Microcontroller firmware for reading from miniature time-of-flight sensors. This firmware is necessary to utilize the mini_tof ROS 2 package.
Each sensor has a different hardware setup and requires different firmware. See the README files in the corresponding subdirectories (TMF882X, VL53L8CH) for instructions for either sensor.
Currently, two sensors are supported: The AMS TMF882X (the TMF8820, TMF8821, and TMF8828) and the ST VL53L8CH. The TMF882X is a more compact package and easier to use, but has a limited frame rate (~4Hz) when reporting full histograms, and is less configurable. The VL53L8CH is larger and more difficult to use, but supports a higher bandwidth SPI interface, enabling higher frame rates (up to ~30Hz) and more configurable settings such as (temporal and spatial) resolution.