lidar_vl53l5cx module

VL53L5CX multizone range sensor.

Sends LIDAR_DATA Abi messages.

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="lidar_vl53l5cx">
  b'<define name="LIDAR_VL53L5CX_I2C_ADDR" value="0x52" />\n  '
  b'<configure name="LIDAR_VL53L5CX_I2C_DEV" value="i2c2" />\n    '
</module>

Module configuration options

Configure Options

• name: LIDAR_VL53L5CX_I2C_DEV value: i2c2
  Description: I2C device to use for the VL53L5CX sensor

Define Options

• name: LIDAR_VL53L5CX_I2C_ADDR value: 0x52
  Description: I2C address

Module functions

Init Functions

These initialization functions are called once on startup.

• lidar_vl53l5cx_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• lidar_vl53l5cx_periodic()
  • Frequency in Hz: 5.0
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

• lidar_vl53l5cx.h

Source Files

• peripherals/vl53l5cx_api.c
• arch dependent: modules/lidar/lidar_vl53l5cx.c
• arch dependent: modules/lidar/vl53l5cx_platform.c

Raw lidar_vl53l5cx.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="lidar_vl53l5cx" dir="lidar" task="sensors">
  <doc>
    <description>
      VL53L5CX multizone range sensor.
      Sends LIDAR_DATA Abi messages.
    </description>
    <configure name="LIDAR_VL53L5CX_I2C_DEV" value="i2c2" description="I2C device to use for the VL53L5CX sensor"/>
    <define name="LIDAR_VL53L5CX_I2C_ADDR" value="0x52" description="I2C address"/>
  </doc>
  <dep>
    <depends>i2c</depends>
  </dep>
  <header>
    <file name="lidar_vl53l5cx.h"/>
  </header>
  <init fun="lidar_vl53l5cx_init()"/>
  <periodic fun="lidar_vl53l5cx_periodic()" freq="5.0"/>
  <makefile>
    <configure name="LIDAR_VL53L5CX_I2C_DEV" default="i2c2" case="lower|upper"/>
    <define name="LIDAR_VL53L5CX_I2C_DEV" value="$(LIDAR_VL53L5CX_I2C_DEV_LOWER)"/>
    <define name="USE_$(LIDAR_VL53L5CX_I2C_DEV_UPPER)"/>
 
    <file_arch name="lidar_vl53l5cx.c"/>
    <file name="vl53l5cx_api.c" dir="peripherals"/>
    <file_arch name="vl53l5cx_platform.c"/>
    <test arch="chibios"/>
  </makefile>
</module>