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Measurement quality #9

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merged 6 commits into from
Feb 26, 2024
Merged

Measurement quality #9

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7a82af0
Update adafruit_vl53l4cd.py
markkamp Apr 19, 2023
41ef3c8
Update adafruit_vl53l4cd.py
markkamp Apr 19, 2023
3394c12
Code check with pre-commit
markkamp Apr 19, 2023
a116de9
Increase readability, range status as constants
markkamp May 17, 2023
b964d8c
Merge branch 'adafruit:main' into measurement_quality
markkamp May 17, 2023
346f7fa
constant names
FoamyGuy Feb 26, 2024
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60 changes: 60 additions & 0 deletions adafruit_vl53l4cd.py
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Original file line number Diff line number Diff line change
Expand Up @@ -66,6 +66,21 @@
_VL53L4CD_FIRMWARE_SYSTEM_STATUS = const(0x00E5)
_VL53L4CD_IDENTIFICATION_MODEL_ID = const(0x010F)

_VL53L4CD_RANGE_VALID = const(0x00)
_VL53L4CD_RANGE_WARN_SIGMA_ABOVE_THRESHOLD = const(0x01)
_VL53L4CD_RANGE_WARN_SIGMA_BELOW_THRESHOLD = const(0x02)
_VL53L4CD_RANGE_ERROR_DISTANCE_BELOW_DETECTION_THRESHOLD = const(0x03)
_VL53L4CD_RANGE_ERROR_INVALID_PHASE = const(0x04)
_VL53L4CD_RANGE_ERROR_HW_FAIL = const(0x05)
_VL53L4CD_RANGE_WARN_NO_WRAP_AROUND_CHECK = const(0x06)
_VL53L4CD_RANGE_ERROR_WRAPPED_TARGET_PHASE_MISMATCH = const(0x07)
_VL53L4CD_RANGE_ERROR_PROCESSING_FAIL = const(0x08)
_VL53L4CD_RANGE_ERROR_CROSSTALK_FAIL = const(0x09)
_VL53L4CD_RANGE_ERROR_INTERRUPT = const(0x0A)
_VL53L4CD_RANGE_ERROR_MERGED_TARGET = const(0x0B)
_VL53L4CD_RANGE_ERROR_SIGNAL_TOO_WEAK = const(0x0C)
_VL53L4CD_RANGE_ERROR_OTHER = const(0xFF)
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Since these are _ const(), they will not be available for the user code to use. They are discarded when imported. Could you choose shorter names and declare them globally without the _? Or maybe range_status could be range_valid and just return a boolean? Are you using these error values in your own code?



class VL53L4CD:
"""Driver for the VL53L4CD distance sensor."""
Expand Down Expand Up @@ -199,6 +214,51 @@ def distance(self):
dist = struct.unpack(">H", dist)[0]
return dist / 10

@property
def range_status(self):
"""Measurement validity. If the range status is equal to 0, the distance is valid."""
status_rtn = [
_VL53L4CD_RANGE_ERROR_OTHER,
_VL53L4CD_RANGE_ERROR_OTHER,
_VL53L4CD_RANGE_ERROR_OTHER,
_VL53L4CD_RANGE_ERROR_HW_FAIL,
_VL53L4CD_RANGE_WARN_SIGMA_BELOW_THRESHOLD,
_VL53L4CD_RANGE_ERROR_INVALID_PHASE,
_VL53L4CD_RANGE_WARN_SIGMA_ABOVE_THRESHOLD,
_VL53L4CD_RANGE_ERROR_WRAPPED_TARGET_PHASE_MISMATCH,
_VL53L4CD_RANGE_ERROR_DISTANCE_BELOW_DETECTION_THRESHOLD,
_VL53L4CD_RANGE_VALID,
_VL53L4CD_RANGE_ERROR_OTHER,
_VL53L4CD_RANGE_ERROR_OTHER,
_VL53L4CD_RANGE_ERROR_CROSSTALK_FAIL,
_VL53L4CD_RANGE_ERROR_OTHER,
_VL53L4CD_RANGE_ERROR_OTHER,
_VL53L4CD_RANGE_ERROR_OTHER,
_VL53L4CD_RANGE_ERROR_OTHER,
_VL53L4CD_RANGE_ERROR_OTHER,
_VL53L4CD_RANGE_ERROR_INTERRUPT,
_VL53L4CD_RANGE_WARN_NO_WRAP_AROUND_CHECK,
_VL53L4CD_RANGE_ERROR_OTHER,
_VL53L4CD_RANGE_ERROR_OTHER,
_VL53L4CD_RANGE_ERROR_MERGED_TARGET,
_VL53L4CD_RANGE_ERROR_SIGNAL_TOO_WEAK,
]
status = self._read_register(_VL53L4CD_RESULT_RANGE_STATUS, 1)
status = struct.unpack(">B", status)[0]
status = status & 0x1F
if status < 24:
status = status_rtn[status]
else:
status = _VL53L4CD_RANGE_ERROR_OTHER
return status

@property
def sigma(self):
"""Sigma estimator for the noise in the reported target distance in units of centimeters."""
sigma = self._read_register(_VL53L4CD_RESULT_SIGMA, 2)
sigma = struct.unpack(">H", sigma)[0]
return sigma / 40

@property
def timing_budget(self):
"""Ranging duration in milliseconds. Valid range is 10ms to 200ms."""
Expand Down