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VL53L0X: Added support for multiple sensors
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Adrian Scillato
GitHub
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@ -1,7 +1,7 @@
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/*
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xsns_45_vl53l0x.ino - VL53L0X time of flight sensor support for Tasmota
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xsns_45_vl53l0x.ino - VL53L0X time of flight multiple sensors support for Tasmota
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Copyright (C) 2021 Theo Arends and Gerhard Mutz
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Copyright (C) 2021 Theo Arends, Gerhard Mutz and Adrian Scillato
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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@ -23,105 +23,216 @@
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* VL53L0x time of flight sensor
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*
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* I2C Addres: 0x29
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*********************************************************************************************
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*
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* Note: When using multiple VL53L0X, it is required to also wire the XSHUT pin of all those sensors
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* in order to let Tasmota change by software the I2C address of those and give them an unique address
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* for operation. The sensor don't save its address, so this procedure of changing its address is needed
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* to be performed every restart. The Addresses used for this are 120 (0x78) to 127 (0x7F). In the I2c
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* Standard (https://i2cdevices.org/addresses) those addresses are used by the PCA9685, so take into
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* account they won't work together.
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*
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* The default value of VL53L0X_MAX_SENSORS is set in the file tasmota.h
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* Changing that is backwards incompatible - Max supported devices by this driver are 8
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*
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**********************************************************************************************
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*
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* How to install this sensor: https://www.st.com/resource/en/datasheet/vl53l0x.pdf
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*
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* If you are going to use long I2C wires read this:
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* https://hackaday.com/2017/02/08/taking-the-leap-off-board-an-introduction-to-i2c-over-long-wires/
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*
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\*********************************************************************************************/
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#define XSNS_45 45
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#define XI2C_31 31 // See I2CDEVICES.md
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// Uncomment this line to use long range mode. This
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// increases the sensitivity of the sensor and extends its
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// potential range, but increases the likelihood of getting
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// an inaccurate reading because of reflections from objects
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// other than the intended target. It works best in dark
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// conditions.
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//#define VL53L0X_LONG_RANGE
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// Uncomment ONE of these two lines to get
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// - higher speed at the cost of lower accuracy OR
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// - higher accuracy at the cost of lower speed
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//#define VL53L0X_HIGH_SPEED
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//#define VL53L0X_HIGH_ACCURACY
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#define USE_VL_MEDIAN
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#define USE_VL_MEDIAN_SIZE 5 // Odd number of samples median detection
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#include <Wire.h>
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#include "VL53L0X.h"
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VL53L0X sensor;
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VL53L0X sensor[VL53L0X_MAX_SENSORS];
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struct {
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uint16_t distance;
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uint16_t distance_prev;
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uint16_t buffer[5];
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uint8_t ready = 0;
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uint8_t index;
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} Vl53l0x;
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} Vl53l0x[VL53L0X_MAX_SENSORS];
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bool xshut = false;
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bool VL53L0X_detected = false;
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/********************************************************************************************/
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void Vl53l0Detect(void) {
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if (!I2cSetDevice(0x29)) { return; }
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if (!sensor.init()) { return; }
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I2cSetActiveFound(sensor.getAddress(), "VL53L0X");
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for (uint32_t i = 0; i < VL53L0X_MAX_SENSORS; i++) {
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if (PinUsed(GPIO_VL53L0X_XSHUT1, i)) {
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pinMode(Pin(GPIO_VL53L0X_XSHUT1, i), OUTPUT);
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digitalWrite(Pin(GPIO_VL53L0X_XSHUT1, i), i==0 ? 1 : 0);
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xshut = true;
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}
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}
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sensor.setTimeout(500);
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for (uint32_t i = 0; i < VL53L0X_MAX_SENSORS; i++) {
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if (PinUsed(GPIO_VL53L0X_XSHUT1, i) || (!xshut)) {
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if (xshut) { pinMode(Pin(GPIO_VL53L0X_XSHUT1, i), INPUT); delay(1); }
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if (!I2cSetDevice(0x29) && !I2cSetDevice((uint8_t)(120+i))) { return; } // Detection for unconfigured OR configured sensor
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if (sensor[i].init()) {
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if (xshut) { sensor[i].setAddress((uint8_t)(120+i)); }
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uint8_t addr = sensor[i].getAddress();
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if (xshut) {
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I2cSetActive(addr);
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AddLog(LOG_LEVEL_DEBUG, PSTR(D_LOG_I2C D_SENSOR " VL53L0X %d " D_SENSOR_DETECTED " - " D_NEW_ADDRESS " 0x%02X"), i+1, addr);
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} else {
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I2cSetActiveFound(addr, "VL53L0X");
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}
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sensor[i].setTimeout(500);
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// Start continuous back-to-back mode (take readings as
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// fast as possible). To use continuous timed mode
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// instead, provide a desired inter-measurement period in
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// ms (e.g. sensor.startContinuous(100)).
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sensor.startContinuous();
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Vl53l0x.ready = 1;
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#if defined VL53L0X_LONG_RANGE
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// lower the return signal rate limit (default is 0.25 MCPS)
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sensor[i].setSignalRateLimit(0.1);
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// increase laser pulse periods (defaults are 14 and 10 PCLKs)
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sensor[i].setVcselPulsePeriod(VL53L0X::VcselPeriodPreRange, 18);
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sensor[i].setVcselPulsePeriod(VL53L0X::VcselPeriodFinalRange, 14);
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#endif
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#if defined VL53L0X_HIGH_SPEED
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// reduce timing budget to 20 ms (default is about 33 ms)
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sensor[i].setMeasurementTimingBudget(20000);
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#elif defined VL53L0X_HIGH_ACCURACY
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// increase timing budget to 200 ms
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sensor[i].setMeasurementTimingBudget(200000);
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#endif
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// Start continuous back-to-back mode (take readings as
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// fast as possible). To use continuous timed mode
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// instead, provide a desired inter-measurement period in
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// ms (e.g. sensor.startContinuous(100)).
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sensor[i].startContinuous();
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Vl53l0x.index = 0;
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Vl53l0x[i].ready = 1;
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Vl53l0x[i].index = 0;
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VL53L0X_detected = true;
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if (!xshut) { break; }
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} else {
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AddLog(LOG_LEVEL_DEBUG, PSTR(D_LOG_I2C D_SENSOR " VL53L0X %d - " D_FAILED_TO_START), i+1);
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}
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}
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}
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}
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void Vl53l0Every_250MSecond(void) {
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uint16_t dist = sensor.readRangeContinuousMillimeters();
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if ((0 == dist) || (dist > 2000)) {
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dist = 9999;
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}
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for (uint32_t i = 0; i < VL53L0X_MAX_SENSORS; i++) {
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if (PinUsed(GPIO_VL53L0X_XSHUT1, i) || (!xshut)) {
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uint16_t dist = sensor[i].readRangeContinuousMillimeters();
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if ((0 == dist) || (dist > 2200)) {
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dist = 9999;
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}
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#ifdef USE_VL_MEDIAN
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// store in ring buffer
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Vl53l0x.buffer[Vl53l0x.index] = dist;
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Vl53l0x.index++;
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if (Vl53l0x.index >= USE_VL_MEDIAN_SIZE) {
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Vl53l0x.index = 0;
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}
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// store in ring buffer
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Vl53l0x[i].buffer[Vl53l0x[i].index] = dist;
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Vl53l0x[i].index++;
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if (Vl53l0x[i].index >= USE_VL_MEDIAN_SIZE) {
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Vl53l0x[i].index = 0;
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}
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// sort list and take median
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uint16_t tbuff[USE_VL_MEDIAN_SIZE];
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memmove(tbuff, Vl53l0x.buffer, sizeof(tbuff));
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uint16_t tmp;
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uint8_t flag;
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for (uint32_t ocnt = 0; ocnt < USE_VL_MEDIAN_SIZE; ocnt++) {
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flag = 0;
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for (uint32_t count = 0; count < USE_VL_MEDIAN_SIZE -1; count++) {
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if (tbuff[count] > tbuff[count +1]) {
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tmp = tbuff[count];
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tbuff[count] = tbuff[count +1];
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tbuff[count +1] = tmp;
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flag = 1;
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}
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}
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if (!flag) { break; }
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}
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Vl53l0x.distance = tbuff[(USE_VL_MEDIAN_SIZE -1) / 2];
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// sort list and take median
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uint16_t tbuff[USE_VL_MEDIAN_SIZE];
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memmove(tbuff, Vl53l0x[i].buffer, sizeof(tbuff));
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uint16_t tmp;
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uint8_t flag;
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for (uint32_t ocnt = 0; ocnt < USE_VL_MEDIAN_SIZE; ocnt++) {
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flag = 0;
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for (uint32_t count = 0; count < USE_VL_MEDIAN_SIZE -1; count++) {
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if (tbuff[count] > tbuff[count +1]) {
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tmp = tbuff[count];
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tbuff[count] = tbuff[count +1];
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tbuff[count +1] = tmp;
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flag = 1;
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}
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}
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if (!flag) { break; }
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}
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Vl53l0x[i].distance = tbuff[(USE_VL_MEDIAN_SIZE -1) / 2];
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#else
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Vl53l0x.distance = dist;
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Vl53l0x[i].distance = dist;
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#endif
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}
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if (!xshut) { break; }
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}
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}
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#ifdef USE_DOMOTICZ
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void Vl53l0Every_Second(void) {
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if (abs(Vl53l0x.distance - Vl53l0x.distance_prev) > 8) {
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Vl53l0x.distance_prev = Vl53l0x.distance;
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DomoticzSensor(DZ_ILLUMINANCE, Vl53l0x.distance);
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if (abs(Vl53l0x[0].distance - Vl53l0x[0].distance_prev) > 8) {
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Vl53l0x[0].distance_prev = Vl53l0x[0].distance;
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DomoticzSensor(DZ_ILLUMINANCE, Vl53l0x[0].distance);
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}
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}
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#endif // USE_DOMOTICZ
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void Vl53l0Show(boolean json) {
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if (json) {
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ResponseAppend_P(PSTR(",\"VL53L0X\":{\"" D_JSON_DISTANCE "\":%d}"), Vl53l0x.distance);
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for (uint32_t i = 0; i < VL53L0X_MAX_SENSORS; i++) {
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if (PinUsed(GPIO_VL53L0X_XSHUT1, i) || (!xshut)) {
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if (json) {
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if (Vl53l0x[i].distance == 9999) {
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if (xshut) {
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ResponseAppend_P(PSTR(",\"VL53L0X_%d\":{\"" D_JSON_DISTANCE "\":null}"), i+1);
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} else {
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ResponseAppend_P(PSTR(",\"VL53L0X\":{\"" D_JSON_DISTANCE "\":null}")); // For backwards compatibility when not using XSHUT GPIOs
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}
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} else {
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if (xshut) {
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ResponseAppend_P(PSTR(",\"VL53L0X_%d\":{\"" D_JSON_DISTANCE "\":%d}"), i+1, Vl53l0x[i].distance);
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} else {
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ResponseAppend_P(PSTR(",\"VL53L0X\":{\"" D_JSON_DISTANCE "\":%d}"), Vl53l0x[i].distance); // For backwards compatibility when not using XSHUT GPIOs
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}
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}
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#ifdef USE_WEBSERVER
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} else {
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if (Vl53l0x[i].distance == 9999) {
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if (xshut) {
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WSContentSend_PD("{s}%s_%d " D_DISTANCE "{m}%s {e}", PSTR("VL53L0X"), i+1, PSTR(D_OUT_OF_RANGE));
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} else {
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WSContentSend_PD("{s}%s " D_DISTANCE "{m}%s {e}", PSTR("VL53L0X"), PSTR(D_OUT_OF_RANGE)); // For backwards compatibility when not using XSHUT GPIOs
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}
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} else {
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if (xshut) {
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WSContentSend_PD("{s}%s_%d " D_DISTANCE "{m}%d " D_UNIT_MILLIMETER "{e}", PSTR("VL53L0X"), i+1, Vl53l0x[i].distance);
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} else {
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WSContentSend_PD(HTTP_SNS_DISTANCE, PSTR("VL53L0X"), Vl53l0x[i].distance); // For backwards compatibility when not using XSHUT GPIOs
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}
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}
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#endif
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}
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}
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if (sensor[i].timeoutOccurred()) { AddLog(LOG_LEVEL_DEBUG, PSTR(D_LOG_I2C D_TIMEOUT_WAITING_FOR D_SENSOR " VL53L0X %d"), i+1); }
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if (!xshut) { break; }
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}
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#ifdef USE_DOMOTICZ
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if (0 == TasmotaGlobal.tele_period) {
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DomoticzSensor(DZ_ILLUMINANCE, Vl53l0x.distance);
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if ((json) && (0 == TasmotaGlobal.tele_period)){
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DomoticzSensor(DZ_ILLUMINANCE, Vl53l0x[0].distance);
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}
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#endif // USE_DOMOTICZ
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#ifdef USE_WEBSERVER
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} else {
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WSContentSend_PD(HTTP_SNS_DISTANCE, PSTR("VL53L0X"), Vl53l0x.distance);
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#endif
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}
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}
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/*********************************************************************************************\
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@ -136,7 +247,7 @@ bool Xsns45(byte function) {
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if (FUNC_INIT == function) {
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Vl53l0Detect();
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}
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else if (Vl53l0x.ready) {
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else if (VL53L0X_detected) {
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switch (function) {
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case FUNC_EVERY_250_MSECOND:
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Vl53l0Every_250MSecond();
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