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UPD: VL53L0X and VL53L1X implementation #42

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Merged
AlexanderKaschta merged 1 commit into from
May 2, 2023
Merged

UPD: VL53L0X and VL53L1X implementation #42

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4 changes: 2 additions & 2 deletions config/VL53LxConfig.yaml
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@@ -1,5 +1,5 @@
# example config fo VL53L1X distance sensor

DAQModule: VL53LxConfig
type: 1 # sensor type 0: VL53L0X 1: VL53L1x
range : 1 # 1: short 2: medium 3: long range
type: 1 # sensor type 0: VL53L0X 1: VL53L1X
range : 1 # 1: short 2: long range (this setting only affects the VL531X)
2 changes: 0 additions & 2 deletions installlibs.sh
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Expand Up @@ -32,8 +32,6 @@ while true; do

sudo pip3 install installlibs/whl/*.whl; # python wheels

sudo pip3 install installlibs/tgz/*.tar.gz; # python packages

# Install all sensor drivers specified in the
sudo pip3 install -r requirements.txt;

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91 changes: 46 additions & 45 deletions phypidaq/VL53LxConfig.py
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Expand Up @@ -2,28 +2,23 @@
from __future__ import print_function, division, unicode_literals
from __future__ import absolute_import

import sys

# import relevant pieces for VL53L0X /1X distance sensor
import VL53L1X
import VL53L0X
import board
import adafruit_vl53l1x
import adafruit_vl53l0x

VL53_Ranges = ['short', 'medium', 'long']
VL53L1_mmRanges = [0., 1300., 3000., 4000.]
VL53L0_mmRanges = [1200., 1200., 1200., 2000., 1200.]
VL53L1_Max_Range = 4000.0
VL53L0_Max_Range = 1200.0


class VL53LxConfig(object):
""" VL53L1X and FL53L0X configuration and interface """
""" VL53L1X and VL53L0X configuration and interface """

def __init__(self, confdict=None):
if confdict is None:
confdict = {}

# -- number of Channels
# if 'NChannels' in confdict:
# self.NChannels = confdict['NChannels']
# else:
# Set the number of channels
self.NChannels = 1 # sensor only has one channel

# sensor type
Expand All @@ -35,59 +30,65 @@ def __init__(self, confdict=None):
self.type = 1 # VL53LX1 is default

if 'range' in confdict:
self.range = confdict['range']
if self.type == 1:
self.mmranges = VL53L1_mmRanges
# Check if the range has a valid value
if confdict['range'] in [1, 2]:
# Set to the given value
self.range = confdict['range']
else:
# Set to default
self.range = 1
else:
self.mmranges = VL53L0_mmRanges
print("VL53Lx: range set to %s " % (self.mmranges[self.range]))
# possible vales VL53L1X: 1 short, 2 medium, 3 long
# possible vales VL53L0X: 0, 1, 2 1.2 m
# 3 2.0 m
# 4 1.2 m, high speed (20ms)
print("Skipping range for the VL53L0X")
else:
self.range = 2 # medium range
if self.type == 1:
# Set the default if nothing is specified
self.range = 1

if 'I2CADDR' in confdict:
self.I2CAddr = confdict['I2CADDR']
print("VL53L1X: I2C address set to %x " % (self.I2CAddr))
print("VL53L1X: I2C address set to %x " % self.I2CAddr)
else:
self.I2CAddr = 0x29 # use default

if 'busnum' in confdict:
self.busnum = confdict['busnum']
print("VL53L1X: bus number set to %x " % (self.busnum))
print("VL53L1X: bus number set to %x " % self.busnum)
else:
self.busnum = 1 # use default

# provide channel parameters
self.ChanNams = ['d']
self.ChanLims = [[0., self.mmranges[self.range]]]
if self.type == 1:
self.ChanLims = [[0., VL53L1_Max_Range]]
else:
self.ChanLims = [[0., VL53L0_Max_Range]]

self.i2c = None
self.sensor = None

def init(self):
# Hardware configuration:
try:
if self.type == 1:
# Create a VL53L1X instance
self.vl53 = VL53L1X.VL53L1X(i2c_bus=self.busnum, i2c_address=self.I2CAddr)
else:
# Create a VL53L0X instance
self.vl53 = VL53L0X.VL53L0X(i2c_bus=self.busnum, i2c_address=self.I2CAddr)
except Exception as e:
print("VLC53L1XConfig: Error initialising device - exit")
print(str(e))
sys.exit(1)
try:
self.vl53.open() # initialise and configure sensor
except Exception as e:
print("VLC53L1XConfig: Error configuring device - exit")
print(str(e))
sys.exit(1)
self.vl53.start_ranging(self.range) # start measurements
self.i2c = board.I2C()
if self.type == 1:
self.sensor = adafruit_vl53l1x.VL53L1X(self.i2c, address=self.I2CAddr)
# Set the distance mode
self.sensor.distance_mode = self.range
# Start measuring
self.sensor.start_ranging()
else:
self.sensor = adafruit_vl53l0x.VL53L0X(self.i2c, address=self.I2CAddr)
# Active the continuous mode
self.sensor = self.sensor.continuous_mode()

def acquireData(self, buf):
buf[0] = self.vl53.get_distance() # distance in mm
if self.type == 1:
if self.sensor.data_ready:
buf[0] = self.sensor.distance * 10 # Return the distance in mm
else:
buf[0] = self.sensor.range # distance in mm

def closeDevice(self):
# nothing to do here
self.vl53.stop_ranging() # stop measurements
if self.type == 1:
# Stop measurements
self.sensor.stop_ranging()
2 changes: 2 additions & 0 deletions requirements.txt
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Expand Up @@ -14,6 +14,8 @@ adafruit-circuitpython-ads1x15==2.2.21
adafruit-circuitpython-adxl34x==1.12.8
adafruit-circuitpython-mcp4725==1.4.11
adafruit-circuitpython-tcs34725==3.3.16
adafruit-circuitpython-vl53l0x==3.6.8
adafruit-circuitpython-vl53l1x==1.1.10
Adafruit-PlatformDetect==3.15.3
Adafruit-PureIO==1.1.9
pyftdi==0.53.2
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