ank/cruisecontrol
1
Fork 0
Code Issues Activity

tof init (not successful)

Browse source
This commit is contained in:
Andy Killorin 2024-09-28 17:55:15 -04:00
parent ace0d9772e
commit 8a10953cc4
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
1 changed files with 151 additions and 2 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

153
controller/src/main.rs
View file

@ -5,6 +5,9 @@
#![no_main]
#![allow(async_fn_in_trait)]
mod vl53l0;
use core::array;
use core::fmt::Formatter;
use core::panic::PanicInfo;
use core::str::from_utf8;
@ -28,7 +31,8 @@ use embedded_io_async::Write;
use rand::RngCore;
use reqwless::response;
use static_cell::StaticCell;
use {defmt_rtt as _, };
use defmt_rtt as _;
use vl53l0::RegAddr::*;
bind_interrupts!(struct Irqs {
PIO0_IRQ_0 => InterruptHandler<PIO0>;
@ -131,6 +135,19 @@ async fn main(spawner: Spawner) {
}
}
async fn write_flag<'a, T>(bus: &mut embassy_rp::i2c::I2c<'a, T,Async>, addr: u16, reg: u8, bit: u8, value: bool)
where T: embassy_rp::i2c::Instance {
let mut initial: [u8;1] = [0];
let _ = bus.write_read_async(addr, [reg], &mut initial).await;
let mask = 1 << bit;
if value {
initial[0] |= mask;
} else {
initial[0] &= !mask;
}
let _ = bus.write_async(addr, [reg, initial[0]]).await;
}
let id = 0x29;
Timer::after_millis(50).await; // sensor boot
write_to_device(&mut bus, id, [
@ -146,7 +163,92 @@ async fn main(spawner: Spawner) {
[0xFF, 0x00],
[0x80, 0x00],
]).await;
// TODO: VL53L0X.cpp L86-138
// disable SIGNAL_RATE_MSRC (bit 1) and SIGNAL_RATE_PRE_RANGE (bit 4) limit checks
write_flag(&mut bus, id, 0x60, 1, true).await;
write_flag(&mut bus, id, 0x60, 4, true).await;
let mega_counts_per_second = 0.25;
let mega_counts_per_second: u16 = (mega_counts_per_second * (1<<7) as f64) as u16;
let _ = bus.write_async(id, [FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT as u8,
(mega_counts_per_second >> 8) as u8,
(mega_counts_per_second & 255) as u8
]).await;
// get spad info
let _ = bus.write_async(id, [SYSTEM_SEQUENCE_CONFIG as u8, 0xFF]).await;
write_to_device(&mut bus, id , [
[0x80, 0x01],
[0xff, 0x01],
[0x00, 0x00],
[0xff, 0x06],
]).await;
write_flag(&mut bus, id, 0x83, 3, true).await;
write_to_device(&mut bus, id , [
[0xff, 0x07],
[0x81, 0x01],
[0x80, 0x01],
[0x94, 0x6b],
[0x83, 0x00],
]).await;
debug!("starting spad wait");
loop {
let mut wait: [u8;1] = [0];
let _ = bus.write_read_async(id, [0x83], &mut wait).await;
if wait[0] != 0 {
break;
}
Timer::after_micros(5).await;
}
debug!("ended spad wait");
let _ = bus.write_async(id, [0x83, 0x01]).await;
let mut value: [u8;1] = [0];
let _ = bus.write_read_async(id, [0x92], &mut value).await;
write_to_device(&mut bus, id, [
[0x81, 0x00],
[0xff, 0x06],
]).await;
write_flag(&mut bus, id, 0x83, 3, false).await;
write_to_device(&mut bus, id, [
[0xff, 0x01],
[0x00, 0x01],
[0xff, 0x00],
[0x80, 0x00],
]).await;
let count = value[0] & 0x7f;
let is_aperture = value[0] & 0b10000000;
let is_aperture = is_aperture != 0;
// TODO: vl53l0x.py post line 200
let mut spad_map: [u8;6]=[0;6];
let _ = bus.write_read_async(id, [GLOBAL_CONFIG_SPAD_ENABLES_REF_0 as u8], &mut spad_map);
write_to_device(&mut bus, id, [
[0xff, 0x01],
[DYNAMIC_SPAD_REF_EN_START_OFFSET as u8, 0x00],
[DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD as u8, 0x2c],
[0xff, 0x00],
[DYNAMIC_SPAD_REF_EN_START_OFFSET as u8, 0xb4],
]).await;
let mut spads_enabled = 0;
for i in 0..48 {
if i < 12 && is_aperture || spads_enabled >= count {
spad_map[i/8] &= !(1<< (i>>2));
} else if (spad_map[i/8] & (1<< (i>>2))) != 0 {
spads_enabled += 1;
}
}
let mut spad_write: [u8;7] = [0;7];
spad_write[0] = GLOBAL_CONFIG_SPAD_ENABLES_REF_0 as u8;
spad_write[1..].clone_from_slice(&spad_map);
let _ = bus.write_async(id, spad_write).await;
write_to_device(&mut bus, id, [
[0xFF, 0x01],
[0x00, 0x00],
@ -229,6 +331,33 @@ async fn main(spawner: Spawner) {
[0xFF, 0x00],
[0x80, 0x00],
]).await;
//write_flag(&mut bus, id, GPIO_HV_MUX_ACTIVE_HIGH as u8, 4, false).await;
//let _ = bus.write_async(id, [SYSTEM_SEQUENCE_CONFIG as u8, 0x01]).await;
//calibrate(&mut bus, id, 0x40).await;
//let _ = bus.write_async(id, [SYSTEM_SEQUENCE_CONFIG as u8, 0x02]).await;
//calibrate(&mut bus, id, 0x00).await;
//let _ = bus.write_async(id, [SYSTEM_SEQUENCE_CONFIG as u8, 0xe8]).await;
async fn calibrate<'a, T>(bus: &mut embassy_rp::i2c::I2c<'a, T,Async>, addr: u16, data: u8)
where T: embassy_rp::i2c::Instance {
let _ = bus.write_async(addr, [SYSRANGE_START as u8 ,data | 0x01]).await;
debug!("started calib wait");
loop {
let mut wait: [u8;1] = [0];
let _ = bus.write_read_async(addr, [0x13], &mut wait).await;
if wait[0] & 0x07 != 0 {
break;
}
Timer::after_micros(5).await;
}
debug!("ended calib wait");
write_to_device(bus, addr, [
[SYSTEM_INTERRUPT_CLEAR as u8, 0x01],
[SYSRANGE_START as u8, 0x00],
]).await;
}
//TODO VL53L0X.cpp L 236-280
@ -254,6 +383,26 @@ async fn main(spawner: Spawner) {
//let _ = bus.write_async(0x80u16, [0x00]).await;
//loop {
// debug!("starting wait part 1");
// loop {
// let mut wait: [u8;1] = [0];
// let _ = bus.write_read_async(id, [SYSRANGE_START as u8], &mut wait).await;
// debug!("{wait:?}");
// if wait[0] & 0x01 != 0 {
// break;
// }
// Timer::after_micros(5).await;
// }
// debug!("starting wait part 2");
// loop {
// let mut wait: [u8;1] = [0];
// let _ = bus.write_read_async(id, [RESULT_INTERRUPT_STATUS as u8], &mut wait).await;
// if wait[0] & 0x07 != 0 {
// break;
// }
// Timer::after_micros(5).await;
// }
// debug!("ending wait part 2");
// let mut output: [u8; 2] = [0;2];
// let _ = bus.write_read_async(id, [0x14], &mut output).await;
// let _ = bus.write_async(id, [0x0B, 0x01]).await;