This option optimizes power consumption as the VL53L1X can be completely powwhen not used, and then woken up through a host GPIO (using the XSHUT pin).
/*Calibration vl53l1 module*/
static VL53L1_CalibrationData_t vl53l1_calibration(VL53L1_Dev_t *dev)
{
int status;
int32_t targetDistanceMilliMeter = 703;
VL53L1_CalibrationData_t calibrationData;
status = VL53L1_WaitDeviceBooted(dev);
status = VL53L1_DataInit(dev); //performs the device initialization
status = VL53L1_StaticInit(dev); // load device settings specific for a given use case.
status = VL53L1_SetPresetMode(dev,VL53L1_PRESETMODE_AUTONOMOUS);
status = VL53L1_PerformRefSpadManagement(dev);
status = VL53L1_PerformOffsetCalibration(dev,targetDistanceMilliMeter);
status = VL53L1_PerformSingleTargetXTalkCalibration(dev,targetDistanceMilliMeter);
status = VL53L1_GetCalibrationData(dev,&calibrationData);
if (status)
{
ESP_LOGE(TAG, "vl53l1_calibration failed \n");
calibrationData.struct_version = 0;
return calibrationData;
}else
{
ESP_LOGI(TAG, "vl53l1_calibration done ! version = %u \n",calibrationData.struct_version);
return calibrationData;
}
}
# 使用I2C
ets Jun 8 2016 00:22:57
rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:2
load:0x3fff0018,len:4
load:0x3fff001c,len:6180
load:0x40078000,len:10180
ho 0 tail 12 room 4
load:0x40080400,len:6660
entry 0x40080764
I (31) boot: ESP-IDF v3.2.2-dirty 2nd stage bootloader
I (31) boot: compile time 11:50:48
I (31) boot: Enabling RNG early entropy source...
I (36) boot: SPI Speed : 40MHz
I (40) boot: SPI Mode : DIO
I (44) boot: SPI Flash Size : 4MB
I (48) boot: Partition Table:
I (52) boot: ## Label Usage Type ST Offset Length
I (59) boot: 0 nvs WiFi data 01 02 00009000 00006000
I (66) boot: 1 phy_init RF data 01 01 0000f000 00001000
I (74) boot: 2 factory factory app 00 00 00010000 00100000
I (81) boot: End of partition table
I (86) esp_image: segment 0: paddr=0x00010020 vaddr=0x3f400020 size=0x0b2d8 ( 45784) map
I (111) esp_image: segment 1: paddr=0x0001b300 vaddr=0x3ffb0000 size=0x0218c ( 8588) load
I (114) esp_image: segment 2: paddr=0x0001d494 vaddr=0x40080000 size=0x00400 ( 1024) load
0x40080000: _WindowOverflow4 at /home/libo/esp/esp-idf-v3.2.2/components/freertos/xtensa_vectors.S:1779
I (118) esp_image: segment 3: paddr=0x0001d89c vaddr=0x40080400 size=0x02774 ( 10100) load
I (130) esp_image: segment 4: paddr=0x00020018 vaddr=0x400d0018 size=0x1c62c (116268) map
0x400d0018: _flash_cache_start at ??:?
I (176) esp_image: segment 5: paddr=0x0003c64c vaddr=0x40082b74 size=0x07e60 ( 32352) load
0x40082b74: _gettimeofday_r at /home/libo/esp/esp-idf-v3.2.2/components/newlib/time.c:220
I (196) boot: Loaded app from partition at offset 0x10000
I (196) boot: Disabling RNG early entropy source...
I (197) cpu_start: Pro cpu up.
I (200) cpu_start: Starting app cpu, entry point is 0x400810fc
0x400810fc: call_start_cpu1 at /home/libo/esp/esp-idf-v3.2.2/components/esp32/cpu_start.c:246
I (191) cpu_start: App cpu up.
I (211) heap_init: Initializing. RAM available for dynamic allocation:
I (218) heap_init: At 3FFAE6E0 len 00001920 (6 KiB): DRAM
I (224) heap_init: At 3FFB3348 len 0002CCB8 (179 KiB): DRAM
I (230) heap_init: At 3FFE0440 len 00003AE0 (14 KiB): D/IRAM
I (236) heap_init: At 3FFE4350 len 0001BCB0 (111 KiB): D/IRAM
I (243) heap_init: At 4008A9D4 len 0001562C (85 KiB): IRAM
I (249) cpu_start: Pro cpu start user code
I (267) cpu_start: Starting scheduler on PRO CPU.
I (0) cpu_start: Starting scheduler on APP CPU.
I (4868) vl53l0x: refSpadCount = 1, isApertureSpads = 128
I (4868) vl53l0x: VL53L0X_PerformRefSpadManagement API status: -7 : Time out error
I (5448) vl53l0x: VL53L0X_PerformSingleRangingMeasurement API status: -7 : Time out error
typedef struct {
uint32_t TimeStamp; /*!< 32-bit time stamp. */
uint32_t MeasurementTimeUsec;
/*!< Give the Measurement time needed by the device to do the
* measurement.*/
uint16_t RangeMilliMeter; /*!< range distance in millimeter. */
uint16_t RangeDMaxMilliMeter;
/*!< Tells what is the maximum detection distance of the device
* in current setup and environment conditions (Filled when
* applicable) */
FixPoint1616_t SignalRateRtnMegaCps;
/*!< Return signal rate (MCPS)\n these is a 16.16 fix point
* value, which is effectively a measure of target
* reflectance.*/
FixPoint1616_t AmbientRateRtnMegaCps;
/*!< Return ambient rate (MCPS)\n these is a 16.16 fix point
* value, which is effectively a measure of the ambien
* t light.*/
uint16_t EffectiveSpadRtnCount;
/*!< Return the effective SPAD count for the return signal.
* To obtain Real value it should be divided by 256 */
uint8_t ZoneId;
/*!< Denotes which zone and range scheduler stage the range
* data relates to. */
uint8_t RangeFractionalPart;
/*!< Fractional part of range distance. Final value is a
* FixPoint168 value. */
uint8_t RangeStatus;
/*!< Range Status for the current measurement. This is device
* dependent. Value = 0 means value is valid.
* See \ref RangeStatusPage */
} VL53L0X_RangingMeasurementData_t;
