Feature: distance measurement using vl53l0x sensor (#2050)

* Sample using Adafruit VL53L0X library. * Added long range mode.
SmingHub · Feb 25, 2020 · 3d5dc32 · 3d5dc32
1 parent 4300859
commit 3d5dc32
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diff --git a/.gitmodules b/.gitmodules
@@ -138,3 +138,7 @@
 	path = Sming/Libraries/ModbusMaster/ModbusMaster
 	url = https://github.com/nomis/ModbusMaster.git
 	ignore = dirty
+[submodule "Libraries.Adafruit_VL53L0X"]
+	path = Sming/Libraries/Adafruit_VL53L0X
+	url = https://github.com/adafruit/Adafruit_VL53L0X.git
+	ignore = dirty
diff --git a/Sming/Libraries/.patches/Adafruit_VL53L0X.patch b/Sming/Libraries/.patches/Adafruit_VL53L0X.patch
@@ -0,0 +1,100 @@
+diff --git a/src/Adafruit_VL53L0X.cpp b/src/Adafruit_VL53L0X.cpp
+index 5a1e650..6699d6e 100644
+--- a/src/Adafruit_VL53L0X.cpp
++++ b/src/Adafruit_VL53L0X.cpp
+@@ -35,8 +35,8 @@
+ #define VERSION_REQUIRED_MINOR  0 ///< Required sensor minor version
+ #define VERSION_REQUIRED_BUILD  1 ///< Required sensor build
+
+-#define STR_HELPER( x ) #x ///< a string helper
+-#define STR( x )        STR_HELPER(x) ///< string helper wrapper
++//#define STR_HELPER( x ) #x ///< a string helper
++//#define STR( x )        STR_HELPER(x) ///< string helper wrapper
+
+ /**************************************************************************/
+ /*! 
+@@ -162,8 +162,33 @@ boolean Adafruit_VL53L0X::begin(uint8_t i2c_addr, boolean debug, TwoWire *i2c) {
+       Status = VL53L0X_SetLimitCheckEnable( pMyDevice, VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 1 );
+   }
+
+-  if( Status == VL53L0X_ERROR_NONE ) {
+-      Status = VL53L0X_SetLimitCheckValue( pMyDevice, VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, (FixPoint1616_t)( 1.5 * 0.023 * 65536 ) );
++  if(!longRange) { // 30mm to 1.2 meter
++	  if( Status == VL53L0X_ERROR_NONE ) {
++	        Status = VL53L0X_SetLimitCheckValue( pMyDevice, VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, (FixPoint1616_t)( 1.5 * 0.023 * 65536 ) );
++	    }
++  }
++  else { // can detect as far as 1.5 to 2 meters on a nice white reflective surface
++	  // @credits: https://github.com/satoshinm/Adafruit_VL53L0X/commit/72c71bd44091f95ef1211f9ff3928e675dda1348
++	  // Long range mode - based on https://github.com/johnbryanmoore/VL53L0X_rasp_python/blob/master/python_lib/vl53l0x_python.c#L292
++	  if (Status == VL53L0X_ERROR_NONE) {
++		  Status = VL53L0X_SetLimitCheckValue(pMyDevice, VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, (FixPoint1616_t)(0.1*65536));
++	  }
++
++	  if (Status == VL53L0X_ERROR_NONE) {
++		  Status = VL53L0X_SetLimitCheckValue(pMyDevice, VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, (FixPoint1616_t)(60*65536));
++	  }
++
++	  if (Status == VL53L0X_ERROR_NONE) {
++		  Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(pMyDevice, 33000);
++	  }
++
++	  if (Status == VL53L0X_ERROR_NONE) {
++		  Status = VL53L0X_SetVcselPulsePeriod(pMyDevice, VL53L0X_VCSEL_PERIOD_PRE_RANGE, 18);
++	  }
++
++	  if (Status == VL53L0X_ERROR_NONE) {
++		  Status = VL53L0X_SetVcselPulsePeriod(pMyDevice, VL53L0X_VCSEL_PERIOD_FINAL_RANGE, 14);
++	  }
+   }
+
+   if( Status == VL53L0X_ERROR_NONE ) {
+@@ -268,3 +293,8 @@ void Adafruit_VL53L0X::printRangeStatus( VL53L0X_RangingMeasurementData_t* pRang
+     Serial.println( buf );
+
+ }
++
++void Adafruit_VL53L0X::setLongRangeMode(bool flag)
++{
++	longRange = flag;
++}
+diff --git a/src/Adafruit_VL53L0X.h b/src/Adafruit_VL53L0X.h
+index 6f06604..47841c7 100644
+--- a/src/Adafruit_VL53L0X.h
++++ b/src/Adafruit_VL53L0X.h
+@@ -38,6 +38,7 @@
+ class Adafruit_VL53L0X
+ {
+   public:
++	void 		  setLongRangeMode(bool flag);
+     boolean       begin(uint8_t i2c_addr = VL53L0X_I2C_ADDR, boolean debug = false, TwoWire *i2c = &Wire);
+     boolean       setAddress(uint8_t newAddr);
+
+@@ -65,6 +66,7 @@ class Adafruit_VL53L0X
+   VL53L0X_Version_t                   Version;
+   VL53L0X_Version_t                   *pVersion   = &Version;
+   VL53L0X_DeviceInfo_t                DeviceInfo;
++  bool                                longRange   = false;
+ };
+
+ #endif
+diff --git a/src/vl53l0x_platform_log.h b/src/vl53l0x_platform_log.h
+index 26387d0..d203b3c 100644
+--- a/src/vl53l0x_platform_log.h
++++ b/src/vl53l0x_platform_log.h
+@@ -88,13 +88,13 @@ void trace_print_module_function(uint32_t module, uint32_t level, uint32_t funct
+ #define LOG_GET_TIME() (int)clock()
+
+ #define _LOG_FUNCTION_START(module, fmt, ... ) \
+-        trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, "%ld <START> %s "fmt"\n", LOG_GET_TIME(), __FUNCTION__, ##__VA_ARGS__);
++        trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, "%ld <START> %s " fmt "\n", LOG_GET_TIME(), __FUNCTION__, ##__VA_ARGS__);
+
+ #define _LOG_FUNCTION_END(module, status, ... )\
+         trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, "%ld <END> %s %d\n", LOG_GET_TIME(), __FUNCTION__, (int)status, ##__VA_ARGS__)
+
+ #define _LOG_FUNCTION_END_FMT(module, status, fmt, ... )\
+-        trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, "%ld <END> %s %d "fmt"\n", LOG_GET_TIME(),  __FUNCTION__, (int)status,##__VA_ARGS__)
++        trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, "%ld <END> %s %d " fmt "\n", LOG_GET_TIME(),  __FUNCTION__, (int)status,##__VA_ARGS__)
+
+ // __func__ is gcc only
+ //#define VL53L0X_ErrLog( fmt, ...)  fprintf(stderr, "VL53L0X_ErrLog %s" fmt "\n", __func__, ##__VA_ARGS__)
diff --git a/Sming/Libraries/.patches/Adafruit_VL53L0X/component.mk b/Sming/Libraries/.patches/Adafruit_VL53L0X/component.mk
@@ -0,0 +1,5 @@
+COMPONENT_SRCDIRS := src \
+										 src/core/src \
+										 src/platform/src
+
+COMPONENT_INCDIRS := $(COMPONENT_SRCDIRS)
diff --git a/Sming/Libraries/Adafruit_VL53L0X b/Sming/Libraries/Adafruit_VL53L0X
diff --git a/samples/Distance_Vl53l0x/.cproject b/samples/Distance_Vl53l0x/.cproject
@@ -0,0 +1,151 @@
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diff --git a/samples/Distance_Vl53l0x/.project b/samples/Distance_Vl53l0x/.project
@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>Distance_Vl53l10</name>
+	<comment></comment>
+	<projects>
+		<project>SmingFramework</project>
+	</projects>
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+			<triggers>full,incremental,</triggers>
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+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.cdt.core.cnature</nature>
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+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+	</natures>
+</projectDescription>
diff --git a/samples/Distance_Vl53l0x/Makefile b/samples/Distance_Vl53l0x/Makefile
@@ -0,0 +1,9 @@
+#####################################################################
+#### Please don't change this file. Use component.mk instead ####
+#####################################################################
+
+ifndef SMING_HOME
+$(error SMING_HOME is not set: please configure it as an environment variable)
+endif
+
+include $(SMING_HOME)/project.mk
diff --git a/samples/Distance_Vl53l0x/README.rst b/samples/Distance_Vl53l0x/README.rst
@@ -0,0 +1,5 @@
+Distance measurement with Vl530xl sensor
+========================================
+This sample demonstrates how to use an inexpensive laser sensor VL53L0X to measure distance via I2C interface.
+
+In addition to the original library a "long range" mode is added to measure distances up to 2 meter.
diff --git a/samples/Distance_Vl53l0x/app/application.cpp b/samples/Distance_Vl53l0x/app/application.cpp
@@ -0,0 +1,51 @@
+#include <SmingCore.h>
+#include <Adafruit_VL53L0X.h>
+
+Adafruit_VL53L0X lox;
+
+// GPIO - NodeMCU pins
+#define SDA 4	// D2
+#define SCL 5	// D1
+#define XSHUT 14 // D5
+#define INT 12   // D6
+
+Timer loopTimer;
+
+void loop()
+{
+	VL53L0X_RangingMeasurementData_t measure;
+
+	Serial.print("Reading a measurement... ");
+	lox.rangingTest(&measure, false); // pass in 'true' to get debug data printout!
+
+	if(measure.RangeStatus != 4) { // phase failures have incorrect data
+		Serial.print("Distance (mm): ");
+		Serial.println(measure.RangeMilliMeter);
+	} else {
+		Serial.println(" out of range ");
+	}
+}
+
+void init()
+{
+	Serial.begin(SERIAL_BAUD_RATE); // 115200 by default
+	Serial.systemDebugOutput(true); // Enable debug output to serial
+
+	// WIFI not needed for demo. So disabling WIFI.
+	WifiStation.enable(false);
+	WifiAccessPoint.enable(false);
+
+	// Create components.
+	Wire.begin(SDA, SCL);
+
+	lox.setLongRangeMode(true);
+
+	if(!lox.begin()) {
+		Serial.println(F("Failed to boot VL53L0X"));
+		while(1) {
+		}
+	}
+
+	Serial.println(F("VL53L0X API Simple Ranging example\n\n"));
+	loopTimer.initializeMs<100>(loop).start();
+}
diff --git a/samples/Distance_Vl53l0x/component.mk b/samples/Distance_Vl53l0x/component.mk
@@ -0,0 +1,3 @@
+ARDUINO_LIBRARIES := Adafruit_VL53L0X 
+
+DISABLE_SPIFFS = 1
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,3 @@
		ARDUINO_LIBRARIES := Adafruit_VL53L0X

		DISABLE_SPIFFS = 1