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 VL53L1X: 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