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adafruit_vl53l4cd.py
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# SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries
# SPDX-FileCopyrightText: Copyright (c) 2022 Carter Nelson for Adafruit Industries
#
# SPDX-License-Identifier: MIT
"""
`adafruit_vl53l4cd`
================================================================================
CircuitPython helper library for the VL53L4CD time of flight distance sensor.
* Author(s): Carter Nelson
Implementation Notes
--------------------
**Hardware:**
* `Adafruit VL53L4CD Time of Flight Distance Sensor <https://www.adafruit.com/product/5396>`_
**Software and Dependencies:**
* Adafruit CircuitPython firmware for the supported boards:
https://circuitpython.org/downloads
* Adafruit's Bus Device library: https://github.com/adafruit/Adafruit_CircuitPython_BusDevice
"""
import time
import struct
from adafruit_bus_device import i2c_device
from micropython import const
__version__ = "0.0.0+auto.0"
__repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_VL53L4CD.git"
_VL53L4CD_SOFT_RESET = const(0x0000)
_VL53L4CD_I2C_SLAVE_DEVICE_ADDRESS = const(0x0001)
_VL53L4CD_VHV_CONFIG_TIMEOUT_MACROP_LOOP_BOUND = const(0x0008)
_VL53L4CD_XTALK_PLANE_OFFSET_KCPS = const(0x0016)
_VL53L4CD_XTALK_X_PLANE_GRADIENT_KCPS = const(0x0018)
_VL53L4CD_XTALK_Y_PLANE_GRADIENT_KCPS = const(0x001A)
_VL53L4CD_RANGE_OFFSET_MM = const(0x001E)
_VL53L4CD_INNER_OFFSET_MM = const(0x0020)
_VL53L4CD_OUTER_OFFSET_MM = const(0x0022)
_VL53L4CD_I2C_FAST_MODE_PLUS = const(0x002D)
_VL53L4CD_GPIO_HV_MUX_CTRL = const(0x0030)
_VL53L4CD_GPIO_TIO_HV_STATUS = const(0x0031)
_VL53L4CD_SYSTEM_INTERRUPT = const(0x0046)
_VL53L4CD_RANGE_CONFIG_A = const(0x005E)
_VL53L4CD_RANGE_CONFIG_B = const(0x0061)
_VL53L4CD_RANGE_CONFIG_SIGMA_THRESH = const(0x0064)
_VL53L4CD_MIN_COUNT_RATE_RTN_LIMIT_MCPS = const(0x0066)
_VL53L4CD_INTERMEASUREMENT_MS = const(0x006C)
_VL53L4CD_THRESH_HIGH = const(0x0072)
_VL53L4CD_THRESH_LOW = const(0x0074)
_VL53L4CD_SYSTEM_INTERRUPT_CLEAR = const(0x0086)
_VL53L4CD_SYSTEM_START = const(0x0087)
_VL53L4CD_RESULT_RANGE_STATUS = const(0x0089)
_VL53L4CD_RESULT_SPAD_NB = const(0x008C)
_VL53L4CD_RESULT_SIGNAL_RATE = const(0x008E)
_VL53L4CD_RESULT_AMBIENT_RATE = const(0x0090)
_VL53L4CD_RESULT_SIGMA = const(0x0092)
_VL53L4CD_RESULT_DISTANCE = const(0x0096)
_VL53L4CD_RESULT_OSC_CALIBRATE_VAL = const(0x00DE)
_VL53L4CD_FIRMWARE_SYSTEM_STATUS = const(0x00E5)
_VL53L4CD_IDENTIFICATION_MODEL_ID = const(0x010F)
class VL53L4CD:
"""Driver for the VL53L4CD distance sensor."""
def __init__(self, i2c, address=41):
self._i2c = i2c
self.i2c_device = i2c_device.I2CDevice(i2c, address)
model_id, module_type = self.model_info
if model_id != 0xEB or module_type != 0xAA:
raise RuntimeError("Wrong sensor ID or type!")
self._ranging = False
self._sensor_init()
def _sensor_init(self):
# pylint: disable=line-too-long
init_seq = (
# value addr : description
b"\x12" # 0x2d : set bit 2 and 5 to 1 for fast plus mode (1MHz I2C), else don't touch
b"\x00" # 0x2e : bit 0 if I2C pulled up at 1.8V, else set bit 0 to 1 (pull up at AVDD)
b"\x00" # 0x2f : bit 0 if GPIO pulled up at 1.8V, else set bit 0 to 1 (pull up at AVDD)
b"\x11" # 0x30 : set bit 4 to 0 for active high interrupt and 1 for active low (bits 3:0 must be 0x1)
b"\x02" # 0x31 : bit 1 = interrupt depending on the polarity
b"\x00" # 0x32 : not user-modifiable
b"\x02" # 0x33 : not user-modifiable
b"\x08" # 0x34 : not user-modifiable
b"\x00" # 0x35 : not user-modifiable
b"\x08" # 0x36 : not user-modifiable
b"\x10" # 0x37 : not user-modifiable
b"\x01" # 0x38 : not user-modifiable
b"\x01" # 0x39 : not user-modifiable
b"\x00" # 0x3a : not user-modifiable
b"\x00" # 0x3b : not user-modifiable
b"\x00" # 0x3c : not user-modifiable
b"\x00" # 0x3d : not user-modifiable
b"\xFF" # 0x3e : not user-modifiable
b"\x00" # 0x3f : not user-modifiable
b"\x0F" # 0x40 : not user-modifiable
b"\x00" # 0x41 : not user-modifiable
b"\x00" # 0x42 : not user-modifiable
b"\x00" # 0x43 : not user-modifiable
b"\x00" # 0x44 : not user-modifiable
b"\x00" # 0x45 : not user-modifiable
b"\x20" # 0x46 : interrupt configuration 0->level low detection, 1-> level high, 2-> Out of window, 3->In window, 0x20-> New sample ready , TBC
b"\x0B" # 0x47 : not user-modifiable
b"\x00" # 0x48 : not user-modifiable
b"\x00" # 0x49 : not user-modifiable
b"\x02" # 0x4a : not user-modifiable
b"\x14" # 0x4b : not user-modifiable
b"\x21" # 0x4c : not user-modifiable
b"\x00" # 0x4d : not user-modifiable
b"\x00" # 0x4e : not user-modifiable
b"\x05" # 0x4f : not user-modifiable
b"\x00" # 0x50 : not user-modifiable
b"\x00" # 0x51 : not user-modifiable
b"\x00" # 0x52 : not user-modifiable
b"\x00" # 0x53 : not user-modifiable
b"\xC8" # 0x54 : not user-modifiable
b"\x00" # 0x55 : not user-modifiable
b"\x00" # 0x56 : not user-modifiable
b"\x38" # 0x57 : not user-modifiable
b"\xFF" # 0x58 : not user-modifiable
b"\x01" # 0x59 : not user-modifiable
b"\x00" # 0x5a : not user-modifiable
b"\x08" # 0x5b : not user-modifiable
b"\x00" # 0x5c : not user-modifiable
b"\x00" # 0x5d : not user-modifiable
b"\x01" # 0x5e : not user-modifiable
b"\xCC" # 0x5f : not user-modifiable
b"\x07" # 0x60 : not user-modifiable
b"\x01" # 0x61 : not user-modifiable
b"\xF1" # 0x62 : not user-modifiable
b"\x05" # 0x63 : not user-modifiable
b"\x00" # 0x64 : Sigma threshold MSB (mm in 14.2 format for MSB+LSB), default value 90 mm
b"\xA0" # 0x65 : Sigma threshold LSB
b"\x00" # 0x66 : Min count Rate MSB (MCPS in 9.7 format for MSB+LSB)
b"\x80" # 0x67 : Min count Rate LSB
b"\x08" # 0x68 : not user-modifiable
b"\x38" # 0x69 : not user-modifiable
b"\x00" # 0x6a : not user-modifiable
b"\x00" # 0x6b : not user-modifiable
b"\x00" # 0x6c : Intermeasurement period MSB, 32 bits register
b"\x00" # 0x6d : Intermeasurement period
b"\x0F" # 0x6e : Intermeasurement period
b"\x89" # 0x6f : Intermeasurement period LSB
b"\x00" # 0x70 : not user-modifiable
b"\x00" # 0x71 : not user-modifiable
b"\x00" # 0x72 : distance threshold high MSB (in mm, MSB+LSB)
b"\x00" # 0x73 : distance threshold high LSB
b"\x00" # 0x74 : distance threshold low MSB ( in mm, MSB+LSB)
b"\x00" # 0x75 : distance threshold low LSB
b"\x00" # 0x76 : not user-modifiable
b"\x01" # 0x77 : not user-modifiable
b"\x07" # 0x78 : not user-modifiable
b"\x05" # 0x79 : not user-modifiable
b"\x06" # 0x7a : not user-modifiable
b"\x06" # 0x7b : not user-modifiable
b"\x00" # 0x7c : not user-modifiable
b"\x00" # 0x7d : not user-modifiable
b"\x02" # 0x7e : not user-modifiable
b"\xC7" # 0x7f : not user-modifiable
b"\xFF" # 0x80 : not user-modifiable
b"\x9B" # 0x81 : not user-modifiable
b"\x00" # 0x82 : not user-modifiable
b"\x00" # 0x83 : not user-modifiable
b"\x00" # 0x84 : not user-modifiable
b"\x01" # 0x85 : not user-modifiable
b"\x00" # 0x86 : clear interrupt, 0x01=clear
b"\x00" # 0x87 : ranging, 0x00=stop, 0x40=start
)
self._wait_for_boot()
self._write_register(0x002D, init_seq)
self._start_vhv()
self.clear_interrupt()
self.stop_ranging()
self._write_register(_VL53L4CD_VHV_CONFIG_TIMEOUT_MACROP_LOOP_BOUND, b"\x09")
self._write_register(0x0B, b"\x00")
self._write_register(0x0024, b"\x05\x00")
self.inter_measurement = 0
self.timing_budget = 50
@property
def model_info(self):
"""A 2 tuple of Model ID and Module Type."""
info = self._read_register(_VL53L4CD_IDENTIFICATION_MODEL_ID, 2)
return info[0], info[1] # Model ID, Module Type
@property
def distance(self):
"""The distance in units of centimeters."""
dist = self._read_register(_VL53L4CD_RESULT_DISTANCE, 2)
dist = struct.unpack(">H", dist)[0]
return dist / 10
@property
def timing_budget(self):
"""Ranging duration in milliseconds. Valid range is 10ms to 200ms."""
osc_freq = struct.unpack(">H", self._read_register(0x0006, 2))[0]
macro_period_us = 16 * (int(2304 * (0x40000000 / osc_freq)) >> 6)
macrop_high = struct.unpack(
">H", self._read_register(_VL53L4CD_RANGE_CONFIG_A, 2)
)[0]
ls_byte = (macrop_high & 0x00FF) << 4
ms_byte = (macrop_high & 0xFF00) >> 8
ms_byte = 0x04 - (ms_byte - 1) - 1
timing_budget_ms = (
((ls_byte + 1) * (macro_period_us >> 6)) - ((macro_period_us >> 6) >> 1)
) >> 12
if ms_byte < 12:
timing_budget_ms >>= ms_byte
if self.inter_measurement == 0:
# mode continuous
timing_budget_ms += 2500
else:
# mode autonomous
timing_budget_ms *= 2
timing_budget_ms += 4300
return int(timing_budget_ms / 1000)
@timing_budget.setter
def timing_budget(self, val):
if self._ranging:
raise RuntimeError("Must stop ranging first.")
if not 10 <= val <= 200:
raise ValueError("Timing budget range duration must be 10ms to 200ms.")
inter_meas = self.inter_measurement
if inter_meas != 0 and val > inter_meas:
raise ValueError(
"Timing budget can not be greater than inter-measurement period ({})".format(
inter_meas
)
)
osc_freq = struct.unpack(">H", self._read_register(0x0006, 2))[0]
if osc_freq == 0:
raise RuntimeError("Osc frequency is 0.")
timing_budget_us = val * 1000
macro_period_us = int(2304 * (0x40000000 / osc_freq)) >> 6
if inter_meas == 0:
# continuous mode
timing_budget_us -= 2500
else:
# autonomous mode
timing_budget_us -= 4300
timing_budget_us //= 2
# VL53L4CD_RANGE_CONFIG_A register
ms_byte = 0
timing_budget_us <<= 12
tmp = macro_period_us * 16
ls_byte = int(((timing_budget_us + ((tmp >> 6) >> 1)) / (tmp >> 6)) - 1)
while ls_byte & 0xFFFFFF00 > 0:
ls_byte >>= 1
ms_byte += 1
ms_byte = (ms_byte << 8) + (ls_byte & 0xFF)
self._write_register(_VL53L4CD_RANGE_CONFIG_A, struct.pack(">H", ms_byte))
# VL53L4CD_RANGE_CONFIG_B register
ms_byte = 0
tmp = macro_period_us * 12
ls_byte = int(((timing_budget_us + ((tmp >> 6) >> 1)) / (tmp >> 6)) - 1)
while ls_byte & 0xFFFFFF00 > 0:
ls_byte >>= 1
ms_byte += 1
ms_byte = (ms_byte << 8) + (ls_byte & 0xFF)
self._write_register(_VL53L4CD_RANGE_CONFIG_B, struct.pack(">H", ms_byte))
@property
def inter_measurement(self):
"""
Inter-measurement period in milliseconds. Valid range is timing_budget to
5000ms, or 0 to disable.
"""
reg_val = struct.unpack(
">I", self._read_register(_VL53L4CD_INTERMEASUREMENT_MS, 4)
)[0]
clock_pll = struct.unpack(
">H", self._read_register(_VL53L4CD_RESULT_OSC_CALIBRATE_VAL, 2)
)[0]
clock_pll &= 0x3FF
clock_pll = int(1.065 * clock_pll)
return int(reg_val / clock_pll)
@inter_measurement.setter
def inter_measurement(self, val):
if self._ranging:
raise RuntimeError("Must stop ranging first.")
timing_bud = self.timing_budget
if val != 0 and val < timing_bud:
raise ValueError(
"Inter-measurement period can not be less than timing budget ({})".format(
timing_bud
)
)
clock_pll = struct.unpack(
">H", self._read_register(_VL53L4CD_RESULT_OSC_CALIBRATE_VAL, 2)
)[0]
clock_pll &= 0x3FF
int_meas = int(1.055 * val * clock_pll)
self._write_register(_VL53L4CD_INTERMEASUREMENT_MS, struct.pack(">I", int_meas))
# need to reset timing budget so that it will be based on new inter-measurement period
self.timing_budget = timing_bud
def start_ranging(self):
"""Starts ranging operation."""
# start ranging depending inter-measurement setting
if self.inter_measurement == 0:
# continuous mode
self._write_register(_VL53L4CD_SYSTEM_START, b"\x21")
else:
# autonomous mode
self._write_register(_VL53L4CD_SYSTEM_START, b"\x40")
# wait for data ready
timed_out = True
for _ in range(1000):
if self.data_ready:
timed_out = False
break
time.sleep(0.001)
if timed_out:
raise TimeoutError("Time out waiting for data ready.")
self.clear_interrupt()
self._ranging = True
def stop_ranging(self):
"""Stops ranging operation."""
self._write_register(_VL53L4CD_SYSTEM_START, b"\x00")
self._ranging = False
def clear_interrupt(self):
"""Clears new data interrupt."""
self._write_register(_VL53L4CD_SYSTEM_INTERRUPT_CLEAR, b"\x01")
@property
def data_ready(self):
"""Returns true if new data is ready, otherwise false."""
if (
self._read_register(_VL53L4CD_GPIO_TIO_HV_STATUS)[0] & 0x01
== self._interrupt_polarity
):
return True
return False
@property
def _interrupt_polarity(self):
int_pol = self._read_register(_VL53L4CD_GPIO_HV_MUX_CTRL)[0] & 0x10
int_pol = (int_pol >> 4) & 0x01
return 0 if int_pol else 1
def _wait_for_boot(self):
for _ in range(1000):
if self._read_register(_VL53L4CD_FIRMWARE_SYSTEM_STATUS)[0] == 0x03:
return
time.sleep(0.001)
raise TimeoutError("Time out waiting for system boot.")
def _start_vhv(self):
self.start_ranging()
for _ in range(1000):
if self.data_ready:
return
time.sleep(0.001)
raise TimeoutError("Time out starting VHV.")
def _write_register(self, address, data, length=None):
if length is None:
length = len(data)
with self.i2c_device as i2c:
i2c.write(struct.pack(">H", address) + data[:length])
def _read_register(self, address, length=1):
data = bytearray(length)
with self.i2c_device as i2c:
i2c.write(struct.pack(">H", address))
i2c.readinto(data)
return data
def set_address(self, new_address):
"""
Set a new I2C address to the instantaited object. This is only called when using
multiple VL53L4CD sensors on the same I2C bus (SDA & SCL pins). See also the
`example <examples.html#id2>`_ for proper usage.
"""
self._write_register(
_VL53L4CD_I2C_SLAVE_DEVICE_ADDRESS, struct.pack(">B", new_address)
)
self.i2c_device = i2c_device.I2CDevice(self._i2c, new_address)