I stumbled upon this video that I think is really cool. I then found a forum thread on the ST website where an ST employee responded that he could send the code by email. After getting the code I realized that the code was made for some other system (STM32?). Could anyone look at the code and see if it is possible to port so it would be usable using an Arduino/ESP32/ESP8266 ?
People Counting Using a Single ST Time-of-Flight Sensor – 02:11
— STMicroelectronics
I think I found the code
/**
******************************************************************************
* File Name : main.c
* Description : Main program body
******************************************************************************
*
* COPYRIGHT(c) 2017 STMicroelectronics
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32xxx_hal.h"
/* USER CODE BEGIN Includes */
#include "main.h"
#include "VL53L1X_API.h"
#include "VL53l1X_calibration.h"
#include "X-NUCLEO-53L1A1.h"
/* USER CODE END Includes */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
I2C_HandleTypeDef hi2c1;
UART_HandleTypeDef huart2;
VL53L1_Dev_t dev;
int status = 0;
volatile int IntCount;
#define isInterrupt 1 /* If isInterrupt = 1 then device working in interrupt mode, else device working in polling mode */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
int SystemClock_Config(void);
static void MX_GPIO_Init(void);
static int MX_USART2_UART_Init(void);
static int MX_I2C1_Init(void);
/* USER CODE END PFP */
/* USER CODE BEGIN 0 */
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
// People Counting defines
#define NOBODY 0
#define SOMEONE 1
#define LEFT 0
#define RIGHT 1
#define DIST_THRESHOLD_MAX 1780
PUTCHAR_PROTOTYPE
{
HAL_UART_Transmit(&huart2, (uint8_t*)&ch, 1, 0xFFFF);
return ch;
}
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if (GPIO_Pin==VL53L1X_INT_Pin)
{
IntCount++;
}
}
/* USER CODE END 0 */
int ProcessPeopleCountingData(int16_t Distance, uint8_t zone) {
static char PeopleCountString[4];
static int PathTrack[] = {0,0,0,0};
static int PathTrackFillingSize = 1; // init this to 1 as we start from state where nobody is any of the zones
static int LeftPreviousStatus = NOBODY;
static int RightPreviousStatus = NOBODY;
static int PeopleCount = 0;
int CurrentZoneStatus = NOBODY;
int AllZonesCurrentStatus = 0;
int AnEventHasOccured = 0;
if (Distance < DIST_THRESHOLD_MAX) {
// Someone is in !
CurrentZoneStatus = SOMEONE;
}
// left zone
if (zone == LEFT) {
if (CurrentZoneStatus != LeftPreviousStatus) {
// event in left zone has occured
AnEventHasOccured = 1;
if (CurrentZoneStatus == SOMEONE) {
AllZonesCurrentStatus += 1;
}
// need to check right zone as well ...
if (RightPreviousStatus == SOMEONE) {
// event in left zone has occured
AllZonesCurrentStatus += 2;
}
// remember for next time
LeftPreviousStatus = CurrentZoneStatus;
}
}
// right zone
else {
if (CurrentZoneStatus != RightPreviousStatus) {
// event in left zone has occured
AnEventHasOccured = 1;
if (CurrentZoneStatus == SOMEONE) {
AllZonesCurrentStatus += 2;
}
// need to left right zone as well ...
if (LeftPreviousStatus == SOMEONE) {
// event in left zone has occured
AllZonesCurrentStatus += 1;
}
// remember for next time
RightPreviousStatus = CurrentZoneStatus;
}
}
// if an event has occured
if (AnEventHasOccured) {
if (PathTrackFillingSize < 4) {
PathTrackFillingSize ++;
}
// if nobody anywhere lets check if an exit or entry has happened
if ((LeftPreviousStatus == NOBODY) && (RightPreviousStatus == NOBODY)) {
// check exit or entry only if PathTrackFillingSize is 4 (for example 0 1 3 2) and last event is 0 (nobobdy anywhere)
if (PathTrackFillingSize == 4) {
// check exit or entry. no need to check PathTrack[0] == 0 , it is always the case
if ((PathTrack[1] == 1) && (PathTrack[2] == 3) && (PathTrack[3] == 2)) {
// This an entry
PeopleCount ++;
sprintf(PeopleCountString, "%d", PeopleCount);
XNUCLEO53L1A1_SetDisplayString(PeopleCountString);
} else if ((PathTrack[1] == 2) && (PathTrack[2] == 3) && (PathTrack[3] == 1)) {
// This an exit
PeopleCount --;
sprintf(PeopleCountString, "%d", PeopleCount);
XNUCLEO53L1A1_SetDisplayString(PeopleCountString);
}
}
PathTrackFillingSize = 1;
}
else {
// update PathTrack
// example of PathTrack update
// 0
// 0 1
// 0 1 3
// 0 1 3 1
// 0 1 3 3
// 0 1 3 2 ==> if next is 0 : check if exit
PathTrack[PathTrackFillingSize-1] = AllZonesCurrentStatus;
}
}
// output debug data to main host machine
return(PeopleCount);
}
int main(void)
{
int8_t error;
uint8_t byteData, sensorState=0;
uint16_t wordData;
uint16_t Distance;
uint8_t RangeStatus;
uint8_t dataReady;
int center[2] = {167,231}; /* these are the spad center of the 2 8*16 zones */
int Zone = 0;
int PplCounter = 0;
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
error = SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
error += MX_USART2_UART_Init();
error += MX_I2C1_Init();
if (error != 0)
{
printf("Could not initialize the nucleo board\n");
return -1;
}
XNUCLEO53L1A1_Init();
dev.I2cHandle = &hi2c1;
dev.I2cDevAddr = 0x52;
status = XNUCLEO53L1A1_ResetId(XNUCLEO53L1A1_DEV_LEFT, 0); // Reset ToF sensor
HAL_Delay(2);
status = XNUCLEO53L1A1_ResetId(XNUCLEO53L1A1_DEV_CENTER, 0); // Reset ToF sensor
HAL_Delay(2);
status = XNUCLEO53L1A1_ResetId(XNUCLEO53L1A1_DEV_RIGHT, 0); // Reset ToF sensor
HAL_Delay(2);
status = XNUCLEO53L1A1_ResetId(XNUCLEO53L1A1_DEV_LEFT, 1); // Reset ToF sensor
HAL_Delay(2);
// Those basic I2C read functions can be used to check your own I2C functions */
status = VL53L1_RdByte(&dev, 0x010F, &byteData);
printf("VL53L1X Model_ID: %X\n", byteData);
status = VL53L1_RdByte(&dev, 0x0110, &byteData);
printf("VL53L1X Module_Type: %X\n", byteData);
status = VL53L1_RdWord(&dev, 0x010F, &wordData);
printf("VL53L1X: %X\n", wordData);
while (sensorState == 0) {
status = VL53L1X_BootState(dev, &sensorState);
HAL_Delay(2);
}
printf("Chip booted\n");
/* Init 4 digit display */
XNUCLEO53L1A1_SetDisplayString("0");
/* Initialize and configure the device according to people counting need */
status = VL53L1X_SensorInit(dev);
status += VL53L1X_SetDistanceMode(dev, 2); /* 1=short, 2=long */
status += VL53L1X_SetTimingBudgetInMs(dev, 20); /* in ms possible values [20, 50, 100, 200, 500] */
status += VL53L1X_SetInterMeasurementInMs(dev, 20);
status += VL53L1X_SetROI(dev, 8, 16); /* minimum ROI 4,4 */
if (status != 0) {
printf("Error in Initalisation or configuration of the device\n");
return (-1);
}
printf("Start counting people ...\n");
status = VL53L1X_StartRanging(dev); /* This function has to be called to enable the ranging */
while(1) { /* read and display data */
while (dataReady == 0) {
status = VL53L1X_CheckForDataReady(dev, &dataReady);
HAL_Delay(2);
}
dataReady = 0;
status += VL53L1X_GetRangeStatus(dev, &RangeStatus);
status += VL53L1X_GetDistance(dev, &Distance);
status += VL53L1X_ClearInterrupt(dev); /* clear interrupt has to be called to enable next interrupt*/
if (status != 0) {
printf("Error in operating the device\n");
return (-1);
}
// wait a couple of milliseconds to ensure the setting of the new ROI center for the next ranging is effective
// otherwise there is a risk that this setting is applied to current ranging (even if timing has expired, the intermeasurement
// may expire immediately after.
HAL_Delay(10);
status = VL53L1X_SetROICenter(dev, center[Zone]);
if (status != 0) {
printf("Error in chaning the center of the ROI\n");
return (-1);
}
// inject the new ranged distance in the people counting algorithm
PplCounter = ProcessPeopleCountingData(Distance, Zone);
Zone++;
Zone = Zone%2;
printf("%d, %d, %d, %d\n", Zone, RangeStatus, Distance, PplCounter);
}
}
/** System Clock Configuration
*/
#ifdef STM32F401xE
int SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
/**Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = 16;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = 16;
RCC_OscInitStruct.PLL.PLLN = 336;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4;
RCC_OscInitStruct.PLL.PLLQ = 7;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
return -1;
}
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
return -1;
}
/**Configure the Systick interrupt time
*/
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
/**Configure the Systick
*/
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
return 0;
}
#endif
#ifdef STM32F401xE
/* I2C1 init function */
static int MX_I2C1_Init(void)
{
hi2c1.Instance = I2C1;
hi2c1.Init.ClockSpeed = 100000;
hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c1.Init.OwnAddress1 = 0;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c1.Init.OwnAddress2 = 0;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c1) != HAL_OK)
{
return -1;
}
return 0;
}
#endif
/* USART2 init function */
int MX_USART2_UART_Init(void)
{
huart2.Instance = USART2;
huart2.Init.BaudRate = 460800;
huart2.Init.WordLength = UART_WORDLENGTH_8B;
huart2.Init.StopBits = UART_STOPBITS_1;
huart2.Init.Parity = UART_PARITY_NONE;
huart2.Init.Mode = UART_MODE_TX_RX;
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart2) != HAL_OK)
{
return (-1);
}
return 0;
}
/** Configure pins as
* Analog
* Input
* Output
* EVENT_OUT
* EXTI
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : B1_Pin */
GPIO_InitStruct.Pin = B1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : VL53L1X_INT_Pin */
GPIO_InitStruct.Pin = VL53L1X_INT_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(VL53L1X_INT_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : LD2_Pin */
GPIO_InitStruct.Pin = LD2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LD2_GPIO_Port, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI4_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI4_IRQn);
}
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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