Chain ToF 使用チュートリアル

#include "M5Chain.h"

#define RXD_PIN GPIO_NUM_5  // 47 for the other side of Chain DualKey
#define TXD_PIN GPIO_NUM_6  // 48 for the other side of Chain DualKey

Chain M5Chain;

device_list_t *device_list = NULL;
uint16_t device_count = 0;
uint8_t opr_status = 0;

uint16_t tof_distance;

void setup() {
  Serial.begin(115200);
  delay(1000);
  Serial.println("===========================");
  Serial.println("M5Stack Chain ToF Test");

  M5Chain.begin(&Serial2, 115200, RXD_PIN, TXD_PIN);
  while (!M5Chain.isDeviceConnected()) {
    Serial.println("No device connected");
    delay(1000);
  }

  M5Chain.getDeviceNum(&device_count);
  device_list = (device_list_t *)malloc(sizeof(device_list_t));
  device_list->count = device_count;
  device_list->devices = (device_info_t *)malloc(sizeof(device_info_t) * device_count);
  M5Chain.getDeviceList(device_list);

  if (device_list->devices[0].device_type == CHAIN_TOF_TYPE_CODE) {
    Serial.println("ID[1] is Chain ToF\n");
    delay(1000);
  } else {
    Serial.println("ID[1] is NOT Chain ToF\n");
    return;
  }

  // Device ID, ToF measure mode (CONTINUOUS/SINGLE/STOP), operation status pointer
  M5Chain.setToFMeasureMode(1, CHAIN_TOF_MODE_SINGLE, &opr_status);
  // Device ID, ToF measure time (20-200 ms), operation status pointer
  M5Chain.setToFMeasureTime(1, 50, &opr_status);
}

void loop() {
  M5Chain.getToFDistance(1, &tof_distance);  // Device ID
  Serial.printf("tof_distance: %4d mm\n", tof_distance);  // 30 - 2000
  delay(200);
}