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bitcraze / crazyflie-firmware-experimental

Experimental branches of the Crazyflie firmware
GNU General Public License v3.0
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Started on support for the VL53L5CX sensor for multiranger #8

Closed victorhook closed 1 year ago

victorhook commented 1 year ago

I started on firmware to support the multizone lidar sensor VL53L5CX that could perhaps be used on the multiranger deck in the future. During my development I soldered a L5 sensor on a "satellite" board (schematic here) and replaced the old satellite board on a multiranger deck with it.

I have gotten the I2C to work and can read data from the sensors. There are some things to consider with this sensor:

  1. During initialization a large chunk of firmware must be written to it (~64kB I believe).
  2. There's no XSHUT pin as on the L5, only a LP pin, which enables/disables the I2C, so there's no way to reset the sensor but to cut the power to it. This might make I2C setting during intialization require some extra logic.

This PR is only work in progress. Currently only the front sensor is enabled (with the L5) and prints some distance data to the console. The low-level driver is developed by ST and available here. I put this in src/lib/vl53l5cx.

krichardsson commented 1 year ago

Note: This should not be merged into mater (that is identical to crazyflie-firmware) but put it in a branch

krichardsson commented 1 year ago

The code is in the vl53l5cx-poc branch. Closing this PR.

Thanks @victorhook !