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Stm32n6 tof - #68
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Stm32n6 tof#68
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The heap starts at _ebss, so the larger region costs nothing at runtime. The FSBL sits at +1.5 MB in AXISRAM, well clear. Needed for the 84 KB VL53L5CX firmware blob. Co-Authored-By: Claude <noreply@anthropic.com>
Own implementation of the register level sequences from ST's VL53L5CX ULD driver (BSD-3-Clause). The sensor has no flash, so the 84 KB firmware and default calibration blobs (vl53l5cx_fw.c, generated from ST's vl53l5cx_buffers.h with the original notice kept) are uploaded over I2C at init. Supports 4x4 and 8x8 zones, ranging frequency, start/stop and frame read-out (distance, sigma, signal, ambient, target status). Transfers are split into 252 byte chunks since the STM32 I2C driver moves at most 255 bytes per transfer. The MCU boot wait uses the GO2 status poll from ST's later ULD; the 1.x "0x06 == 0" check can pass before the firmware is up, which made the NVM read fail with a garbage status. Boot errors log the failing step and the raw status bytes. Built with ENABLE_VL53L5CX. Co-Authored-By: Claude <noreply@anthropic.com>
The B-CAMS-IMX module has a VL53L5CX on the camera I2C bus. It is created at the end of the camera init thread, as the firmware upload takes a few seconds. LPn (PQ5) is pulled up on the module and left alone; TOF_INT (PQ0) is unused, the driver polls. tof start [4|8] [hz] start ranging (default 8x8 at 15 Hz) tof stop tof [frames] print the distance grid Co-Authored-By: Claude <noreply@anthropic.com>
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Adds a VL53L5CX driver and use it on the stm32n6-dk