status |= RdByte(&(p_dev->platform), 0x7fff, &tmp);
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status |= WrByte(&(p_dev->platform), 0x0C, 0x01);
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printf("Init 16, %d\n", status);
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/* Reset MCU and wait boot */
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status |= WrByte(&(p_dev->platform), 0x7FFF, 0x00);
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status |= WrByte(&(p_dev->platform), 0x114, 0x00);
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@ -386,8 +354,6 @@ uint8_t vl53l8cx_init(
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status |= WrByte(&(p_dev->platform), 0x0C, 0x00);
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status |= WrByte(&(p_dev->platform), 0x0B, 0x01);
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printf("Init 1, %d\n", status);
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status |= _vl53l8cx_poll_for_mcu_boot(p_dev);
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if(status != (uint8_t)0){
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goto exit;
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@ -432,7 +398,6 @@ uint8_t vl53l8cx_init(
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status |= vl53l8cx_dci_write_data(p_dev, (uint8_t*)&pipe_ctrl,
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VL53L8CX_DCI_PIPE_CONTROL, (uint16_t)sizeof(pipe_ctrl));
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printf("Init 1, %d\n", status);
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#if VL53L8CX_NB_TARGET_PER_ZONE != 1
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tmp = VL53L8CX_NB_TARGET_PER_ZONE;
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status |= vl53l8cx_dci_replace_data(p_dev, p_dev->temp_buffer,
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@ -444,8 +409,6 @@ uint8_t vl53l8cx_init(
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VL53L8CX_DCI_SINGLE_RANGE,
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(uint16_t)sizeof(single_range));
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printf("Init 1, %d\n", status);
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exit:
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return status;
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}
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59
main.c
59
main.c
@ -87,7 +87,7 @@ void main(void)
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stdio_init_all();
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gpio_set_function(0, GPIO_FUNC_I2C);
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gpio_set_function(1, GPIO_FUNC_I2C);
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i2c_init(i2c0, 100 * 1000);
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i2c_init(i2c0, 400 * 1000);
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printf("3\n");
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WaitMs(0, 1000);
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printf("2\n");
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@ -153,6 +153,25 @@ void main(void)
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printf("VL53L8CX ULD ready ! (Version : %s)\n",
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VL53L8CX_API_REVISION);
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status = vl53l8cx_set_resolution(&Dev, VL53L8CX_RESOLUTION_8X8);
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if(status !=0){
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while(1){
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printf("vl53l8cx_set_resolution failed :%d\n", status);
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WaitMs(&(Dev.platform), 1000);
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}
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}
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status = vl53l8cx_set_ranging_frequency_hz(&Dev, 15);
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if(status !=0){
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while(1){
|
||||
printf("vl53l8cx_set_ranging_frequency_hz (15hz) failed :%d\n", status);
|
||||
WaitMs(&(Dev.platform), 1000);
|
||||
}
|
||||
}
|
||||
|
||||
//vl53l8cx_set_target_order(&Dev, VL53L8CX_TARGET_ORDER_CLOSEST);
|
||||
vl53l8cx_set_target_order(&Dev, VL53L8CX_TARGET_ORDER_STRONGEST);
|
||||
|
||||
|
||||
/*********************************/
|
||||
@ -162,43 +181,51 @@ void main(void)
|
||||
status = vl53l8cx_start_ranging(&Dev);
|
||||
|
||||
loop = 0;
|
||||
uint32_t time0, time1, time2, time3;
|
||||
while(1)
|
||||
{
|
||||
/* Use polling function to know when a new measurement is ready.
|
||||
* Another way can be to wait for HW interrupt raised on PIN A1
|
||||
* (INT) when a new measurement is ready */
|
||||
time0 = time_us_32();
|
||||
|
||||
status = vl53l8cx_check_data_ready(&Dev, &isReady);
|
||||
time1 = time_us_32();
|
||||
|
||||
if(isReady)
|
||||
{
|
||||
vl53l8cx_get_ranging_data(&Dev, &Results);
|
||||
time2 = time_us_32();
|
||||
|
||||
/* As the sensor is set in 4x4 mode by default, we have a total
|
||||
* of 16 zones to print. For this example, only the data of first zone are
|
||||
* print */
|
||||
printf("Print data no : %3u\n", Dev.streamcount);
|
||||
/*for(i = 0; i < 16; i++)
|
||||
{
|
||||
printf("Zone : %3d, Status : %3u, Distance : %4d mm\n",
|
||||
i,
|
||||
Results.target_status[VL53L8CX_NB_TARGET_PER_ZONE*i],
|
||||
Results.distance_mm[VL53L8CX_NB_TARGET_PER_ZONE*i]);
|
||||
|
||||
}*/
|
||||
printf("%4d,%4d,%4d,%4d\n%4d,%4d,%4d,%4d\n%4d,%4d,%4d,%4d\n%4d,%4d,%4d,%4d\n",
|
||||
Results.distance_mm[0],Results.distance_mm[1],Results.distance_mm[2],Results.distance_mm[3],
|
||||
Results.distance_mm[4],Results.distance_mm[5],Results.distance_mm[6],Results.distance_mm[7],
|
||||
Results.distance_mm[8],Results.distance_mm[9],Results.distance_mm[10],Results.distance_mm[11],
|
||||
Results.distance_mm[12],Results.distance_mm[13],Results.distance_mm[14],Results.distance_mm[15]
|
||||
);
|
||||
printf(">distance:");
|
||||
for(int row=0; row < 8; row++){
|
||||
for(int col=0; col < 8; col++){
|
||||
if(Results.target_status[col+ 8*row] == 255 ||// No Target detected
|
||||
Results.target_status[col+ 8*row] == 10 ||// Range valid, but no target detected at previous range
|
||||
Results.target_status[col+ 8*row] == 4 ||// Target consistency failed
|
||||
Results.target_status[col+ 8*row] == 3 ){// Sigma error too high
|
||||
Results.distance_mm[col+ 8*row] = 3000;
|
||||
}
|
||||
printf("%04d,", Results.distance_mm[col+ 8*row]);
|
||||
if((row == 0 ||row == 1 ) && Results.distance_mm[col+ 8*row] < 650){
|
||||
// printf("\nStatus: %d\n",Results.target_status[col+ 8*row]);
|
||||
}
|
||||
}
|
||||
}
|
||||
printf("\n");
|
||||
time3 = time_us_32();
|
||||
loop++;
|
||||
|
||||
printf("temps : %d, %d, %d\n", time1-time0, time2-time0, time3-time0);
|
||||
}
|
||||
|
||||
/* Wait a few ms to avoid too high polling (function in platform
|
||||
* file, not in API) */
|
||||
WaitMs(&(Dev.platform), 5);
|
||||
//WaitMs(&(Dev.platform), 5);
|
||||
}
|
||||
|
||||
status = vl53l8cx_stop_ranging(&Dev);
|
||||
|
||||
Loading…
Reference in New Issue
Block a user