ASER/App/VL53L0X_API/platform/vl53_board.c

#include "vl53_board.h"
#include "FreeRTOS.h"
#include "task.h"
#include "robot_params.h"

/* ================= 卡尔曼滤波底层实现 ================= */
static void vl53_kalman_init(Vl53Kalman_t *kf, float q, float r) {
    kf->x = 0.0f;
    kf->p = 1.0f;
    kf->q = q;
    kf->r = r;
    kf->initialized = 0;
}

static float vl53_kalman_update(Vl53Kalman_t *kf, float measurement) {
    if (kf->initialized == 0) {
        kf->x = measurement;
        kf->initialized = 1;
        return kf->x;
    }
    kf->p = kf->p + kf->q;
    float k = kf->p / (kf->p + kf->r);
    kf->x = kf->x + k * (measurement - kf->x);
    kf->p = (1.0f - k) * kf->p;
    return kf->x;
}

/* ================= ST 官方配置序列 ================= */
static VL53L0X_Error vl53_do_static_init(VL53L0X_DEV dev, uint32_t timing_budget_us)
{
    VL53L0X_Error status;
    uint32_t ref_spad_count = 0u;
    uint8_t is_aperture_spads = 0u;
    uint8_t vhv_settings = 0u;
    uint8_t phase_cal = 0u;

    status = VL53L0X_StaticInit(dev);
    if (status != VL53L0X_ERROR_NONE) return status;

    status = VL53L0X_PerformRefSpadManagement(dev, &ref_spad_count, &is_aperture_spads);
    if (status != VL53L0X_ERROR_NONE) return status;

    status = VL53L0X_PerformRefCalibration(dev, &vhv_settings, &phase_cal);
    if (status != VL53L0X_ERROR_NONE) return status;

    status = VL53L0X_SetDeviceMode(dev, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING);
    if (status != VL53L0X_ERROR_NONE) return status;

    status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(dev, timing_budget_us);
    if (status != VL53L0X_ERROR_NONE) return status;

    status = VL53L0X_SetLimitCheckEnable(dev, VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1u);
    if (status != VL53L0X_ERROR_NONE) return status;

    status = VL53L0X_SetLimitCheckEnable(dev, VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1u);
    if (status != VL53L0X_ERROR_NONE) return status;

    return VL53L0X_ERROR_NONE;
}

/* ================= 核心管理器 API ================= */
VL53L0X_Error Vl53Board_Init(Vl53Board_t *board, const Vl53BoardHwCfg_t *hw_cfgs, uint8_t count, uint32_t timing_budget_us)
{
    if ((board == NULL) || (hw_cfgs == NULL) || (count == 0) || (count > VL53_MAX_DEVS_PER_BOARD)) {
        return VL53L0X_ERROR_INVALID_PARAMS;
    }

    memset(board, 0, sizeof(Vl53Board_t));
    board->dev_count = count;
    board->timing_budget_us = (timing_budget_us == 0u) ? 33000u : timing_budget_us;

    for (uint8_t i = 0; i < count; i++) {
        board->dev[i].name = hw_cfgs[i].name;
        board->dev[i].id = hw_cfgs[i].id;
        board->dev[i].comms_type = 1u;
        board->dev[i].comms_speed_khz = 400u;
        board->dev[i].is_present = 0u;

        VL53L0X_PlatformAttachBus(&board->dev[i], hw_cfgs[i].hi2c, VL53L0X_DEFAULT_ADDR_8BIT, 100u, NULL);
        VL53L0X_PlatformAttachPins(&board->dev[i], hw_cfgs[i].xshut_port, hw_cfgs[i].xshut_pin, NULL, 0);

        VL53L0X_PlatformSetXShut(&board->dev[i], GPIO_PIN_RESET);

        /* 初始化卡尔曼滤波器：Q/R 从 robot_params.h 读取 */
        vl53_kalman_init(&board->kf[i], PARAM_VL53_KALMAN_Q, PARAM_VL53_KALMAN_R);
    }

    vTaskDelay(pdMS_TO_TICKS(10));

    for (uint8_t i = 0; i < count; i++) {
        if (VL53L0X_PlatformSetXShut(&board->dev[i], GPIO_PIN_SET) != VL53L0X_ERROR_NONE) continue;
        vTaskDelay(pdMS_TO_TICKS(20));

        board->dev[i].I2cDevAddr = VL53L0X_DEFAULT_ADDR_8BIT;
        if (VL53L0X_PlatformChangeAddress(&board->dev[i], hw_cfgs[i].runtime_addr_8bit) != VL53L0X_ERROR_NONE) continue;
        if (VL53L0X_DataInit(&board->dev[i]) != VL53L0X_ERROR_NONE) continue;
        if (vl53_do_static_init(&board->dev[i], board->timing_budget_us) != VL53L0X_ERROR_NONE) continue;

        board->init_mask |= (uint8_t)(1u << i);
        board->dev[i].is_present = 1u;
    }

    return VL53L0X_ERROR_NONE;
}

VL53L0X_Error Vl53Board_StartContinuous(Vl53Board_t *board)
{
    if (board == NULL) return VL53L0X_ERROR_INVALID_PARAMS;
    for (uint8_t i = 0; i < board->dev_count; i++) {
        if (board->init_mask & (1u << i)) VL53L0X_StartMeasurement(&board->dev[i]);
    }
    return VL53L0X_ERROR_NONE;
}

VL53L0X_Error Vl53Board_StopContinuous(Vl53Board_t *board)
{
    if (board == NULL) return VL53L0X_ERROR_INVALID_PARAMS;
    for (uint8_t i = 0; i < board->dev_count; i++) {
        if (board->init_mask & (1u << i)) VL53L0X_StopMeasurement(&board->dev[i]);
    }
    return VL53L0X_ERROR_NONE;
}

VL53L0X_Error Vl53Board_ReadAll(Vl53Board_t *board, Vl53BoardSnapshot_t *snapshot)
{
    if (board == NULL || snapshot == NULL) return VL53L0X_ERROR_INVALID_PARAMS;

    memset(snapshot, 0, sizeof(Vl53BoardSnapshot_t));
    snapshot->tick_ms = xTaskGetTickCount() * portTICK_PERIOD_MS;

    for (uint8_t i = 0; i < board->dev_count; i++) {
        if ((board->init_mask & (1u << i)) == 0u) {
            snapshot->range_status[i] = 255u;
            continue;
        }

        uint8_t ready = 0u;
        if (VL53L0X_GetMeasurementDataReady(&board->dev[i], &ready) != VL53L0X_ERROR_NONE) continue;

        if (ready) {
            VL53L0X_RangingMeasurementData_t data;
            memset(&data, 0, sizeof(data));

            if (VL53L0X_GetRangingMeasurementData(&board->dev[i], &data) == VL53L0X_ERROR_NONE) {
                /* 1. 写入原始数据 */
                snapshot->range_mm[i] = data.RangeMilliMeter;
                snapshot->range_status[i] = data.RangeStatus;

                if (data.RangeStatus == 0u) {
                    /* 2. 标记有效并更新卡尔曼滤波器 */
                    snapshot->valid_mask |= (1u << i);
                    snapshot->range_mm_filtered[i] = vl53_kalman_update(&board->kf[i], (float)data.RangeMilliMeter);
                } else {
                    /* 测距失败时，滤波值维持上一次的历史最佳估计不变 */
                    snapshot->range_mm_filtered[i] = board->kf[i].x;
                }

                VL53L0X_ClearInterruptMask(&board->dev[i], 0u);
            }
        } else {
            /* 如果没准备好，把上一帧的历史值顺延下来，防止读到 0 */
            snapshot->range_mm_filtered[i] = board->kf[i].x;
        }
    }
    return VL53L0X_ERROR_NONE;
}