From 634167a87307dd75b58aac626ad9b2aa34da34a2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=8E=8B=E5=BC=80=E6=99=BA?= Date: Tue, 22 Jan 2019 17:08:28 +0800 Subject: [PATCH] Create vl53l1x.py a micropython driver for vl53l1x, it works perfect. --- scripts/libraries/vl53l1x.py | 163 +++++++++++++++++++++++++++++++++++ 1 file changed, 163 insertions(+) create mode 100644 scripts/libraries/vl53l1x.py diff --git a/scripts/libraries/vl53l1x.py b/scripts/libraries/vl53l1x.py new file mode 100644 index 000000000..df7f0d617 --- /dev/null +++ b/scripts/libraries/vl53l1x.py @@ -0,0 +1,163 @@ +import pyb + +VL51L1X_DEFAULT_CONFIGURATION = bytes([ +0x00, # 0x2d : set bit 2 and 5 to 1 for fast plus mode (1MHz I2C), else don't touch */ +0x00, # 0x2e : bit 0 if I2C pulled up at 1.8V, else set bit 0 to 1 (pull up at AVDD) */ +0x00, # 0x2f : bit 0 if GPIO pulled up at 1.8V, else set bit 0 to 1 (pull up at AVDD) */ +0x01, # 0x30 : set bit 4 to 0 for active high interrupt and 1 for active low (bits 3:0 must be 0x1), use SetInterruptPolarity() */ +0x02, # 0x31 : bit 1 = interrupt depending on the polarity, use CheckForDataReady() */ +0x00, # 0x32 : not user-modifiable */ +0x02, # 0x33 : not user-modifiable */ +0x08, # 0x34 : not user-modifiable */ +0x00, # 0x35 : not user-modifiable */ +0x08, # 0x36 : not user-modifiable */ +0x10, # 0x37 : not user-modifiable */ +0x01, # 0x38 : not user-modifiable */ +0x01, # 0x39 : not user-modifiable */ +0x00, # 0x3a : not user-modifiable */ +0x00, # 0x3b : not user-modifiable */ +0x00, # 0x3c : not user-modifiable */ +0x00, # 0x3d : not user-modifiable */ +0xff, # 0x3e : not user-modifiable */ +0x00, # 0x3f : not user-modifiable */ +0x0F, # 0x40 : not user-modifiable */ +0x00, # 0x41 : not user-modifiable */ +0x00, # 0x42 : not user-modifiable */ +0x00, # 0x43 : not user-modifiable */ +0x00, # 0x44 : not user-modifiable */ +0x00, # 0x45 : not user-modifiable */ +0x20, # 0x46 : interrupt configuration 0->level low detection, 1-> level high, 2-> Out of window, 3->In window, 0x20-> New sample ready , TBC */ +0x0b, # 0x47 : not user-modifiable */ +0x00, # 0x48 : not user-modifiable */ +0x00, # 0x49 : not user-modifiable */ +0x02, # 0x4a : not user-modifiable */ +0x0a, # 0x4b : not user-modifiable */ +0x21, # 0x4c : not user-modifiable */ +0x00, # 0x4d : not user-modifiable */ +0x00, # 0x4e : not user-modifiable */ +0x05, # 0x4f : not user-modifiable */ +0x00, # 0x50 : not user-modifiable */ +0x00, # 0x51 : not user-modifiable */ +0x00, # 0x52 : not user-modifiable */ +0x00, # 0x53 : not user-modifiable */ +0xc8, # 0x54 : not user-modifiable */ +0x00, # 0x55 : not user-modifiable */ +0x00, # 0x56 : not user-modifiable */ +0x38, # 0x57 : not user-modifiable */ +0xff, # 0x58 : not user-modifiable */ +0x01, # 0x59 : not user-modifiable */ +0x00, # 0x5a : not user-modifiable */ +0x08, # 0x5b : not user-modifiable */ +0x00, # 0x5c : not user-modifiable */ +0x00, # 0x5d : not user-modifiable */ +0x01, # 0x5e : not user-modifiable */ +0xdb, # 0x5f : not user-modifiable */ +0x0f, # 0x60 : not user-modifiable */ +0x01, # 0x61 : not user-modifiable */ +0xf1, # 0x62 : not user-modifiable */ +0x0d, # 0x63 : not user-modifiable */ +0x01, # 0x64 : Sigma threshold MSB (mm in 14.2 format for MSB+LSB), use SetSigmaThreshold(), default value 90 mm */ +0x68, # 0x65 : Sigma threshold LSB */ +0x00, # 0x66 : Min count Rate MSB (MCPS in 9.7 format for MSB+LSB), use SetSignalThreshold() */ +0x80, # 0x67 : Min count Rate LSB */ +0x08, # 0x68 : not user-modifiable */ +0xb8, # 0x69 : not user-modifiable */ +0x00, # 0x6a : not user-modifiable */ +0x00, # 0x6b : not user-modifiable */ +0x00, # 0x6c : Intermeasurement period MSB, 32 bits register, use SetIntermeasurementInMs() */ +0x00, # 0x6d : Intermeasurement period */ +0x0f, # 0x6e : Intermeasurement period */ +0x89, # 0x6f : Intermeasurement period LSB */ +0x00, # 0x70 : not user-modifiable */ +0x00, # 0x71 : not user-modifiable */ +0x00, # 0x72 : distance threshold high MSB (in mm, MSB+LSB), use SetD:tanceThreshold() */ +0x00, # 0x73 : distance threshold high LSB */ +0x00, # 0x74 : distance threshold low MSB ( in mm, MSB+LSB), use SetD:tanceThreshold() */ +0x00, # 0x75 : distance threshold low LSB */ +0x00, # 0x76 : not user-modifiable */ +0x01, # 0x77 : not user-modifiable */ +0x0f, # 0x78 : not user-modifiable */ +0x0d, # 0x79 : not user-modifiable */ +0x0e, # 0x7a : not user-modifiable */ +0x0e, # 0x7b : not user-modifiable */ +0x00, # 0x7c : not user-modifiable */ +0x00, # 0x7d : not user-modifiable */ +0x02, # 0x7e : not user-modifiable */ +0xc7, # 0x7f : ROI center, use SetROI() */ +0xff, # 0x80 : XY ROI (X=Width, Y=Height), use SetROI() */ +0x9B, # 0x81 : not user-modifiable */ +0x00, # 0x82 : not user-modifiable */ +0x00, # 0x83 : not user-modifiable */ +0x00, # 0x84 : not user-modifiable */ +0x01, # 0x85 : not user-modifiable */ +0x01, # 0x86 : clear interrupt, use ClearInterrupt() */ +0x40 # 0x87 : start ranging, use StartRanging() or StopRanging(), If you want an automatic start after VL53L1X_init() call, put 0x40 in location 0x87 */ +]) +class VL53L0X: + def __init__(self,i2c, address=0x29): + self.i2c = i2c + self.address = address + self.reset() + pyb.delay(1) + if self.read_model_id() != 0xEACC: + raise RuntimeError('Failed to find expected ID register values. Check wiring!') + # write default configuration + self.i2c.writeto_mem(self.address, 0x2D, VL51L1X_DEFAULT_CONFIGURATION, addrsize=16) + #pyb.delay(100) + # the API triggers this change in VL53L1_init_and_start_range() once a + # measurement is started; assumes MM1 and MM2 are disabled + self.writeReg16Bit(0x001E, self.readReg16Bit(0x0022) * 4) + pyb.delay(200) + + def writeReg(self, reg, value): + return self.i2c.writeto_mem(self.address, reg, bytes([value]), addrsize=16) + def writeReg16Bit(self, reg, value): + return self.i2c.writeto_mem(self.address, reg, bytes([(value >> 8) & 0xFF, value & 0xFF]), addrsize=16) + def readReg(self, reg): + return self.i2c.readfrom_mem(self.address, reg, 1, addrsize=16)[0] + def readReg16Bit(self, reg): + data = self.i2c.readfrom_mem(self.address, reg, 2, addrsize=16) + return (data[0]<<8) + data[1] + def read_model_id(self): + return self.readReg16Bit(0x010F) + def reset(self): + self.writeReg(0x0000, 0x00) + pyb.delay(100) + self.writeReg(0x0000, 0x01) + def read(self): + data = self.i2c.readfrom_mem(self.address, 0x0089, 17, addrsize=16) # RESULT__RANGE_STATUS + range_status = data[0] + # report_status = data[1] + stream_count = data[2] + dss_actual_effective_spads_sd0 = (data[3]<<8) + data[4] + # peak_signal_count_rate_mcps_sd0 = (data[5]<<8) + data[6] + ambient_count_rate_mcps_sd0 = (data[7]<<8) + data[8] + # sigma_sd0 = (data[9]<<8) + data[10] + # phase_sd0 = (data[11]<<8) + data[12] + final_crosstalk_corrected_range_mm_sd0 = (data[13]<<8) + data[14] + peak_signal_count_rate_crosstalk_corrected_mcps_sd0 = (data[15]<<8) + data[16] + #status = None + #if range_status in (17, 2, 1, 3): + #status = "HardwareFail" + #elif range_status == 13: + #status = "MinRangeFail" + #elif range_status == 18: + #status = "SynchronizationInt" + #elif range_status == 5: + #status = "OutOfBoundsFail" + #elif range_status == 4: + #status = "SignalFail" + #elif range_status == 6: + #status = "SignalFail" + #elif range_status == 7: + #status = "WrapTargetFail" + #elif range_status == 12: + #status = "XtalkSignalFail" + #elif range_status == 8: + #status = "RangeValidMinRangeClipped" + #elif range_status == 9: + #if stream_count == 0: + #status = "RangeValidNoWrapCheckFail" + #else: + #status = "OK" + return final_crosstalk_corrected_range_mm_sd0