kopia lustrzana https://github.com/pimoroni/pimoroni-pico
VL53L5CX: MicroPython bindings.
Phil Howard
rodzic
f79b2efa9e
commit
fcd4914cbb
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@ -52,6 +52,10 @@ namespace pimoroni {
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bool set_power_mode(PowerMode power_mode);
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bool data_ready();
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bool get_data(ResultsData *results);
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VL53L5CX_Configuration* get_configuration() {
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return configuration;
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}
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private:
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VL53L5CX_Configuration *configuration;
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};
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@ -0,0 +1,28 @@
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add_library(usermod_vl53l5cx INTERFACE)
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target_sources(usermod_vl53l5cx INTERFACE
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${CMAKE_CURRENT_LIST_DIR}/vl53l5cx.c
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${CMAKE_CURRENT_LIST_DIR}/vl53l5cx.cpp
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${CMAKE_CURRENT_LIST_DIR}/../../../drivers/vl53l5cx/vl53l5cx.cpp
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${CMAKE_CURRENT_LIST_DIR}/../../../drivers/vl53l5cx/platform.c
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${CMAKE_CURRENT_LIST_DIR}/../../../drivers/vl53l5cx/src/VL53L5CX_ULD_API/src/vl53l5cx_api.c
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${CMAKE_CURRENT_LIST_DIR}/../../../drivers/vl53l5cx/src/VL53L5CX_ULD_API/src/vl53l5cx_plugin_detection_thresholds.c
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)
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target_include_directories(usermod_vl53l5cx INTERFACE
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${CMAKE_CURRENT_LIST_DIR}
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${CMAKE_CURRENT_LIST_DIR}/../../../drivers/vl53l5cx/
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${CMAKE_CURRENT_LIST_DIR}/../../../drivers/vl53l5cx/src/VL53L5CX_ULD_API/inc
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)
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target_compile_definitions(usermod_vl53l5cx INTERFACE
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MODULE_VL53L5CX_ENABLED=1
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)
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target_link_libraries(usermod INTERFACE usermod_vl53l5cx)
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set_source_files_properties(
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${CMAKE_CURRENT_LIST_DIR}/vl53l5cx.c
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PROPERTIES COMPILE_FLAGS
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"-Wno-discarded-qualifiers -Wno-implicit-int"
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)
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@ -0,0 +1,78 @@
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#include "vl53l5cx.h"
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MP_DEFINE_CONST_FUN_OBJ_1(VL53L5CX___del___obj, VL53L5CX___del__);
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MP_DEFINE_CONST_FUN_OBJ_1(VL53L5CX_start_ranging_obj, VL53L5CX_start_ranging);
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MP_DEFINE_CONST_FUN_OBJ_1(VL53L5CX_stop_ranging_obj, VL53L5CX_stop_ranging);
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MP_DEFINE_CONST_FUN_OBJ_2(VL53L5CX_set_i2c_address_obj, VL53L5CX_set_i2c_address);
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MP_DEFINE_CONST_FUN_OBJ_2(VL53L5CX_set_ranging_mode_obj, VL53L5CX_set_ranging_mode);
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MP_DEFINE_CONST_FUN_OBJ_2(VL53L5CX_set_ranging_frequency_hz_obj, VL53L5CX_set_ranging_frequency_hz);
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MP_DEFINE_CONST_FUN_OBJ_2(VL53L5CX_set_resolution_obj, VL53L5CX_set_resolution);
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MP_DEFINE_CONST_FUN_OBJ_2(VL53L5CX_set_integration_time_ms_obj, VL53L5CX_set_integration_time_ms);
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MP_DEFINE_CONST_FUN_OBJ_2(VL53L5CX_set_sharpener_percent_obj, VL53L5CX_set_sharpener_percent);
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MP_DEFINE_CONST_FUN_OBJ_2(VL53L5CX_set_target_order_obj, VL53L5CX_set_target_order);
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MP_DEFINE_CONST_FUN_OBJ_2(VL53L5CX_set_power_mode_obj, VL53L5CX_set_power_mode);
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MP_DEFINE_CONST_FUN_OBJ_1(VL53L5CX_data_ready_obj, VL53L5CX_data_ready);
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MP_DEFINE_CONST_FUN_OBJ_1(VL53L5CX_get_data_obj, VL53L5CX_get_data);
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/***** Binding of Methods *****/
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STATIC const mp_rom_map_elem_t VL53L5CX_locals_dict_table[] = {
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{ MP_ROM_QSTR(MP_QSTR___del__), MP_ROM_PTR(&VL53L5CX___del___obj) },
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{ MP_ROM_QSTR(MP_QSTR_start_ranging), MP_ROM_PTR(&VL53L5CX_start_ranging_obj) },
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{ MP_ROM_QSTR(MP_QSTR_stop_ranging), MP_ROM_PTR(&VL53L5CX_stop_ranging_obj) },
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{ MP_ROM_QSTR(MP_QSTR_set_i2c_address), MP_ROM_PTR(&VL53L5CX_set_i2c_address_obj) },
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{ MP_ROM_QSTR(MP_QSTR_set_ranging_mode), MP_ROM_PTR(&VL53L5CX_set_ranging_mode_obj) },
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{ MP_ROM_QSTR(MP_QSTR_set_ranging_frequency_hz), MP_ROM_PTR(&VL53L5CX_set_ranging_frequency_hz_obj) },
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{ MP_ROM_QSTR(MP_QSTR_set_resolution), MP_ROM_PTR(&VL53L5CX_set_resolution_obj) },
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{ MP_ROM_QSTR(MP_QSTR_set_integration_time_ms), MP_ROM_PTR(&VL53L5CX_set_integration_time_ms_obj) },
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{ MP_ROM_QSTR(MP_QSTR_set_sharpener_percent), MP_ROM_PTR(&VL53L5CX_set_sharpener_percent_obj) },
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{ MP_ROM_QSTR(MP_QSTR_set_target_order), MP_ROM_PTR(&VL53L5CX_set_target_order_obj) },
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{ MP_ROM_QSTR(MP_QSTR_set_power_mode), MP_ROM_PTR(&VL53L5CX_set_power_mode_obj) },
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{ MP_ROM_QSTR(MP_QSTR_data_ready), MP_ROM_PTR(&VL53L5CX_data_ready_obj) },
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{ MP_ROM_QSTR(MP_QSTR_get_data), MP_ROM_PTR(&VL53L5CX_get_data_obj) },
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};
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STATIC MP_DEFINE_CONST_DICT(VL53L5CX_locals_dict, VL53L5CX_locals_dict_table);
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/***** Class Definition *****/
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const mp_obj_type_t VL53L5CX_type = {
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{ &mp_type_type },
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.name = MP_QSTR_breakout_vl53l5cx,
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.print = VL53L5CX_print,
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.make_new = VL53L5CX_make_new,
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.locals_dict = (mp_obj_dict_t*)&VL53L5CX_locals_dict,
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};
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/***** Module Globals *****/
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STATIC const mp_map_elem_t vl53l5cx_globals_table[] = {
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{ MP_OBJ_NEW_QSTR(MP_QSTR___name__), MP_OBJ_NEW_QSTR(MP_QSTR_breakout_vl53l5cx) },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_VL53L5CX), (mp_obj_t)&VL53L5CX_type },
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{ MP_ROM_QSTR(MP_QSTR_TARGET_ORDER_CLOSEST), MP_ROM_INT(VL53L5CX_TARGET_ORDER_CLOSEST) },
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{ MP_ROM_QSTR(MP_QSTR_TARGET_ORDER_STRONGEST), MP_ROM_INT(VL53L5CX_TARGET_ORDER_STRONGEST) },
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{ MP_ROM_QSTR(MP_QSTR_RESOLUTION_4X4), MP_ROM_INT(VL53L5CX_RESOLUTION_4X4) },
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{ MP_ROM_QSTR(MP_QSTR_RESOLUTION_8X8), MP_ROM_INT(VL53L5CX_RESOLUTION_8X8) },
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{ MP_ROM_QSTR(MP_QSTR_RANGING_MODE_CONTINUOUS), MP_ROM_INT(VL53L5CX_RANGING_MODE_CONTINUOUS) },
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{ MP_ROM_QSTR(MP_QSTR_RANGING_MODE_AUTONOMOUS), MP_ROM_INT(VL53L5CX_RANGING_MODE_AUTONOMOUS) },
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{ MP_ROM_QSTR(MP_QSTR_POWER_MODE_SLEEP), MP_ROM_INT(VL53L5CX_POWER_MODE_SLEEP) },
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{ MP_ROM_QSTR(MP_QSTR_POWER_MODE_WAKEUP), MP_ROM_INT(VL53L5CX_POWER_MODE_WAKEUP) },
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};
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STATIC MP_DEFINE_CONST_DICT(mp_module_vl53l5cx_globals, vl53l5cx_globals_table);
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/***** Module Definition *****/
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const mp_obj_module_t vl53l5cx_user_cmodule = {
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.base = { &mp_type_module },
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.globals = (mp_obj_dict_t*)&mp_module_vl53l5cx_globals,
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};
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/***** Module Registration: as "breakout_vl53l5cx" *****/
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MP_REGISTER_MODULE(MP_QSTR_breakout_vl53l5cx, vl53l5cx_user_cmodule, MODULE_VL53L5CX_ENABLED);
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@ -0,0 +1,184 @@
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#include <cstdio>
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#include "vl53l5cx.hpp"
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#include "pico/multicore.h"
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#define MP_OBJ_TO_PTR2(o, t) ((t *)(uintptr_t)(o))
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extern "C" {
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#include "vl53l5cx.h"
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#include "pimoroni_i2c.h"
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typedef struct _mp_obj_float_t {
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mp_obj_base_t base;
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mp_float_t value;
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} mp_obj_float_t;
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const mp_obj_float_t const_float_1 = {{&mp_type_float}, 1.0f};
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/***** I2C Struct *****/
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typedef struct _PimoroniI2C_obj_t {
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mp_obj_base_t base;
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pimoroni::I2C *i2c;
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} _PimoroniI2C_obj_t;
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/***** Variables Struct *****/
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typedef struct _VL53L5CX_obj_t {
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mp_obj_base_t base;
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_PimoroniI2C_obj_t *i2c;
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pimoroni::VL53L5CX* breakout;
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} _VL53L5CX_obj_t;
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/***** Print *****/
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void VL53L5CX_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
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(void)kind; // Unused input parameter
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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mp_print_str(print, "VL53L5CX( ");
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mp_print_str(print, "i2c = ");
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mp_obj_print_helper(print, mp_obj_new_int((self->breakout->get_configuration()->platform.i2c == i2c0) ? 0 : 1), PRINT_REPR);
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mp_print_str(print, " addr = ");
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mp_obj_print_helper(print, mp_obj_new_int(self->breakout->get_configuration()->platform.address), PRINT_REPR);
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mp_print_str(print, " )");
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}
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/***** Destructor ******/
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mp_obj_t VL53L5CX___del__(mp_obj_t self_in) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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self->breakout->stop_ranging();
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delete self->breakout;
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return mp_const_none;
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}
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/***** Constructor *****/
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mp_obj_t VL53L5CX_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
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_VL53L5CX_obj_t *self = nullptr;
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enum {
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ARG_i2c,
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ARG_addr
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};
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_i2c, MP_ARG_OBJ, {.u_obj = nullptr} },
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{ MP_QSTR_addr, MP_ARG_INT, {.u_int = pimoroni::VL53L5CX::DEFAULT_ADDRESS} }
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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if(!MP_OBJ_IS_TYPE(args[ARG_i2c].u_obj, &PimoroniI2C_type)) {
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mp_raise_ValueError(MP_ERROR_TEXT("VL53L5CX: Bad i2C object"));
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return mp_const_none;
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}
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_PimoroniI2C_obj_t *i2c = (_PimoroniI2C_obj_t *)MP_OBJ_TO_PTR(args[ARG_i2c].u_obj);
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int addr = args[ARG_addr].u_int;
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self = m_new_obj_with_finaliser(_VL53L5CX_obj_t);
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self->base.type = &VL53L5CX_type;
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self->i2c = i2c;
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self->breakout = new pimoroni::VL53L5CX(i2c->i2c, addr);
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if(!self->breakout->init()) {
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mp_raise_msg(&mp_type_RuntimeError, "VL53L5CX: error initialising");
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}
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return MP_OBJ_FROM_PTR(self);
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}
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mp_obj_t VL53L5CX_start_ranging(mp_obj_t self_in) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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self->breakout->start_ranging();
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return mp_const_none;
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}
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mp_obj_t VL53L5CX_stop_ranging(mp_obj_t self_in) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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self->breakout->stop_ranging();
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return mp_const_none;
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}
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mp_obj_t VL53L5CX_set_i2c_address(mp_obj_t self_in, mp_obj_t value) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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self->breakout->set_i2c_address(mp_obj_get_int(value));
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return mp_const_none;
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}
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mp_obj_t VL53L5CX_set_ranging_mode(mp_obj_t self_in, mp_obj_t value) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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self->breakout->set_ranging_mode((pimoroni::VL53L5CX::RangingMode)mp_obj_get_int(value));
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return mp_const_none;
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}
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mp_obj_t VL53L5CX_set_ranging_frequency_hz(mp_obj_t self_in, mp_obj_t value) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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self->breakout->set_ranging_frequency_hz(mp_obj_get_int(value));
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return mp_const_none;
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}
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mp_obj_t VL53L5CX_set_resolution(mp_obj_t self_in, mp_obj_t value) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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self->breakout->set_resolution((pimoroni::VL53L5CX::Resolution)mp_obj_get_int(value));
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return mp_const_none;
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}
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mp_obj_t VL53L5CX_set_integration_time_ms(mp_obj_t self_in, mp_obj_t value) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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self->breakout->set_integration_time_ms(mp_obj_get_int(value));
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return mp_const_none;
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}
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mp_obj_t VL53L5CX_set_sharpener_percent(mp_obj_t self_in, mp_obj_t value) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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self->breakout->set_sharpener_percent(mp_obj_get_int(value));
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return mp_const_none;
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}
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mp_obj_t VL53L5CX_set_target_order(mp_obj_t self_in, mp_obj_t value) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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self->breakout->set_target_order((pimoroni::VL53L5CX::TargetOrder)mp_obj_get_int(value));
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return mp_const_none;
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}
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mp_obj_t VL53L5CX_set_power_mode(mp_obj_t self_in, mp_obj_t value) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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self->breakout->set_power_mode((pimoroni::VL53L5CX::PowerMode)mp_obj_get_int(value));
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return mp_const_none;
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}
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mp_obj_t VL53L5CX_data_ready(mp_obj_t self_in) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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return self->breakout->data_ready() ? mp_const_true : mp_const_false;
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}
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mp_obj_t VL53L5CX_get_data(mp_obj_t self_in) {
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_VL53L5CX_obj_t *self = MP_OBJ_TO_PTR2(self_in, _VL53L5CX_obj_t);
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pimoroni::VL53L5CX::ResultsData results;
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self->breakout->get_data(&results);
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static const int TUPLE_SIZE = VL53L5CX_RESOLUTION_8X8 * VL53L5CX_NB_TARGET_PER_ZONE;
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mp_obj_t tuple_distance_mm[TUPLE_SIZE];
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mp_obj_t tuple_reflectance[TUPLE_SIZE];
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// Build a tuple of motion data
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for(int i = 0u; i < TUPLE_SIZE; i++) {
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tuple_distance_mm[i] = mp_obj_new_int(results.distance_mm[i]);
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tuple_reflectance[i] = mp_obj_new_int(results.reflectance[i]);
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}
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mp_obj_t tuple[3];
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tuple[0] = mp_obj_new_int(results.silicon_temp_degc);
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tuple[1] = mp_obj_new_tuple(TUPLE_SIZE, tuple_distance_mm);
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tuple[2] = mp_obj_new_tuple(TUPLE_SIZE, tuple_reflectance);
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return mp_obj_new_tuple(3, tuple);
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}
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}
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#include "py/runtime.h"
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#include "drivers/vl53l5cx/src/VL53L5CX_ULD_API/inc/vl53l5cx_api.h"
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extern const mp_obj_type_t VL53L5CX_type;
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extern void VL53L5CX_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind);
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extern mp_obj_t VL53L5CX___del__(mp_obj_t self_in);
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extern mp_obj_t VL53L5CX_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args);
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extern mp_obj_t VL53L5CX_start_ranging(mp_obj_t self_in);
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extern mp_obj_t VL53L5CX_stop_ranging(mp_obj_t self_in);
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extern mp_obj_t VL53L5CX_set_i2c_address(mp_obj_t self_in, mp_obj_t value);
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extern mp_obj_t VL53L5CX_set_ranging_mode(mp_obj_t self_in, mp_obj_t value);
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extern mp_obj_t VL53L5CX_set_ranging_frequency_hz(mp_obj_t self_in, mp_obj_t value);
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extern mp_obj_t VL53L5CX_set_resolution(mp_obj_t self_in, mp_obj_t value);
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extern mp_obj_t VL53L5CX_set_integration_time_ms(mp_obj_t self_in, mp_obj_t value);
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extern mp_obj_t VL53L5CX_set_sharpener_percent(mp_obj_t self_in, mp_obj_t value);
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extern mp_obj_t VL53L5CX_set_target_order(mp_obj_t self_in, mp_obj_t value);
|
||||
extern mp_obj_t VL53L5CX_set_power_mode(mp_obj_t self_in, mp_obj_t value);
|
||||
|
||||
extern mp_obj_t VL53L5CX_data_ready(mp_obj_t self_in);
|
||||
extern mp_obj_t VL53L5CX_get_data(mp_obj_t self_in);
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||||
|
|
@ -29,6 +29,7 @@ include(breakout_bme280/micropython)
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include(breakout_bmp280/micropython)
|
||||
include(breakout_icp10125/micropython)
|
||||
include(breakout_scd41/micropython)
|
||||
include(breakout_vl53l5cx/micropython)
|
||||
|
||||
include(pico_scroll/micropython)
|
||||
include(pico_rgb_keypad/micropython)
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue