250 lines
7.2 KiB
C++
250 lines
7.2 KiB
C++
#include <string.h>
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// **************************************************************************
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// Demonstrate the Pimoroni ToF module (VL53L1X)
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// Assumes that a Pico Display Pack (a 1.14inch IPS LCD screen with four
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// useful buttons) is installed, and that the VL53L1X I2C module has
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// sda, scl and int on GPIO 20, 21 and 22
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// Displays the current distance (in mm) and mode
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// Button B holds the reading until released
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// Button X toggles metric/imperial display
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// Button Y increments the mode (Auto, Short, Medium, Long)
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// (There are on-screen reminders of the active buttons)
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// **************************************************************************
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// To use PicoExplorer rather than PicoDisplay, uncomment the following line
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#define USE_PICO_EXPLORER 1
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// This:
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// - Includes pico_explorer.hpp rather than pico_display.hpp
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// - Replaces all PicoDisplay references with PicoExplorer
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// - Leaves out the .set_led() calls in flash_led()
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#ifdef USE_PICO_EXPLORER
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#include "pico_explorer.hpp"
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#else
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#include "pico_display.hpp"
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#endif
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#include "vl53l1x.hpp"
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using namespace pimoroni;
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class AutoRepeat {
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public:
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AutoRepeat(uint32_t repeat_time=200, uint32_t hold_time=1000) {
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this->repeat_time = repeat_time;
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this->hold_time = hold_time;
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}
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bool next(uint32_t time, bool state) {
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bool changed = state != last_state;
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last_state = state;
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if(changed) {
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if(state) {
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pressed_time = time;
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pressed = true;
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last_time = time;
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return true;
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}
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else {
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pressed_time = 0;
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pressed = false;
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last_time = 0;
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}
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}
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// Shortcut for no auto-repeat
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if(repeat_time == 0) return false;
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if(pressed) {
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uint32_t repeat_rate = repeat_time;
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if(hold_time > 0 && time - pressed_time > hold_time) {
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repeat_rate /= 3;
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}
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if(time - last_time > repeat_rate) {
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last_time = time;
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return true;
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}
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}
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return false;
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}
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private:
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uint32_t repeat_time;
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uint32_t hold_time;
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bool pressed = false;
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bool last_state = false;
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uint32_t pressed_time = 0;
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uint32_t last_time = 0;
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};
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#ifdef USE_PICO_EXPLORER
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uint16_t buffer[PicoExplorer::WIDTH * PicoExplorer::HEIGHT];
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PicoExplorer pico_display(buffer);
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uint16_t screen_width = PicoExplorer::WIDTH;
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uint16_t screen_height = PicoExplorer::HEIGHT;
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uint16_t disptext_reminder_size = 2;
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uint16_t disptext_b_reminder_xoff = 5;
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uint16_t disptext_b_reminder_yoff = 210;
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uint16_t disptext_x_reminder_xoff = 165;
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uint16_t disptext_x_reminder_yoff = 2;
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uint16_t disptext_y_reminder_xoff = 165;
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uint16_t disptext_y_reminder_yoff = 210;
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uint16_t disptext_mode_xoff = 10;
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uint16_t disptext_mode_yoff = 30;
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uint16_t disptext_mode_size = 3;
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uint16_t disptext_dist_xoff = 10;
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uint16_t disptext_dist_yoff = 90;
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uint16_t disptext_dist_size = 6;
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#else
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uint16_t buffer[PicoDisplay::WIDTH * PicoDisplay::HEIGHT];
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PicoDisplay pico_display(buffer);
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uint16_t screen_width = PicoDisplay::WIDTH;
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uint16_t screen_height = PicoDisplay::HEIGHT;
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uint16_t disptext_reminder_size = 2;
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uint16_t disptext_b_reminder_xoff = 2;
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uint16_t disptext_b_reminder_yoff = 110;
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uint16_t disptext_x_reminder_xoff = 175;
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uint16_t disptext_x_reminder_yoff = 2;
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uint16_t disptext_y_reminder_xoff = 175;
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uint16_t disptext_y_reminder_yoff = 110;
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uint16_t disptext_mode_xoff = 12;
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uint16_t disptext_mode_yoff = 15;
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uint16_t disptext_mode_size = 3;
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uint16_t disptext_dist_xoff = 10;
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uint16_t disptext_dist_yoff = 45;
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uint16_t disptext_dist_size = 4;
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#endif
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#define MM_TO_INCH 25.4
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VL53L1X vl53l1x;
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const char mode_to_text[4][7] = {
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"Auto",
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"Short",
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"Medium",
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"Long"
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};
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AutoRepeat ar_button_a;
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AutoRepeat ar_button_b;
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AutoRepeat ar_button_x;
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AutoRepeat ar_button_y;
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#define FLASH_MOD 20
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void flash_led(uint32_t curr_count) {
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// Flash the LED based on the current loop counter
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// curr_count=0 will turn LED off
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#ifndef USE_PICO_EXPLORER
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if ((curr_count % FLASH_MOD) < (FLASH_MOD / 2)) {
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// value less than half modded number - LED off
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pico_display.set_led(0, 0, 0);
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} else {
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// value more than half modded number - LED on
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pico_display.set_led(128, 128, 128);
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}
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#endif
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}
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int main() {
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bool vl53_present = false;
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uint16_t vl53_mode = 1;
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pico_display.init();
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vl53_present = vl53l1x.init();
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uint32_t i = 0;
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char buf[256];
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if (vl53_present) {
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vl53l1x.startContinuous(1000);
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vl53l1x.setMeasurementTimingBudget(50000);
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vl53l1x.setDistanceModeInt(vl53_mode);
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}
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// The distance (in millimetres)
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uint16_t dist = 0;
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// True if units in metric, false for Imperial (feet and inches)
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bool units_metric = true;
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// Whether the display is being held
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bool dist_held = false;
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while(true) {
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bool a_pressed = ar_button_a.next(i, pico_display.is_pressed(pico_display.A));
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bool b_pressed = ar_button_b.next(i, pico_display.is_pressed(pico_display.B));
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bool x_pressed = ar_button_x.next(i, pico_display.is_pressed(pico_display.X));
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bool y_pressed = ar_button_y.next(i, pico_display.is_pressed(pico_display.Y));
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if (b_pressed) {
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dist_held = !dist_held;
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}
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if (x_pressed) {
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units_metric = !units_metric;
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}
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if (y_pressed) {
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if (vl53_present) {
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vl53_mode++;
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if (vl53_mode > 3) vl53_mode = 1;
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vl53l1x.setDistanceModeInt(vl53_mode);
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}
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}
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Rect text_box(5, 5, screen_width-10, screen_height-10);
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pico_display.set_pen(55, 65, 75);
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pico_display.rectangle(text_box);
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// text_box.deflate(10);
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pico_display.set_clip(text_box);
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pico_display.set_pen(255, 255, 255);
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// Show the current distance
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flash_led(0);
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if (vl53_present) {
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pico_display.text("Units",
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Point(text_box.x+disptext_x_reminder_xoff,
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text_box.y+disptext_x_reminder_yoff), 230, disptext_reminder_size);
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pico_display.text("+Mode",
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Point(text_box.x+disptext_y_reminder_xoff,
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text_box.y+disptext_y_reminder_yoff), 230, disptext_reminder_size);
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if(dist_held) {
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pico_display.set_pen(255, 64, 64);
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}
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pico_display.text("Hold",
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Point(text_box.x+disptext_b_reminder_xoff,
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text_box.y+disptext_b_reminder_yoff), 230, disptext_reminder_size);
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pico_display.set_pen(255, 255, 255);
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sprintf(buf, "Mode: %s", mode_to_text[vl53_mode]);
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pico_display.text(buf,
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Point(text_box.x+disptext_mode_xoff,
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text_box.y+disptext_mode_yoff), 230, disptext_mode_size);
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// Get the distance (use previous distance if number is held)
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if (!dist_held) dist = vl53l1x.read(false);
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if (units_metric) {
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sprintf(buf, "%dmm", dist);
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} else {
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uint16_t ft = ((uint16_t)(dist/MM_TO_INCH))/12;
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sprintf(buf, "%dft %.1fin", ft,
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((float)dist/MM_TO_INCH)-ft*12.0);
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}
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pico_display.text(buf,
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Point(text_box.x+disptext_dist_xoff,
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text_box.y+disptext_dist_yoff), 120, disptext_dist_size);
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} else {
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pico_display.text("VL53L1X Missing",
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Point(text_box.x+disptext_dist_xoff,
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text_box.y+disptext_dist_yoff), 230, disptext_dist_size);
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}
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pico_display.remove_clip();
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// update screen
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pico_display.update();
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i++;
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}
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return 0;
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}
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