SNS - Time-of-flight Sensor #25

RheaBose · 2023-11-06T18:35:22Z

Implemented with reference to STMicroelectronics application note AN4545

Rebase with master after SNS - 16-Bit I2C #58 has been merged
Confirm requirements for what this sensor should do (Is ambient light reading required? Continuous or single-shot?)
Implement initialisation of ToF, including registers without names
Implement reading continuous range
Implement reading single-shot range
Implement II2cMuxSensor
Test on hardware

DylanCavers

A few changes, mostly to do with formatting and code style, make sure to change the tof file to tof.cpp

lib/sensors/tof

lib/sensors/tof.hpp

lib/sensors/tof

TomLonergan03

also, run clang-format over this

lib/sensors/tof

lib/sensors/tof.hpp

lib/sensors/tof

TomLonergan03

Rename this PR also

sa-fx · 2024-01-28T00:11:47Z

Implemented with reference to STMicroelectronics application note AN4545

Task list moved to top of PR

sa-fx · 2024-01-28T01:00:17Z

lib/sensors/time_of_flight.hpp

+
+ private:
+  // TODOLater - Confirm these addresses are correct
+  // Register addresses/values taken from the VL6180X datasheet


Not sure where exactly they've been taken from, or what they all mean - Are these needed?

sa-fx · 2024-01-28T01:03:18Z

lib/sensors/time_of_flight.hpp

+  static constexpr std::uint16_t kReadoutSamplingPeriod = 0x010a;
+  static constexpr std::uint8_t kSysAlsAnalogueGain     = 0x03f;
+  static constexpr std::uint8_t kSysRangeVhvRepeatRate  = 0x031;
+  // TODOLater - Confirm SYSALS__INTEGRATION_PERIOD (application note vs datasheet)


The datasheet gives this register an address of 0x040, but the application note AN4545 gives this register an address of 0x0041 on page 24

lmfao of course it does

engineers write a useful datasheet challenge (impossible)

TomLonergan03

ik it's a wip, but here's critique anyway lol

lib/sensors/sensors.cpp

lib/sensors/time_of_flight.cpp

TomLonergan03 · 2024-01-28T01:01:33Z

lib/sensors/time_of_flight.cpp

+std::optional<std::uint8_t> TimeOfFlight::getRangeSingleShot()
+{
+  if (checkSensorMode(kModeSingleShot) == core::Result::kFailure) { return std::nullopt; }
+  return getRange();
+};
+
+std::optional<std::uint8_t> TimeOfFlight::getRangeContinuous()
+{
+  if (checkSensorMode(kModeContinuous) == core::Result::kFailure) { return std::nullopt; }
+  return getRange();
+};


what are these for?

The sensor has two modes of operation: Single shot, and continuous. Single shot is a single measurement, while continuous will repeatedly measure the range with a time interval based on the value of kSysRangeIntermeasurementPeriod. Before reading in a given mode, register kSysRangeStart has to be set to either 1 or 3
Because the code to check that kSysRangeStart has the correct value is the same whether its checking for continuous or single-shot, and because the register to read the range from is the same in both cases if kSysRangeStart has the correct value (kResultRangeVal), getRangeSingleShot() and getRangeContinuous() call these separate functions to retrieve the range

As for which value will be wanted, single shot or continous, that's yet to be decided

lib/sensors/time_of_flight.cpp

TomLonergan03 · 2024-01-28T01:03:56Z

lib/sensors/time_of_flight.cpp

+  auto range_status = *status & 0b111;
+
+  // Wait for new measurement ready status
+  while (range_status != 0x04) {


this is scary, we need to be able to guarantee that it can't get stuck in this loop

lib/sensors/time_of_flight.cpp

sa-fx · 2024-05-02T08:23:43Z

lib/sensors/tof.cpp

-    i2c_->writeByteToRegister(device_address_, array_return_addresses[15], 0x3c);
-    i2c_->writeByteToRegister(device_address_, array_return_addresses[16], 0x09);
-    i2c_->writeByteToRegister(device_address_, array_return_addresses[17], 0x09);
-    // i2c_->writeByteToRegister(device_address_, 0x0198, 0x01);


These registers were not commented out because they should be removed. They were commented out because at the time this code was written, #58 hadn't been merged yet. As such, the 16-bit registers being written to would cause build failure.
These registers should be added back in. Refer to the application note in the PR's header

sa-fx · 2024-05-02T08:25:42Z

lib/sensors/tof.cpp

  while (range_status != 0x04) {
-    status = i2c_->readByte(device_address_, kResultInterruptStatusGpio);
-    if (!status) {
+    const auto statuss = i2c_->readByte(device_address_, kResultInterruptStatusGpio);


statuss is quite the variable name.

sa-fx · 2024-05-02T08:26:17Z

lib/sensors/tof.cpp

  if (!status) {
    logger_.log(core::LogLevel::kFatal, "Failed to get time of flight interrupt status");
    return std::nullopt;
  }
  auto range_status = *status & 0b111;

  // Wait for new measurement ready status
+  uint8_t timeout = 0;


std::uint8_t

sa-fx · 2024-05-02T08:27:08Z

lib/sensors/tof.cpp

-    range_status = *status & 0b111;
+    range_status = *statuss & 0b111;
+    timeout++;
+    if (timeout > 1000000) {


Comparing a uint8_t variable to 1,000,000 will always return false

sa-fx · 2024-05-02T08:28:18Z

lib/sensors/tof.cpp

-    range_status = *status & 0b111;
+    range_status = *statuss & 0b111;
+    timeout++;
+    if (timeout > 1000000) {


Is 1,000,000 sensible? It seems quite large.

sa-fx · 2024-05-02T08:36:54Z

lib/sensors/tof.cpp

    i2c_->writeByteToRegister(device_address_, kSystemFreshOutOfReset, 0);

    // Recommended : Public registers
    i2c_->writeByteToRegister(device_address_, kSystemModeGpioOne, 0x10);
-    // i2c_->writeByteToRegister(device_address_, kReadoutSamplingPeriod, 0x30);


Again, this was a 16-bit register which would cause build failure, not a line which needed to be removed. It should be added back in

sa-fx · 2024-05-02T08:43:53Z

lib/sensors/tof.cpp

-    // i2c_->writeByteToRegister(device_address_, 0x01a7, 0x1f);
-    i2c_->writeByteToRegister(device_address_, array_return_addresses[19], 0x00);
-
+    constexpr std::uint8_t data[] = {0xfd,


Add entries to this for the values to be written to the 16-bit registers

sa-fx · 2024-05-02T08:45:44Z

lib/sensors/tof.cpp

@@ -1,4 +1,4 @@
-#include "time_of_flight.hpp"
+#include "tof.hpp"


Why was this changed back?

sa-fx · 2024-05-02T08:48:54Z

lib/sensors/tof.hpp

Make array_return_addresses a std::uint16_t array, and add the 16-bit registers. Then you can itterate through all the registers
(AN4545, p20)

sa-fx · 2024-05-14T13:31:59Z

lib/sensors/tof.cpp

You should delete these tof.cpp/hpp files.

sa-fx · 2024-05-14T13:38:44Z

lib/sensors/time_of_flight.cpp

+
+  // Wait for new measurement ready status
+  std::uint8_t timeout = 0;
+  std::uint8_t threshold = 10000;


std::unit8_t has a max value of 255. If you want to use 10,000 here, you'll need std::uint16_t, and you'll also need timeout to be std::uint16_t for the comparison to work

sa-fx · 2024-05-14T13:41:42Z

lib/sensors/time_of_flight.cpp

+
+  // Wait for new measurement ready status
+  std::uint8_t timeout = 0;
+  std::uint8_t threshold = 10000;


Where has the value of 10,000 come from? What's the rationale for choosing that value?

Add files via upload

5532a5c

RheaBose requested a review from licornes-fluos as a code owner November 6, 2023 18:35

RheaBose self-assigned this Nov 6, 2023

RheaBose requested review from davidbeechey, TomLonergan03 and DylanCavers November 6, 2023 18:47

DylanCavers reviewed Nov 6, 2023

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TomLonergan03 requested changes Nov 6, 2023

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licornes-fluos changed the title ~~Add files via upload~~ Time-of-flight Sensor Nov 9, 2023

davidbeechey changed the title ~~Time-of-flight Sensor~~ SNS - Time-of-flight Sensor Nov 9, 2023

licornes-fluos marked this pull request as draft November 25, 2023 10:31

sa-fx and others added 12 commits January 25, 2024 19:26

SNS - ToF Fixes (#57)

38d92d0

TimeOfFlight::initialise()

bb9f4e7

Implement TimeOfFlight::getRange()

870d204

16-bit I2C addresses commented out

e1a1434

TimeOfFlight::create() uses initialise()

8f980a2

TimeOfFlight::getRange() public

6651f1b

Added public 16-bit registers to initialise()

97bf3d2

Set constants for known registers

d0078d0

Update comments

ecc2815

TimeOfFlight::getRangeContinuous()

027bf56

Added logs to TimeOfFlight

e9d43a6

Update TODOLater

549cfea

sa-fx reviewed Jan 28, 2024

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TomLonergan03 requested changes Jan 28, 2024

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licornes-fluos marked this pull request as ready for review February 1, 2024 18:08

Merge branch 'master' into RheaBose-patch-1

006b989

licornes-fluos added 2 commits February 19, 2024 18:29

array for return addresses

f411a77

debug toml lines

e6b983c

TomLonergan03 reviewed Apr 1, 2024

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fixes

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sa-fx marked this pull request as draft May 2, 2024 08:19

sa-fx requested changes May 2, 2024

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sa-fx assigned H-Allen and unassigned RheaBose May 2, 2024

H-Allen added 2 commits May 6, 2024 07:46

adding new files

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sa-fx May 14, 2024

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You should delete these tof.cpp/hpp files.

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SNS - Time-of-flight Sensor #25

SNS - Time-of-flight Sensor #25

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		@@ -1,4 +1,4 @@
		#include "time_of_flight.hpp"
		#include "tof.hpp"

SNS - Time-of-flight Sensor #25

Are you sure you want to change the base?

SNS - Time-of-flight Sensor #25

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