TOF ROIs

Author: eigen-value

examples/sensor_tof/platform_config_custom.h

@@ -0,0 +1,83 @@
+/**
+ ******************************************************************************
+ * @file    platform_config_default.h
+ * @author  STMicroelectronics
+ * @version V1.0.0
+ * @date    11 November 2021
+ * @brief   Header file with the default platform settings.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2021 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+#ifndef _PLATFORM_CONFIG_DEFAULT_H_
+#define _PLATFORM_CONFIG_DEFAULT_H_
+
+/*
+ * @brief If you want to customize these defines you can add in the application
+ * code the file platform_config_custom.h file where you can override some of
+ * these defines.
+ */
+
+/*
+ * @brief The macro below is used to define the number of target per zone sent
+ * through I2C. This value can be changed by user, in order to tune I2C
+ * transaction, and also the total memory size (a lower number of target per
+ * zone means a lower RAM). The value must be between 1 and 4.
+ */
+
+#ifndef VL53L7CX_NB_TARGET_PER_ZONE
+  #define   VL53L7CX_NB_TARGET_PER_ZONE   1U
+#endif
+
+/*
+ * @brief The macro below can be used to avoid data conversion into the driver.
+ * By default there is a conversion between firmware and user data. Using this macro
+ * allows to use the firmware format instead of user format. The firmware format allows
+ * an increased precision.
+ */
+
+// #define  VL53L7CX_USE_RAW_FORMAT
+
+/*
+ * @brief All macro below are used to configure the sensor output. User can
+ * define some macros if he wants to disable selected output, in order to reduce
+ * I2C access.
+ */
+
+#define VL53L7CX_DISABLE_AMBIENT_PER_SPAD
+#define VL53L7CX_DISABLE_NB_SPADS_ENABLED
+#define VL53L7CX_DISABLE_NB_TARGET_DETECTED
+#define VL53L7CX_DISABLE_SIGNAL_PER_SPAD
+#define VL53L7CX_DISABLE_RANGE_SIGMA_MM
+// #define VL53L7CX_DISABLE_DISTANCE_MM
+#define VL53L7CX_DISABLE_REFLECTANCE_PERCENT
+#define VL53L7CX_DISABLE_TARGET_STATUS
+#define VL53L7CX_DISABLE_MOTION_INDICATOR
+
+#endif  // _PLATFORM_CONFIG_DEFAULT_H_

examples/sensor_tof/sensor_tof.ino

@@ -24,18 +24,25 @@ void setup() {
 
 void loop() {
     bool updated = false;
-    T1 = micros();
     updated = tof.update();
-    T2 = micros();
-
-    Serial.print(T2-T1);
-    Serial.print(", ");
-
+    
     if (updated) {
       Serial.println(" ");
       Serial.print("TOP=");
       Serial.println(tof.get_min_range_top_mm());
+      Serial.print("BOT=");
+      Serial.println(tof.get_max_range_bottom_mm());
+      Serial.print("LEFT=");
+      Serial.println(tof.get_min_range_left_mm());
+      Serial.print("RIGHT=");
+      Serial.println(tof.get_min_range_right_mm());
+      Serial.print("CLEFT=");
+      Serial.println(tof.get_min_range_center_left_mm());
+      Serial.print("CRIGHT=");
+      Serial.println(tof.get_min_range_center_right_mm());
+      Serial.print("CENTER=");
+      Serial.println(tof.get_min_range_center_mm());
     }
 
-    delay(100);
+    //delay(1000);
 }

src/sensor_tof_matrix.h

@@ -145,9 +145,64 @@ class SensorTofMatrix{
             return top_min;
         }
 
-        /*void setResolution(){
-            _sensor->setRes
-        }*/
+        int get_min_range_left_mm() {
+            update();
+
+            int16_t top_min = results.distance_mm[0];
+
+            for (int i=(_size==4?3:6); i < (_size==4?16:64) ;i+=_size) {
+                top_min = min(top_min, results.distance_mm[i]);
+                if (_size==8) {
+                    top_min = min(top_min, results.distance_mm[i+1]);
+                }
+            }
+
+            return top_min;
+        }
+
+        int get_min_range_center_right_mm() {
+            update();
+
+            int16_t top_min = results.distance_mm[0];
+
+            for (int i=(_size==4?5:18); i < (_size==4?13:50) ;i+=_size) {
+                top_min = min(top_min, results.distance_mm[i]);
+                if (_size==8) {
+                    top_min = min(top_min, results.distance_mm[i+1]);
+                }
+            }
+
+            return top_min;
+        }
+
+        int get_min_range_center_left_mm() {
+            update();
+
+            int16_t top_min = results.distance_mm[0];
+
+            for (int i=(_size==4?6:20); i < (_size==4?14:52) ;i+=_size) {
+                top_min = min(top_min, results.distance_mm[i]);
+                if (_size==8) {
+                    top_min = min(top_min, results.distance_mm[i+1]);
+                }
+            }
+
+            return top_min;
+        }
+
+        int get_min_range_center_mm() {
+            update();
+
+            int16_t top_min = results.distance_mm[0];
+
+            for (int i=(_size==5?6:19); i < (_size==4?13:51) ;i+=_size) {
+                top_min = min(top_min, results.distance_mm[i]);
+                top_min = min(top_min, results.distance_mm[i+1]);               
+            }
+
+            return top_min;
+        }
+
 };
 
 #endif