# SPDX-FileCopyrightText: 2017 Tony DiCola for Adafruit Industries
#
# SPDX-License-Identifier: MIT
"""
`adafruit_vl53l0x`
====================================================
CircuitPython driver for the VL53L0X distance sensor. This code is adapted
from the pololu driver here:
https://github.com/pololu/vl53l0x-arduino
See usage in the examples/vl53l0x_simpletest.py file.
* Author(s): Tony DiCola
Implementation Notes
--------------------
**Hardware:**
* Adafruit `VL53L0X Time of Flight Distance Sensor - ~30 to 1000mm
<https://www.adafruit.com/product/3317>`_ (Product ID: 3317)
**Software and Dependencies:**
* Adafruit CircuitPython firmware for the ESP8622 and M0-based boards:
https://github.com/adafruit/circuitpython/releases
* Adafruit's Bus Device library: https://github.com/adafruit/Adafruit_CircuitPython_BusDevice
"""
import math
import time
from adafruit_bus_device import i2c_device
from micropython import const
try:
from typing import Optional, Tuple, Type
from types import TracebackType
from busio import I2C
except ImportError:
pass
__version__ = "0.0.0+auto.0"
__repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_VL53L0X.git"
# Configuration constants:
_SYSRANGE_START = const(0x00)
_SYSTEM_THRESH_HIGH = const(0x0C)
_SYSTEM_THRESH_LOW = const(0x0E)
_SYSTEM_SEQUENCE_CONFIG = const(0x01)
_SYSTEM_RANGE_CONFIG = const(0x09)
_SYSTEM_INTERMEASUREMENT_PERIOD = const(0x04)
_SYSTEM_INTERRUPT_CONFIG_GPIO = const(0x0A)
_GPIO_HV_MUX_ACTIVE_HIGH = const(0x84)
_SYSTEM_INTERRUPT_CLEAR = const(0x0B)
_RESULT_INTERRUPT_STATUS = const(0x13)
_RESULT_RANGE_STATUS = const(0x14)
_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN = const(0xBC)
_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN = const(0xC0)
_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF = const(0xD0)
_RESULT_CORE_RANGING_TOTAL_EVENTS_REF = const(0xD4)
_RESULT_PEAK_SIGNAL_RATE_REF = const(0xB6)
_ALGO_PART_TO_PART_RANGE_OFFSET_MM = const(0x28)
_I2C_SLAVE_DEVICE_ADDRESS = const(0x8A)
_MSRC_CONFIG_CONTROL = const(0x60)
_PRE_RANGE_CONFIG_MIN_SNR = const(0x27)
_PRE_RANGE_CONFIG_VALID_PHASE_LOW = const(0x56)
_PRE_RANGE_CONFIG_VALID_PHASE_HIGH = const(0x57)
_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT = const(0x64)
_FINAL_RANGE_CONFIG_MIN_SNR = const(0x67)
_FINAL_RANGE_CONFIG_VALID_PHASE_LOW = const(0x47)
_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH = const(0x48)
_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT = const(0x44)
_PRE_RANGE_CONFIG_SIGMA_THRESH_HI = const(0x61)
_PRE_RANGE_CONFIG_SIGMA_THRESH_LO = const(0x62)
_PRE_RANGE_CONFIG_VCSEL_PERIOD = const(0x50)
_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI = const(0x51)
_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO = const(0x52)
_SYSTEM_HISTOGRAM_BIN = const(0x81)
_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT = const(0x33)
_HISTOGRAM_CONFIG_READOUT_CTRL = const(0x55)
_FINAL_RANGE_CONFIG_VCSEL_PERIOD = const(0x70)
_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI = const(0x71)
_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO = const(0x72)
_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS = const(0x20)
_MSRC_CONFIG_TIMEOUT_MACROP = const(0x46)
_SOFT_RESET_GO2_SOFT_RESET_N = const(0xBF)
_IDENTIFICATION_MODEL_ID = const(0xC0)
_IDENTIFICATION_REVISION_ID = const(0xC2)
_OSC_CALIBRATE_VAL = const(0xF8)
_GLOBAL_CONFIG_VCSEL_WIDTH = const(0x32)
_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 = const(0xB0)
_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 = const(0xB1)
_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 = const(0xB2)
_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 = const(0xB3)
_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 = const(0xB4)
_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 = const(0xB5)
_GLOBAL_CONFIG_REF_EN_START_SELECT = const(0xB6)
_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD = const(0x4E)
_DYNAMIC_SPAD_REF_EN_START_OFFSET = const(0x4F)
_POWER_MANAGEMENT_GO1_POWER_FORCE = const(0x80)
_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV = const(0x89)
_ALGO_PHASECAL_LIM = const(0x30)
_ALGO_PHASECAL_CONFIG_TIMEOUT = const(0x30)
_VCSEL_PERIOD_PRE_RANGE = const(0)
_VCSEL_PERIOD_FINAL_RANGE = const(1)
def _decode_timeout(val: int) -> float:
# format: "(LSByte * 2^MSByte) + 1"
return float(val & 0xFF) * math.pow(2.0, ((val & 0xFF00) >> 8)) + 1
def _encode_timeout(timeout_mclks: float) -> int:
# format: "(LSByte * 2^MSByte) + 1"
timeout_mclks = int(timeout_mclks) & 0xFFFF
ls_byte = 0
ms_byte = 0
if timeout_mclks > 0:
ls_byte = timeout_mclks - 1
while ls_byte > 255:
ls_byte >>= 1
ms_byte += 1
return ((ms_byte << 8) | (ls_byte & 0xFF)) & 0xFFFF
return 0
def _timeout_mclks_to_microseconds(
timeout_period_mclks: int, vcsel_period_pclks: int
) -> int:
macro_period_ns = ((2304 * (vcsel_period_pclks) * 1655) + 500) // 1000
return ((timeout_period_mclks * macro_period_ns) + (macro_period_ns // 2)) // 1000
def _timeout_microseconds_to_mclks(
timeout_period_us: int, vcsel_period_pclks: int
) -> int:
macro_period_ns = ((2304 * (vcsel_period_pclks) * 1655) + 500) // 1000
return ((timeout_period_us * 1000) + (macro_period_ns // 2)) // macro_period_ns
[docs]
class VL53L0X:
"""Driver for the VL53L0X distance sensor."""
# Class-level buffer for reading and writing data with the sensor.
# This reduces memory allocations but means the code is not re-entrant or
# thread safe!
_BUFFER = bytearray(3)
# Is VL53L0X is currently continuous mode? (Needed by `range` property)
_continuous_mode = False
def __init__(self, i2c: I2C, address: int = 41, io_timeout_s: float = 0) -> None:
# pylint: disable=too-many-statements
self._i2c = i2c
self._device = i2c_device.I2CDevice(i2c, address)
self.io_timeout_s = io_timeout_s
self._data_ready = False
# Check identification registers for expected values.
# From section 3.2 of the datasheet.
if (
self._read_u8(0xC0) != 0xEE
or self._read_u8(0xC1) != 0xAA
or self._read_u8(0xC2) != 0x10
):
raise RuntimeError(
"Failed to find expected ID register values. Check wiring!"
)
# Initialize access to the sensor. This is based on the logic from:
# https://github.com/pololu/vl53l0x-arduino/blob/master/VL53L0X.cpp
# Set I2C standard mode.
for pair in ((0x88, 0x00), (0x80, 0x01), (0xFF, 0x01), (0x00, 0x00)):
self._write_u8(pair[0], pair[1])
self._stop_variable = self._read_u8(0x91)
for pair in ((0x00, 0x01), (0xFF, 0x00), (0x80, 0x00)):
self._write_u8(pair[0], pair[1])
# disable SIGNAL_RATE_MSRC (bit 1) and SIGNAL_RATE_PRE_RANGE (bit 4)
# limit checks
config_control = self._read_u8(_MSRC_CONFIG_CONTROL) | 0x12
self._write_u8(_MSRC_CONFIG_CONTROL, config_control)
# set final range signal rate limit to 0.25 MCPS (million counts per
# second)
self.signal_rate_limit = 0.25
self._write_u8(_SYSTEM_SEQUENCE_CONFIG, 0xFF)
spad_count, spad_is_aperture = self._get_spad_info()
# The SPAD map (RefGoodSpadMap) is read by
# VL53L0X_get_info_from_device() in the API, but the same data seems to
# be more easily readable from GLOBAL_CONFIG_SPAD_ENABLES_REF_0 through
# _6, so read it from there.
ref_spad_map = bytearray(7)
ref_spad_map[0] = _GLOBAL_CONFIG_SPAD_ENABLES_REF_0
with self._device:
self._device.write(ref_spad_map, end=1)
self._device.readinto(ref_spad_map, start=1)
for pair in (
(0xFF, 0x01),
(_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00),
(_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C),
(0xFF, 0x00),
(_GLOBAL_CONFIG_REF_EN_START_SELECT, 0xB4),
):
self._write_u8(pair[0], pair[1])
first_spad_to_enable = 12 if spad_is_aperture else 0
spads_enabled = 0
for i in range(48):
if i < first_spad_to_enable or spads_enabled == spad_count:
# This bit is lower than the first one that should be enabled,
# or (reference_spad_count) bits have already been enabled, so
# zero this bit.
ref_spad_map[1 + (i // 8)] &= ~(1 << (i % 8))
elif (ref_spad_map[1 + (i // 8)] >> (i % 8)) & 0x1 > 0:
spads_enabled += 1
with self._device:
self._device.write(ref_spad_map)
for pair in (
(0xFF, 0x01),
(0x00, 0x00),
(0xFF, 0x00),
(0x09, 0x00),
(0x10, 0x00),
(0x11, 0x00),
(0x24, 0x01),
(0x25, 0xFF),
(0x75, 0x00),
(0xFF, 0x01),
(0x4E, 0x2C),
(0x48, 0x00),
(0x30, 0x20),
(0xFF, 0x00),
(0x30, 0x09),
(0x54, 0x00),
(0x31, 0x04),
(0x32, 0x03),
(0x40, 0x83),
(0x46, 0x25),
(0x60, 0x00),
(0x27, 0x00),
(0x50, 0x06),
(0x51, 0x00),
(0x52, 0x96),
(0x56, 0x08),
(0x57, 0x30),
(0x61, 0x00),
(0x62, 0x00),
(0x64, 0x00),
(0x65, 0x00),
(0x66, 0xA0),
(0xFF, 0x01),
(0x22, 0x32),
(0x47, 0x14),
(0x49, 0xFF),
(0x4A, 0x00),
(0xFF, 0x00),
(0x7A, 0x0A),
(0x7B, 0x00),
(0x78, 0x21),
(0xFF, 0x01),
(0x23, 0x34),
(0x42, 0x00),
(0x44, 0xFF),
(0x45, 0x26),
(0x46, 0x05),
(0x40, 0x40),
(0x0E, 0x06),
(0x20, 0x1A),
(0x43, 0x40),
(0xFF, 0x00),
(0x34, 0x03),
(0x35, 0x44),
(0xFF, 0x01),
(0x31, 0x04),
(0x4B, 0x09),
(0x4C, 0x05),
(0x4D, 0x04),
(0xFF, 0x00),
(0x44, 0x00),
(0x45, 0x20),
(0x47, 0x08),
(0x48, 0x28),
(0x67, 0x00),
(0x70, 0x04),
(0x71, 0x01),
(0x72, 0xFE),
(0x76, 0x00),
(0x77, 0x00),
(0xFF, 0x01),
(0x0D, 0x01),
(0xFF, 0x00),
(0x80, 0x01),
(0x01, 0xF8),
(0xFF, 0x01),
(0x8E, 0x01),
(0x00, 0x01),
(0xFF, 0x00),
(0x80, 0x00),
):
self._write_u8(pair[0], pair[1])
self._write_u8(_SYSTEM_INTERRUPT_CONFIG_GPIO, 0x04)
gpio_hv_mux_active_high = self._read_u8(_GPIO_HV_MUX_ACTIVE_HIGH)
self._write_u8(
_GPIO_HV_MUX_ACTIVE_HIGH, gpio_hv_mux_active_high & ~0x10
) # active low
self._write_u8(_SYSTEM_INTERRUPT_CLEAR, 0x01)
self._measurement_timing_budget_us = self.measurement_timing_budget
self._write_u8(_SYSTEM_SEQUENCE_CONFIG, 0xE8)
self.measurement_timing_budget = self._measurement_timing_budget_us
self._write_u8(_SYSTEM_SEQUENCE_CONFIG, 0x01)
self._perform_single_ref_calibration(0x40)
self._write_u8(_SYSTEM_SEQUENCE_CONFIG, 0x02)
self._perform_single_ref_calibration(0x00)
# "restore the previous Sequence Config"
self._write_u8(_SYSTEM_SEQUENCE_CONFIG, 0xE8)
def _read_u8(self, address: int) -> int:
# Read an 8-bit unsigned value from the specified 8-bit address.
with self._device:
self._BUFFER[0] = address & 0xFF
self._device.write(self._BUFFER, end=1)
self._device.readinto(self._BUFFER, end=1)
return self._BUFFER[0]
def _read_u16(self, address: int) -> int:
# Read a 16-bit BE unsigned value from the specified 8-bit address.
with self._device:
self._BUFFER[0] = address & 0xFF
self._device.write(self._BUFFER, end=1)
self._device.readinto(self._BUFFER)
return (self._BUFFER[0] << 8) | self._BUFFER[1]
def _write_u8(self, address: int, val: int) -> None:
# Write an 8-bit unsigned value to the specified 8-bit address.
with self._device:
self._BUFFER[0] = address & 0xFF
self._BUFFER[1] = val & 0xFF
self._device.write(self._BUFFER, end=2)
def _write_u16(self, address: int, val: int) -> None:
# Write a 16-bit BE unsigned value to the specified 8-bit address.
with self._device:
self._BUFFER[0] = address & 0xFF
self._BUFFER[1] = (val >> 8) & 0xFF
self._BUFFER[2] = val & 0xFF
self._device.write(self._BUFFER)
def _get_spad_info(self) -> Tuple[int, bool]:
# Get reference SPAD count and type, returned as a 2-tuple of
# count and boolean is_aperture. Based on code from:
# https://github.com/pololu/vl53l0x-arduino/blob/master/VL53L0X.cpp
for pair in ((0x80, 0x01), (0xFF, 0x01), (0x00, 0x00), (0xFF, 0x06)):
self._write_u8(pair[0], pair[1])
self._write_u8(0x83, self._read_u8(0x83) | 0x04)
for pair in (
(0xFF, 0x07),
(0x81, 0x01),
(0x80, 0x01),
(0x94, 0x6B),
(0x83, 0x00),
):
self._write_u8(pair[0], pair[1])
start = time.monotonic()
while self._read_u8(0x83) == 0x00:
if (
self.io_timeout_s > 0
and (time.monotonic() - start) >= self.io_timeout_s
):
raise RuntimeError("Timeout waiting for VL53L0X!")
self._write_u8(0x83, 0x01)
tmp = self._read_u8(0x92)
count = tmp & 0x7F
is_aperture = ((tmp >> 7) & 0x01) == 1
for pair in ((0x81, 0x00), (0xFF, 0x06)):
self._write_u8(pair[0], pair[1])
self._write_u8(0x83, self._read_u8(0x83) & ~0x04)
for pair in ((0xFF, 0x01), (0x00, 0x01), (0xFF, 0x00), (0x80, 0x00)):
self._write_u8(pair[0], pair[1])
return (count, is_aperture)
def _perform_single_ref_calibration(self, vhv_init_byte: int) -> None:
# based on VL53L0X_perform_single_ref_calibration() from ST API.
self._write_u8(_SYSRANGE_START, 0x01 | vhv_init_byte & 0xFF)
start = time.monotonic()
while (self._read_u8(_RESULT_INTERRUPT_STATUS) & 0x07) == 0:
if (
self.io_timeout_s > 0
and (time.monotonic() - start) >= self.io_timeout_s
):
raise RuntimeError("Timeout waiting for VL53L0X!")
self._write_u8(_SYSTEM_INTERRUPT_CLEAR, 0x01)
self._write_u8(_SYSRANGE_START, 0x00)
def _get_vcsel_pulse_period(self, vcsel_period_type: int) -> int:
# pylint: disable=no-else-return
# Disable should be removed when refactor can be tested
if vcsel_period_type == _VCSEL_PERIOD_PRE_RANGE:
val = self._read_u8(_PRE_RANGE_CONFIG_VCSEL_PERIOD)
return (((val) + 1) & 0xFF) << 1
elif vcsel_period_type == _VCSEL_PERIOD_FINAL_RANGE:
val = self._read_u8(_FINAL_RANGE_CONFIG_VCSEL_PERIOD)
return (((val) + 1) & 0xFF) << 1
return 255
def _get_sequence_step_enables(self) -> Tuple[bool, bool, bool, bool, bool]:
# based on VL53L0X_GetSequenceStepEnables() from ST API
sequence_config = self._read_u8(_SYSTEM_SEQUENCE_CONFIG)
tcc = (sequence_config >> 4) & 0x1 > 0
dss = (sequence_config >> 3) & 0x1 > 0
msrc = (sequence_config >> 2) & 0x1 > 0
pre_range = (sequence_config >> 6) & 0x1 > 0
final_range = (sequence_config >> 7) & 0x1 > 0
return (tcc, dss, msrc, pre_range, final_range)
def _get_sequence_step_timeouts(
self, pre_range: int
) -> Tuple[int, int, int, int, float]:
# based on get_sequence_step_timeout() from ST API but modified by
# pololu here:
# https://github.com/pololu/vl53l0x-arduino/blob/master/VL53L0X.cpp
pre_range_vcsel_period_pclks = self._get_vcsel_pulse_period(
_VCSEL_PERIOD_PRE_RANGE
)
msrc_dss_tcc_mclks = (self._read_u8(_MSRC_CONFIG_TIMEOUT_MACROP) + 1) & 0xFF
msrc_dss_tcc_us = _timeout_mclks_to_microseconds(
msrc_dss_tcc_mclks, pre_range_vcsel_period_pclks
)
pre_range_mclks = _decode_timeout(
self._read_u16(_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI)
)
pre_range_us = _timeout_mclks_to_microseconds(
pre_range_mclks, pre_range_vcsel_period_pclks
)
final_range_vcsel_period_pclks = self._get_vcsel_pulse_period(
_VCSEL_PERIOD_FINAL_RANGE
)
final_range_mclks = _decode_timeout(
self._read_u16(_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI)
)
if pre_range:
final_range_mclks -= pre_range_mclks
final_range_us = _timeout_mclks_to_microseconds(
final_range_mclks, final_range_vcsel_period_pclks
)
return (
msrc_dss_tcc_us,
pre_range_us,
final_range_us,
final_range_vcsel_period_pclks,
pre_range_mclks,
)
@property
def signal_rate_limit(self) -> float:
"""The signal rate limit in mega counts per second."""
val = self._read_u16(_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT)
# Return value converted from 16-bit 9.7 fixed point to float.
return val / (1 << 7)
@signal_rate_limit.setter
def signal_rate_limit(self, val: float) -> None:
assert 0.0 <= val <= 511.99
# Convert to 16-bit 9.7 fixed point value from a float.
val = int(val * (1 << 7))
self._write_u16(_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, val)
@property
def measurement_timing_budget(self) -> int:
"""The measurement timing budget in microseconds."""
budget_us = 1910 + 960 # Start overhead + end overhead.
tcc, dss, msrc, pre_range, final_range = self._get_sequence_step_enables()
step_timeouts = self._get_sequence_step_timeouts(pre_range)
msrc_dss_tcc_us, pre_range_us, final_range_us, _, _ = step_timeouts
if tcc:
budget_us += msrc_dss_tcc_us + 590
if dss:
budget_us += 2 * (msrc_dss_tcc_us + 690)
elif msrc:
budget_us += msrc_dss_tcc_us + 660
if pre_range:
budget_us += pre_range_us + 660
if final_range:
budget_us += final_range_us + 550
self._measurement_timing_budget_us = budget_us
return budget_us
@measurement_timing_budget.setter
def measurement_timing_budget(self, budget_us: int) -> None:
# pylint: disable=too-many-locals
assert budget_us >= 20000
used_budget_us = 1320 + 960 # Start (diff from get) + end overhead
tcc, dss, msrc, pre_range, final_range = self._get_sequence_step_enables()
step_timeouts = self._get_sequence_step_timeouts(pre_range)
msrc_dss_tcc_us, pre_range_us, _ = step_timeouts[:3]
final_range_vcsel_period_pclks, pre_range_mclks = step_timeouts[3:]
if tcc:
used_budget_us += msrc_dss_tcc_us + 590
if dss:
used_budget_us += 2 * (msrc_dss_tcc_us + 690)
elif msrc:
used_budget_us += msrc_dss_tcc_us + 660
if pre_range:
used_budget_us += pre_range_us + 660
if final_range:
used_budget_us += 550
# "Note that the final range timeout is determined by the timing
# budget and the sum of all other timeouts within the sequence.
# If there is no room for the final range timeout, then an error
# will be set. Otherwise, the remaining time will be applied to
# the final range."
if used_budget_us > budget_us:
raise ValueError("Requested timeout too big.")
final_range_timeout_us = budget_us - used_budget_us
final_range_timeout_mclks = _timeout_microseconds_to_mclks(
final_range_timeout_us, final_range_vcsel_period_pclks
)
if pre_range:
final_range_timeout_mclks += pre_range_mclks
self._write_u16(
_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI,
_encode_timeout(final_range_timeout_mclks),
)
self._measurement_timing_budget_us = budget_us
@property
def distance(self) -> float:
"""Perform a single reading of the range for an object in front of
the sensor and return the distance in centimeters.
"""
return self.range / 10
@property
def range(self) -> int:
"""Perform a single (or continuous if `start_continuous` called)
reading of the range for an object in front of the sensor and
return the distance in millimeters.
"""
# Adapted from readRangeSingleMillimeters in pololu code at:
# https://github.com/pololu/vl53l0x-arduino/blob/master/VL53L0X.cpp
if not self._continuous_mode:
self.do_range_measurement()
return self.read_range()
@property
def data_ready(self) -> bool:
"""Check if data is available from the sensor. If true a call to .range
will return quickly. If false, calls to .range will wait for the sensor's
next reading to be available."""
if not self._data_ready:
self._data_ready = self._read_u8(_RESULT_INTERRUPT_STATUS) & 0x07 != 0
return self._data_ready
[docs]
def do_range_measurement(self) -> None:
"""Perform a single reading of the range for an object in front of the
sensor, but without return the distance.
"""
# Adapted from readRangeSingleMillimeters in pololu code at:
# https://github.com/pololu/vl53l0x-arduino/blob/master/VL53L0X.cpp
for pair in (
(0x80, 0x01),
(0xFF, 0x01),
(0x00, 0x00),
(0x91, self._stop_variable),
(0x00, 0x01),
(0xFF, 0x00),
(0x80, 0x00),
(_SYSRANGE_START, 0x01),
):
self._write_u8(pair[0], pair[1])
start = time.monotonic()
while (self._read_u8(_SYSRANGE_START) & 0x01) > 0:
if (
self.io_timeout_s > 0
and (time.monotonic() - start) >= self.io_timeout_s
):
raise RuntimeError("Timeout waiting for VL53L0X!")
[docs]
def read_range(self) -> int:
"""Return a range reading in millimeters.
Note: Avoid calling this directly. If you do single mode, you need
to call `do_range_measurement` first. Or your program will stuck or
timeout occurred.
"""
# Adapted from readRangeContinuousMillimeters in pololu code at:
# https://github.com/pololu/vl53l0x-arduino/blob/master/VL53L0X.cpp
start = time.monotonic()
while not self.data_ready:
if (
self.io_timeout_s > 0
and (time.monotonic() - start) >= self.io_timeout_s
):
raise RuntimeError("Timeout waiting for VL53L0X!")
# assumptions: Linearity Corrective Gain is 1000 (default)
# fractional ranging is not enabled
range_mm = self._read_u16(_RESULT_RANGE_STATUS + 10)
self._write_u8(_SYSTEM_INTERRUPT_CLEAR, 0x01)
self._data_ready = False
return range_mm
@property
def is_continuous_mode(self) -> bool:
"""Is the sensor currently in continuous mode?"""
return self._continuous_mode
[docs]
def continuous_mode(self) -> "VL53L0X":
"""Activate the continuous mode manager"""
return self
def __enter__(self) -> "VL53L0X":
"""For continuous mode manager, called when used on `with` keyword"""
self.start_continuous()
return self
def __exit__(
self,
exc_type: Optional[Type[BaseException]],
exc_value: Optional[BaseException],
traceback: Optional[TracebackType],
) -> None:
"""For continuous mode manager, called at the end of `with` scope"""
self.stop_continuous()
[docs]
def start_continuous(self) -> None:
"""Perform a continuous reading of the range for an object in front of
the sensor.
"""
# Adapted from startContinuous in pololu code at:
# https://github.com/pololu/vl53l0x-arduino/blob/master/VL53L0X.cpp
for pair in (
(0x80, 0x01),
(0xFF, 0x01),
(0x00, 0x00),
(0x91, self._stop_variable),
(0x00, 0x01),
(0xFF, 0x00),
(0x80, 0x00),
(_SYSRANGE_START, 0x02),
):
self._write_u8(pair[0], pair[1])
start = time.monotonic()
while (self._read_u8(_SYSRANGE_START) & 0x01) > 0:
if (
self.io_timeout_s > 0
and (time.monotonic() - start) >= self.io_timeout_s
):
raise RuntimeError("Timeout waiting for VL53L0X!")
self._continuous_mode = True
[docs]
def stop_continuous(self) -> None:
"""Stop continuous readings."""
# Adapted from stopContinuous in pololu code at:
# https://github.com/pololu/vl53l0x-arduino/blob/master/VL53L0X.cpp
for pair in (
(_SYSRANGE_START, 0x01),
(0xFF, 0x01),
(0x00, 0x00),
(0x91, 0x00),
(0x00, 0x01),
(0xFF, 0x00),
):
self._write_u8(pair[0], pair[1])
self._continuous_mode = False
# restore the sensor to single ranging mode
self.do_range_measurement()
[docs]
def set_address(self, new_address: int) -> None:
"""Set a new I2C address to the instantaited object. This is only called when using
multiple VL53L0X sensors on the same I2C bus (SDA & SCL pins). See also the
`example <examples.html#multiple-vl53l0x-on-same-i2c-bus>`_ for proper usage.
:param int new_address: The 7-bit `int` that is to be assigned to the VL53L0X sensor.
The address that is assigned should NOT be already in use by another device on the
I2C bus.
.. important:: To properly set the address to an individual VL53L0X sensor, you must
first ensure that all other VL53L0X sensors (using the default address of ``0x29``)
on the same I2C bus are in their off state by pulling the "SHDN" pins LOW. When the
"SHDN" pin is pulled HIGH again the default I2C address is ``0x29``.
"""
self._write_u8(_I2C_SLAVE_DEVICE_ADDRESS, new_address & 0x7F)
self._device = i2c_device.I2CDevice(self._i2c, new_address)