Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

VL53L1X: Reduce CPU usage #21787

Merged
merged 3 commits into from
Jul 3, 2023
Merged

VL53L1X: Reduce CPU usage #21787

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
fe20d76
Reduce CPU usage
dirksavage88 Jul 2, 2023
0463660
increase to 10hz
dirksavage88 Jul 2, 2023
d1294a2
Revert to one delay in runimpl, change to 50hz
dirksavage88 Jul 2, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
16 changes: 12 additions & 4 deletions src/drivers/distance_sensor/vl53l1x/vl53l1x.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,10 +35,11 @@
***********/

#include "vl53l1x.hpp"
#include <px4_platform_common/module.h>

#define VL53L1X_DELAY 20 //ms
#define VL53L1X_DELAY 50000 // delay to reduce CPU usage (us)
#define VL53L1X_SAMPLE_RATE 200 // ms, default
#define VL53L1X_INTER_MEAS_MS 200 // ms
#define VL53L1X_INTER_MEAS_MS 200 // ms
#define VL53L1X_SHORT_RANGE 1 // sub-2 meter distance mode
#define VL53L1X_LONG_RANGE 2 // sub-4 meter distance mode
#define VL53L1X_RANGE_STATUS_OUT_OF_BOUNDS 13 // region of interest out of bounds error
Expand Down Expand Up @@ -261,18 +262,19 @@ int VL53L1X::probe()

void VL53L1X::RunImpl()
{

uint8_t dataReady = 0;

VL53L1X_CheckForDataReady(&dataReady);

if (dataReady == 1) {
collect();
}

// Reduce CPU usage
ScheduleDelayed(VL53L1X_DELAY);

// zone modulus increment
_zone_index = (_zone_index + 1) % _zone_limit;

// Set the ROI center based on zone incrementation
VL53L1X_SetROICenter(roi_center[_zone_index]);
}
Expand All @@ -292,6 +294,7 @@ int VL53L1X::init()
uint8_t x = 4;
uint8_t y = 4;


ret |= VL53L1X_SensorInit();
ret |= VL53L1X_ConfigBig(_distance_mode, VL53L1X_SAMPLE_RATE);
ret |= VL53L1X_SetROI(x, y);
Expand Down Expand Up @@ -488,6 +491,7 @@ int8_t VL53L1X::VL53L1X_CheckForDataReady(uint8_t *isDataReady)
uint8_t IntPol;
int8_t status = 0;


status = VL53L1X_GetInterruptPolarity(&IntPol);
status = VL53L1_RdByte(GPIO__TIO_HV_STATUS, &Temp);

Expand All @@ -498,6 +502,7 @@ int8_t VL53L1X::VL53L1X_CheckForDataReady(uint8_t *isDataReady)

} else {
*isDataReady = 0;

}
}

Expand All @@ -520,6 +525,7 @@ int8_t VL53L1X::VL53L1X_ClearInterrupt()
int8_t status = 0;

status = VL53L1_WrByte(SYSTEM__INTERRUPT_CLEAR, 0x01);

return status;
}

Expand All @@ -528,6 +534,8 @@ int8_t VL53L1X::VL53L1X_StopRanging()
int8_t status = 0;

status = VL53L1_WrByte(SYSTEM__MODE_START, 0x00); /* Disable VL53L1X */

ScheduleClear();
return status;
}

Expand Down