UMEHOSHI ITA TOP PAGE COMPUTER SHIEN LAB
from machine import I2C
import time
class VL53L1X:
"""
VL53L1X ULD(Ultra Lite Driver)-style minimal driver
Based on STSW-IMG009 / VL53L1X ULD register operations.
Tested target:
ESP32-WROOM-32E
MicroPython
Default I2C address:
0x29 (7-bit)
"""
# ------------------------------------------------------------
# I2C
# ------------------------------------------------------------
DEFAULT_ADDRESS = 0x29
# ------------------------------------------------------------
# Identification
# ------------------------------------------------------------
IDENTIFICATION__MODEL_ID = 0x010F
IDENTIFICATION__MODULE_TYPE = 0x0110
IDENTIFICATION__REVISION_ID = 0x0111
IDENTIFICATION__MODULE_ID = 0x0112
# ------------------------------------------------------------
# Boot / VHV
# ------------------------------------------------------------
FIRMWARE__SYSTEM_STATUS = 0x00E5
VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND = 0x0008
# ------------------------------------------------------------
# GPIO / interrupt
# ------------------------------------------------------------
GPIO_HV_MUX__CTRL = 0x0030
GPIO__TIO_HV_STATUS = 0x0031
SYSTEM__INTERRUPT_CONFIG_GPIO = 0x0046
SYSTEM__INTERRUPT_CLEAR = 0x0086
# ------------------------------------------------------------
# Timing / distance mode
# ------------------------------------------------------------
PHASECAL_CONFIG__TIMEOUT_MACROP = 0x004B
RANGE_CONFIG__TIMEOUT_MACROP_A_HI = 0x005E
RANGE_CONFIG__TIMEOUT_MACROP_B_HI = 0x0061
RANGE_CONFIG__VCSEL_PERIOD_A = 0x0060
RANGE_CONFIG__VCSEL_PERIOD_B = 0x0063
RANGE_CONFIG__SIGMA_THRESH = 0x0064
RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS = 0x0066
RANGE_CONFIG__VALID_PHASE_HIGH = 0x0069
SD_CONFIG__WOI_SD0 = 0x0078
SD_CONFIG__INITIAL_PHASE_SD0 = 0x007A
# ------------------------------------------------------------
# ROI
# ------------------------------------------------------------
ROI_CONFIG__USER_ROI_CENTRE_SPAD = 0x007F
ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE = 0x0080
# ------------------------------------------------------------
# Measurement control
# ------------------------------------------------------------
SYSTEM__SEQUENCE_CONFIG = 0x0081
SYSTEM__MODE_START = 0x0087
# ------------------------------------------------------------
# Result
# ------------------------------------------------------------
RESULT__RANGE_STATUS = 0x0089
RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0 = 0x008C
RESULT__AMBIENT_COUNT_RATE_MCPS_SD = 0x0090
RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 = 0x0096
RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0 = 0x0098
# ------------------------------------------------------------
# Distance modes
# ------------------------------------------------------------
DISTANCE_MODE_SHORT = 1
DISTANCE_MODE_LONG = 2
# ------------------------------------------------------------
# ULD default configuration
#
# STSW-IMG009:
# VL53L1X_DEFAULT_CONFIGURATION[]
#
# Applied to registers:
# 0x2D ... 0x87
#
# I2C level:
# 0x2E = 0x00
# because the normal VL53L1X module uses 1.8V I2C
# internally.
#
# For the commonly used modules, this is the ST ULD default.
# ------------------------------------------------------------
DEFAULT_CONFIGURATION = bytes([
0x00, # 0x2D
0x00, # 0x2E
0x00, # 0x2F
0x01, # 0x30
0x02, # 0x31
0x00, # 0x32
0x02, # 0x33
0x08, # 0x34
0x00, # 0x35
0x08, # 0x36
0x10, # 0x37
0x01, # 0x38
0x01, # 0x39
0x00, # 0x3A
0x00, # 0x3B
0x00, # 0x3C
0x00, # 0x3D
0xFF, # 0x3E
0x00, # 0x3F
0x0F, # 0x40
0x00, # 0x41
0x00, # 0x42
0x00, # 0x43
0x00, # 0x44
0x00, # 0x45
0x20, # 0x46
0x0B, # 0x47
0x00, # 0x48
0x00, # 0x49
0x02, # 0x4A
0x0A, # 0x4B
0x21, # 0x4C
0x00, # 0x4D
0x00, # 0x4E
0x05, # 0x4F
0x00, # 0x50
0x00, # 0x51
0x00, # 0x52
0x00, # 0x53
0xC8, # 0x54
0x00, # 0x55
0x00, # 0x56
0x38, # 0x57
0xFF, # 0x58
0x01, # 0x59
0x00, # 0x5A
0x08, # 0x5B
0x00, # 0x5C
0x00, # 0x5D
0x01, # 0x5E
0xCC, # 0x5F
0x0F, # 0x60
0x01, # 0x61
0xF1, # 0x62
0x0D, # 0x63
0x01, # 0x64
0x68, # 0x65
0x00, # 0x66
0x80, # 0x67
0x08, # 0x68
0xB8, # 0x69
0x00, # 0x6A
0x00, # 0x6B
0x00, # 0x6C
0x00, # 0x6D
0x0F, # 0x6E
0x89, # 0x6F
0x00, # 0x70
0x00, # 0x71
0x00, # 0x72
0x00, # 0x73
0x00, # 0x74
0x00, # 0x75
0x00, # 0x76
0x01, # 0x77
0x0F, # 0x78
0x0D, # 0x79
0x0E, # 0x7A
0x0E, # 0x7B
0x00, # 0x7C
0x00, # 0x7D
0x02, # 0x7E
0xC7, # 0x7F
0xFF, # 0x80
0x9B, # 0x81
0x00, # 0x82
0x00, # 0x83
0x00, # 0x84
0x01, # 0x85
0x00, # 0x86
0x00, # 0x87
])
# ------------------------------------------------------------
# Timing budget tables
#
# ULD SetTimingBudgetInMs()
#
# [distance mode] :
# timeout A
# timeout B
# ------------------------------------------------------------
TIMING_SHORT = {
15: (0x001D, 0x0027),
20: (0x0051, 0x006E),
33: (0x00D6, 0x006E),
50: (0x01AE, 0x01E8),
100: (0x02E1, 0x0388),
200: (0x03E1, 0x0496),
500: (0x0591, 0x05C1),
}
TIMING_LONG = {
20: (0x001E, 0x0022),
33: (0x0060, 0x006E),
50: (0x00AD, 0x00C6),
100: (0x01CC, 0x01EA),
200: (0x02D9, 0x02F8),
500: (0x048F, 0x04A4),
}
# ------------------------------------------------------------
def __init__(self, i2c, address=DEFAULT_ADDRESS, debug=False):
self.i2c = i2c
self.address = address
self.debug = debug
self.distance_mode = self.DISTANCE_MODE_LONG
self.timing_budget_ms = 50
# ============================================================
# Low level I2C
# ============================================================
def _write8(self, reg, value):
buf = bytes([
(reg >> 8) & 0xFF,
reg & 0xFF,
value & 0xFF
])
self.i2c.writeto(self.address, buf)
if self.debug:
print("W8 %04X <- %02X" % (reg, value))
def _write16(self, reg, value):
buf = bytes([
(reg >> 8) & 0xFF,
reg & 0xFF,
(value >> 8) & 0xFF,
value & 0xFF
])
self.i2c.writeto(self.address, buf)
if self.debug:
print("W16 %04X <- %04X" % (reg, value))
def _write32(self, reg, value):
buf = bytes([
(reg >> 8) & 0xFF,
reg & 0xFF,
(value >> 24) & 0xFF,
(value >> 16) & 0xFF,
(value >> 8) & 0xFF,
value & 0xFF
])
self.i2c.writeto(self.address, buf)
if self.debug:
print("W32 %04X <- %08X" % (reg, value))
def _read8(self, reg):
self.i2c.writeto(
self.address,
bytes([
(reg >> 8) & 0xFF,
reg & 0xFF
])
)
value = self.i2c.readfrom(self.address, 1)[0]
if self.debug:
print("R8 %04X -> %02X" % (reg, value))
return value
def _read16(self, reg):
self.i2c.writeto(
self.address,
bytes([
(reg >> 8) & 0xFF,
reg & 0xFF
])
)
data = self.i2c.readfrom(self.address, 2)
value = (data[0] << 8) | data[1]
if self.debug:
print("R16 %04X -> %04X" % (reg, value))
return value
def _read32(self, reg):
self.i2c.writeto(
self.address,
bytes([
(reg >> 8) & 0xFF,
reg & 0xFF
])
)
data = self.i2c.readfrom(self.address, 4)
value = (
(data[0] << 24) |
(data[1] << 16) |
(data[2] << 8) |
data[3]
)
if self.debug:
print("R32 %04X -> %08X" % (reg, value))
return value
# ============================================================
# Identification
# ============================================================
def get_model_id(self):
return self._read8(self.IDENTIFICATION__MODEL_ID)
def get_module_type(self):
return self._read8(self.IDENTIFICATION__MODULE_TYPE)
def get_revision_id(self):
return self._read8(self.IDENTIFICATION__REVISION_ID)
def get_module_id(self):
return self._read16(self.IDENTIFICATION__MODULE_ID)
def check_device(self):
model = self.get_model_id()
if model != 0xEA:
raise RuntimeError(
"VL53L1X model ID error: 0x%02X" % model
)
return True
# ============================================================
# Boot
# ============================================================
def boot_state(self):
"""
ST ULD VL53L1X_BootState()
0 = not booted
non-zero = booted
"""
return self._read8(
self.FIRMWARE__SYSTEM_STATUS
) != 0
def wait_booted(self, timeout_ms=1000):
start = time.ticks_ms()
while not self.boot_state():
if time.ticks_diff(
time.ticks_ms(),
start
) > timeout_ms:
raise RuntimeError(
"VL53L1X boot timeout"
)
time.sleep_ms(5)
# ============================================================
# SensorInit
# ============================================================
def sensor_init(self):
"""
Equivalent to STSW-IMG009 VL53L1X_SensorInit().
This is the ULD equivalent of the initialization stage.
It is NOT the Full API DataInit()/StaticInit() split.
"""
self.check_device()
# --------------------------------------------------------
# ST ULD:
#
# for (Addr = 0x2D; Addr <= 0x87; Addr++)
# WrByte(Addr, DEFAULT_CONFIGURATION[Addr - 0x2D])
# --------------------------------------------------------
for offset in range(len(self.DEFAULT_CONFIGURATION)):
reg = 0x2D + offset
value = self.DEFAULT_CONFIGURATION[offset]
self._write8(reg, value)
# --------------------------------------------------------
# ULD SensorInit performs one initial ranging operation.
# --------------------------------------------------------
self.start_measurement()
self.wait_data_ready(
timeout_ms=1000
)
self.clear_interrupt()
self.stop_measurement()
# --------------------------------------------------------
# VHV configuration after the initial measurement.
# --------------------------------------------------------
self._write8(
self.VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND,
0x09
)
self._write8(
0x000B,
0x00
)
# ============================================================
# Distance mode
# ============================================================
def set_distance_mode(self, mode):
"""
ST ULD:
1 = Short
2 = Long
"""
if mode not in (
self.DISTANCE_MODE_SHORT,
self.DISTANCE_MODE_LONG
):
raise ValueError(
"distance mode must be 1 or 2"
)
# Save current timing budget.
old_budget = self.timing_budget_ms
if mode == self.DISTANCE_MODE_SHORT:
# PHASECAL_CONFIG__TIMEOUT_MACROP
self._write8(
self.PHASECAL_CONFIG__TIMEOUT_MACROP,
0x14
)
# VCSEL period A
self._write8(
self.RANGE_CONFIG__VCSEL_PERIOD_A,
0x07
)
# VCSEL period B
self._write8(
self.RANGE_CONFIG__VCSEL_PERIOD_B,
0x05
)
# Valid phase high
self._write8(
self.RANGE_CONFIG__VALID_PHASE_HIGH,
0x38
)
# WOI SD0
self._write16(
self.SD_CONFIG__WOI_SD0,
0x0705
)
# Initial phase SD0
self._write16(
self.SD_CONFIG__INITIAL_PHASE_SD0,
0x0606
)
else:
# PHASECAL_CONFIG__TIMEOUT_MACROP
self._write8(
self.PHASECAL_CONFIG__TIMEOUT_MACROP,
0x0A
)
# VCSEL period A
self._write8(
self.RANGE_CONFIG__VCSEL_PERIOD_A,
0x0F
)
# VCSEL period B
self._write8(
self.RANGE_CONFIG__VCSEL_PERIOD_B,
0x0D
)
# Valid phase high
self._write8(
self.RANGE_CONFIG__VALID_PHASE_HIGH,
0xB8
)
# WOI SD0
self._write16(
self.SD_CONFIG__WOI_SD0,
0x0F0D
)
# Initial phase SD0
self._write16(
self.SD_CONFIG__INITIAL_PHASE_SD0,
0x0E0E
)
self.distance_mode = mode
# ST ULD re-applies the previous timing budget
# after changing distance mode.
if old_budget is not None:
self.set_timing_budget(old_budget)
# ============================================================
# Timing budget
# ============================================================
def set_timing_budget(self, budget_ms):
"""
STSW-IMG009 supported timing budgets:
Short:
15, 20, 33, 50, 100, 200, 500 ms
Long:
20, 33, 50, 100, 200, 500 ms
"""
if self.distance_mode == self.DISTANCE_MODE_SHORT:
table = self.TIMING_SHORT
else:
table = self.TIMING_LONG
if budget_ms not in table:
raise ValueError(
"timing budget %d ms is not valid for "
"distance mode %d"
% (
budget_ms,
self.distance_mode
)
)
timeout_a, timeout_b = table[budget_ms]
self._write16(
self.RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
timeout_a
)
self._write16(
self.RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
timeout_b
)
self.timing_budget_ms = budget_ms
# ============================================================
# Get timing budget
# ============================================================
def get_timing_budget(self):
a = self._read16(
self.RANGE_CONFIG__TIMEOUT_MACROP_A_HI
)
if self.distance_mode == self.DISTANCE_MODE_SHORT:
values = {
0x001D: 15,
0x0051: 20,
0x00D6: 33,
0x01AE: 50,
0x02E1: 100,
0x03E1: 200,
0x0591: 500,
}
else:
values = {
0x001E: 20,
0x0060: 33,
0x00AD: 50,
0x01CC: 100,
0x02D9: 200,
0x048F: 500,
}
return values.get(a, 0)
# ============================================================
# Measurement
# ============================================================
def start_measurement(self):
"""
SYSTEM__MODE_START = 0x40
"""
self._write8(
self.SYSTEM__MODE_START,
0x40
)
def stop_measurement(self):
"""
SYSTEM__MODE_START = 0x00
"""
self._write8(
self.SYSTEM__MODE_START,
0x00
)
# ============================================================
# Interrupt polarity
# ============================================================
def get_interrupt_polarity(self):
value = self._read8(
self.GPIO_HV_MUX__CTRL
)
# ST:
# Temp = Temp & 0x10
# polarity = !(Temp >> 4)
return 0 if (value & 0x10) else 1
def set_interrupt_polarity(self, polarity):
value = self._read8(
self.GPIO_HV_MUX__CTRL
)
value &= 0xEF
value |= (
0x00 if (polarity & 1)
else 0x10
)
self._write8(
self.GPIO_HV_MUX__CTRL,
value
)
# ============================================================
# Data ready
# ============================================================
def data_ready(self):
polarity = self.get_interrupt_polarity()
status = self._read8(
self.GPIO__TIO_HV_STATUS
)
return (status & 0x01) == polarity
def wait_data_ready(self, timeout_ms=1000):
start = time.ticks_ms()
while not self.data_ready():
if time.ticks_diff(
time.ticks_ms(),
start
) > timeout_ms:
raise RuntimeError(
"VL53L1X data-ready timeout"
)
time.sleep_ms(1)
# ============================================================
# Clear interrupt
# ============================================================
def clear_interrupt(self):
self._write8(
self.SYSTEM__INTERRUPT_CLEAR,
0x01
)
# ============================================================
# Ranging result
# ============================================================
def get_ranging_measurement_data(self):
status = self._read8(
self.RESULT__RANGE_STATUS
)
distance_mm = self._read16(
self.RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0
)
ambient = self._read16(
self.RESULT__AMBIENT_COUNT_RATE_MCPS_SD
)
signal = self._read16(
self.RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0
)
spads = self._read16(
self.RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0
)
return {
"status": status,
"distance_mm": distance_mm,
"ambient": ambient,
"signal": signal,
"spads": spads,
}
# ============================================================
# One-shot convenience function
# ============================================================
def read(self):
self.wait_data_ready()
result = self.get_ranging_measurement_data()
self.clear_interrupt()
return result
# ============================================================
# Initialize everything
# ============================================================
def init(
self,
distance_mode=DISTANCE_MODE_LONG,
timing_budget_ms=50
):
# Wait until the embedded firmware is booted.
self.wait_booted()
# STSW-IMG009 SensorInit().
self.sensor_init()
# Configure distance mode.
self.set_distance_mode(
distance_mode
)
# Configure timing budget.
self.set_timing_budget(
timing_budget_ms
)
# Start continuous ranging.
self.start_measurement()
# ============================================================
# Continuous measurement generator
# ============================================================
def measurements(self):
while True:
self.wait_data_ready()
result = (
self.get_ranging_measurement_data()
)
self.clear_interrupt()
yield result
from machine import Pin, I2C
import time
from vl53l1x_uld import VL53L1X
# ------------------------------------------------------------
# I2C
# ------------------------------------------------------------
i2c = I2C(
0,
scl=Pin(22),
sda=Pin(21),
freq=400000
)
print("I2C scan:", [
hex(x) for x in i2c.scan()
])
# ------------------------------------------------------------
# VL53L1X
# ------------------------------------------------------------
tof = VL53L1X(
i2c,
address=0x29,
debug=False
)
print("Model ID :", hex(tof.get_model_id()))
print("Module Type :", hex(tof.get_module_type()))
print("Revision :", hex(tof.get_revision_id()))
print("Module ID :", hex(tof.get_module_id()))
# ------------------------------------------------------------
# Initialize
#
# Long mode
# 50 ms timing budget
# ------------------------------------------------------------
tof.init(
distance_mode=VL53L1X.DISTANCE_MODE_LONG,
timing_budget_ms=50
)
print("VL53L1X initialized")
print(
"Distance mode:",
tof.distance_mode
)
print(
"Timing budget:",
tof.get_timing_budget(),
"ms"
)
# ------------------------------------------------------------
# Continuous ranging
# ------------------------------------------------------------
for _ in range(20):
result = tof.read()
print(
"distance=%4d mm "
"status=%d "
"ambient=%d "
"signal=%d "
"spads=%d"
% (
result["distance_mm"],
result["status"],
result["ambient"],
result["signal"],
result["spads"]
)
)
time.sleep_ms(10)
R:\drone>mpremote connect COM3 run vl53l1x_uld_test.py I2C scan: ['0x29'] Model ID : 0xea Module Type : 0xcc Revision : 0x10 Module ID : 0xfffe VL53L1X initialized Distance mode: 2 Timing budget: 50 ms distance= 821 mm status=9 ambient=28 signal=1492 spads=52200 distance= 820 mm status=9 ambient=28 signal=1477 spads=52200 ・・・・・省略・・・・・ distance= 825 mm status=9 ambient=30 signal=1508 spads=52200 R:\drone>
DEFAULT_CONFIGURATION = bytes([
0x00, # 0x2D: VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND (VHVキャリブレーション タイムアウト制御)
0x00, # 0x2E: VHV_CONFIG__COUNT_THRESH (VHVカウント閾値)
0x00, # 0x2F: ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS (クロストーク補正オフセット [MSB])
0x01, # 0x30: ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS (クロストーク補正オフセット [LSB])
0x02, # 0x31: ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS (クロストークX方向勾配 [MSB])
0x00, # 0x32: ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS (クロストークX方向勾配 [LSB])
0x02, # 0x33: ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS (クロストークY方向勾配 [MSB])
0x08, # 0x34: ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS (クロストークY方向勾配 [LSB])
0x00, # 0x35: ALGO__PAUSE_SOLID_ARRAY_CHECK (ソリッドアレイ検証の一時停止フラグ)
0x08, # 0x36: ALGO__PART_TO_PART_RANGE_OFFSET_MM (個体差距離補正オフセット(mm) [MSB])
0x10, # 0x37: ALGO__PART_TO_PART_RANGE_OFFSET_MM (個体差距離補正オフセット(mm) [LSB])
0x01, # 0x38: MM_CONFIG__INNER_OFFSET_MM (内部測定領域オフセット(mm) [MSB])
0x01, # 0x39: MM_CONFIG__INNER_OFFSET_MM (内部測定領域オフセット(mm) [LSB])
0x00, # 0x3A: MM_CONFIG__OUTER_OFFSET_MM (外部測定領域オフセット(mm) [MSB])
0x00, # 0x3B: MM_CONFIG__OUTER_OFFSET_MM (外部測定領域オフセット(mm) [LSB])
0x00, # 0x3C: DSS_CONFIG__TARGET_TOTAL_RATE_MCPS (DSS目標トータルリターンレート(Mcps) [MSB])
0x00, # 0x3D: DSS_CONFIG__TARGET_TOTAL_RATE_MCPS (DSS目標トータルリターンレート(Mcps) [LSB])
0xFF, # 0x3E: DEBUG__CTRL (内部デバッグ制御)
0x00, # 0x3F: TEST_MODE__CTRL (テストモード制御)
0x0F, # 0x40: CLK__CONFIG (内部メインクロック設定)
0x00, # 0x41: SYSTEM__START (システムトリガー/開始制御)
0x00, # 0x42: SYSTEM__HISTORY_CTRL (履歴バッファ制御)
0x00, # 0x43: SYSTEM__STREAM_COUNT_CTRL (ストリームカウント制御)
0x00, # 0x44: SYSTEM__SEQUENCE_CONFIG (測定シーケンス有効化設定)
0x00, # 0x45: SYSTEM__GROUPED_PARAMETER_HOLD_0 (パラメータ一括適用保持 0)
0x20, # 0x46: VHV_CONFIG__INIT (VHV初期化制御)
0x0B, # 0x47: VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND (VHVループ制限値)
0x00, # 0x48: MYCRO_TUNE (内部アナログチューニング 1)
0x00, # 0x49: MYCRO_TUNE (内部アナログチューニング 2)
0x02, # 0x4A: GLOBAL_CONFIG__SPAD_ENABLES_REF_0 (参照SPAD有効化マップ 0)
0x0A, # 0x4B: GLOBAL_CONFIG__SPAD_ENABLES_REF_1 (参照SPAD有効化マップ 1)
0x21, # 0x4C: GLOBAL_CONFIG__SPAD_ENABLES_REF_2 (参照SPAD有効化マップ 2)
0x00, # 0x4D: GLOBAL_CONFIG__SPAD_ENABLES_REF_3 (参照SPAD有効化マップ 3)
0x00, # 0x4E: GLOBAL_CONFIG__SPAD_ENABLES_REF_4 (参照SPAD有効化マップ 4)
0x05, # 0x4F: GLOBAL_CONFIG__SPAD_ENABLES_REF_5 (参照SPAD有効化マップ 5)
0x00, # 0x50: GLOBAL_CONFIG__REF_EN_START_SELECT (参照SPAD開始選択)
0x00, # 0x51: REF_SPAD_MAN__NUM_REQUESTED_REF_SPADS (要求参照SPAD数)
0x00, # 0x52: REF_SPAD_MAN__REF_LOCATION (参照SPAD配置場所)
0x00, # 0x53: ALGO__CONSISTENCY_CHECK__REFERENCE_SIGNAL_NON_KIN_INTRINSIC (参照信号整合性チェック)
0xC8, # 0x54: ALGO__CONSISTENCY_CHECK__EVENT_CONSISTENCY (イベント整合性閾値 0)
0x00, # 0x55: ALGO__CONSISTENCY_CHECK__EVENT_CONSISTENCY (イベント整合性閾値 1)
0x00, # 0x56: ALGO__CONSISTENCY_CHECK__EVENT_CONSISTENCY (イベント整合性閾値 2)
0x38, # 0x57: ALGO__CONSISTENCY_CHECK__EVENT_CONSISTENCY (イベント整合性閾値 3)
0xFF, # 0x58: ALGO__RANGE_IGNORE_THRESHOLD_MCPS (無視するノイズ距離閾値 [MSB])
0x01, # 0x59: ALGO__RANGE_IGNORE_THRESHOLD_MCPS (無視するノイズ距離閾値 [LSB])
0x00, # 0x5A: ALGO__RANGE_MIN_CLIP (最小クリッピング範囲)
0x08, # 0x5B: ALGO__CONSISTENCY_CHECK__TOTAL_RATE_PER_SPAD_MCPS (SPADあたりレート整合性 [MSB])
0x00, # 0x5C: ALGO__CONSISTENCY_CHECK__TOTAL_RATE_PER_SPAD_MCPS (SPADあたりレート整合性 [LSB])
0x00, # 0x5D: SD_CONFIG__WOI_CONFIG (受光タイミングウィンドウWOI設定 0)
0x01, # 0x5E: SD_CONFIG__WOI_CONFIG (受光タイミングウィンドウWOI設定 1)
0xCC, # 0x5F: SD_CONFIG__INITIAL_PHASE_CONFIG (初期位相設定 0)
0x0F, # 0x60: SD_CONFIG__INITIAL_PHASE_CONFIG (初期位相設定 1)
0x01, # 0x61: SYSTEM__GROUPED_PARAMETER_HOLD_0 (パラメータ更新の保留設定)
0xF1, # 0x62: SYSTEM__THRESH_HIGH (距離割り込み上限閾値 [MSB])
0x0D, # 0x63: SYSTEM__THRESH_HIGH (距離割り込み上限閾値 [LSB])
0x01, # 0x64: SYSTEM__THRESH_LOW (距離割り込み下限閾値 [MSB])
0x68, # 0x65: SYSTEM__THRESH_LOW (距離割り込み下限閾値 [LSB])
0x00, # 0x66: SYSTEM__ENABLE_CONFIG_0 (システム機能有効化フラグ 0)
0x80, # 0x67: SYSTEM__ENABLE_CONFIG_1 (システム機能有効化フラグ 1)
0x08, # 0x68: SYSTEM__SEQUENCE_CONFIG (シーケンサ動作制御)
0xB8, # 0x69: SYSTEM__HISTOGRAM_BIN (ヒストグラムBin初期構成)
0x00, # 0x6A: ROI_CONFIG__USER_ROI_CENTRE_SPAD (ユーザー設定ROIの中心SPAD番号)
0x00, # 0x6B: ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE (ユーザー設定ROIのXYサイズ)
0x00, # 0x6C: SYSTEM__CONFIG_VALID_HEADER (設定ヘッダー有効検証)
0x00, # 0x6D: SYSTEM__SEQUENCE_CONFIG (内部シーケンス追加制御)
0x0F, # 0x6E: SYSTEM__GROUPED_PARAMETER_HOLD_1 (一括パラメータ保持 1)
0x89, # 0x6F: SYSTEM__GROUPED_PARAMETER_HOLD (一括パラメータ保持トリガー)
0x00, # 0x70: SD_CONFIG__QUANTIFIER_CONFIG (シグナル検出クオンティファイア設定)
0x00, # 0x71: ROI_CONFIG__ROI_CONTROL (関心領域ROI動的制御)
0x00, # 0x72: FIRMWARE__SYSTEM_STATUS (ファームウェアステータス初期化)
0x00, # 0x73: INTERRUPT_CONFIG (割り込み信号出力設定)
0x00, # 0x74: INTERRUPT_CLEAR (割り込みクリアフラグ)
0x00, # 0x75: INTERRUPT_MODE (割り込み検出モード)
0x00, # 0x76: GPIO_HV_PAD__CTRL (GPIO高電圧パッド制御)
0x01, # 0x77: GPIO_HV_MUX__CTRL (GPIOマルチプレクサ機能選択)
0x0F, # 0x78: GPIO__TIO_HV_STATUS (GPIOピン入出力ステータス)
0x0D, # 0x79: SYSTEM__INTERRUPT_CLEAR (システム割り込み解除)
0x0E, # 0x7A: SYSTEM__MODE_START (測距モード開始/レンジング有効化)
0x0E, # 0x7B: PAD_I2C_HV__CONFIG (I2C通信パッド設定)
0x00, # 0x7C: ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS (トリミング用補正値 0x7C)
0x00, # 0x7D: ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS (トリミング用補正値 0x7D)
0x02, # 0x7E: ALGO__PAUSE_SOLID_ARRAY_CHECK (アレイ制御内部トリミング)
0xC7, # 0x7F: ALGO__PART_TO_PART_RANGE_OFFSET_MM (内部距離トリミングレジスタ)
0xFF, # 0x80: ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS (内部補正トリミングレジスタ)
0x9B, # 0x81: GLOBAL_CONFIG__SPAD_ENABLES_REF (内部SPAD調整トリミング)
0x00, # 0x82: SD_CONFIG (シグナル検出内部パラメータ 0x82)
0x00, # 0x83: SD_CONFIG (シグナル検出内部パラメータ 0x83)
0x00, # 0x84: SD_CONFIG (シグナル検出内部パラメータ 0x84)
0x01, # 0x85: SD_CONFIG (シグナル検出内部パラメータ 0x85)
0x00, # 0x86: SYSTEM__START (システム起動最終確定フラグ)
0x00, # 0x87: SYSTEM__GROUPED_PARAMETER_HOLD (一括設定バッファクリア)
])
1.役割：センサーの動作モードと内部パラメータを一括定義する:ST公式ドライバ（Ultra Lite Driver）準拠。
DEFAULT_CONFIGURATION（レジスタ 0x002D ? 0x0087）は、VL53L1Xをリセット状態から正しく動作させるための推奨初期設定値のバイナリ配列です。