├── .gitattributes ├── .github ├── PULL_REQUEST_TEMPLATE │ └── adafruit_circuitpython_pr.md └── workflows │ ├── build.yml │ ├── failure-help-text.yml │ ├── release_gh.yml │ └── release_pypi.yml ├── .gitignore ├── .pre-commit-config.yaml ├── .readthedocs.yaml ├── CODE_OF_CONDUCT.md ├── LICENSE ├── LICENSES ├── CC-BY-4.0.txt ├── MIT.txt └── Unlicense.txt ├── README.rst ├── README.rst.license ├── adafruit_lidarlite.py ├── docs ├── _static │ ├── favicon.ico │ └── favicon.ico.license ├── api.rst ├── api.rst.license ├── conf.py ├── examples.rst ├── examples.rst.license ├── index.rst ├── index.rst.license └── requirements.txt ├── examples └── lidarlite_simpletest.py ├── optional_requirements.txt ├── pyproject.toml ├── requirements.txt └── ruff.toml /.gitattributes: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2024 Justin Myers for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: Unlicense 4 | 5 | .py text eol=lf 6 | .rst text eol=lf 7 | .txt text eol=lf 8 | .yaml text eol=lf 9 | .toml text eol=lf 10 | .license text eol=lf 11 | .md text eol=lf 12 | -------------------------------------------------------------------------------- /.github/PULL_REQUEST_TEMPLATE/adafruit_circuitpython_pr.md: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | Thank you for contributing! Before you submit a pull request, please read the following. 6 | 7 | Make sure any changes you're submitting are in line with the CircuitPython Design Guide, available here: https://docs.circuitpython.org/en/latest/docs/design_guide.html 8 | 9 | If your changes are to documentation, please verify that the documentation builds locally by following the steps found here: https://adafru.it/build-docs 10 | 11 | Before submitting the pull request, make sure you've run Pylint and Black locally on your code. You can do this manually or using pre-commit. Instructions are available here: https://adafru.it/check-your-code 12 | 13 | Please remove all of this text before submitting. Include an explanation or list of changes included in your PR, as well as, if applicable, a link to any related issues. 14 | -------------------------------------------------------------------------------- /.github/workflows/build.yml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | name: Build CI 6 | 7 | on: [pull_request, push] 8 | 9 | jobs: 10 | test: 11 | runs-on: ubuntu-latest 12 | steps: 13 | - name: Run Build CI workflow 14 | uses: adafruit/workflows-circuitpython-libs/build@main 15 | -------------------------------------------------------------------------------- /.github/workflows/failure-help-text.yml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 Scott Shawcroft for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | name: Failure help text 6 | 7 | on: 8 | workflow_run: 9 | workflows: ["Build CI"] 10 | types: 11 | - completed 12 | 13 | jobs: 14 | post-help: 15 | runs-on: ubuntu-latest 16 | if: ${{ github.event.workflow_run.conclusion == 'failure' && github.event.workflow_run.event == 'pull_request' }} 17 | steps: 18 | - name: Post comment to help 19 | uses: adafruit/circuitpython-action-library-ci-failed@v1 20 | -------------------------------------------------------------------------------- /.github/workflows/release_gh.yml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | name: GitHub Release Actions 6 | 7 | on: 8 | release: 9 | types: [published] 10 | 11 | jobs: 12 | upload-release-assets: 13 | runs-on: ubuntu-latest 14 | steps: 15 | - name: Run GitHub Release CI workflow 16 | uses: adafruit/workflows-circuitpython-libs/release-gh@main 17 | with: 18 | github-token: ${{ secrets.GITHUB_TOKEN }} 19 | upload-url: ${{ github.event.release.upload_url }} 20 | -------------------------------------------------------------------------------- /.github/workflows/release_pypi.yml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | name: PyPI Release Actions 6 | 7 | on: 8 | release: 9 | types: [published] 10 | 11 | jobs: 12 | upload-release-assets: 13 | runs-on: ubuntu-latest 14 | steps: 15 | - name: Run PyPI Release CI workflow 16 | uses: adafruit/workflows-circuitpython-libs/release-pypi@main 17 | with: 18 | pypi-username: ${{ secrets.pypi_username }} 19 | pypi-password: ${{ secrets.pypi_password }} 20 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2022 Kattni Rembor, written for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | # Do not include files and directories created by your personal work environment, such as the IDE 6 | # you use, except for those already listed here. Pull requests including changes to this file will 7 | # not be accepted. 8 | 9 | # This .gitignore file contains rules for files generated by working with CircuitPython libraries, 10 | # including building Sphinx, testing with pip, and creating a virual environment, as well as the 11 | # MacOS and IDE-specific files generated by using MacOS in general, or the PyCharm or VSCode IDEs. 12 | 13 | # If you find that there are files being generated on your machine that should not be included in 14 | # your git commit, you should create a .gitignore_global file on your computer to include the 15 | # files created by your personal setup. To do so, follow the two steps below. 16 | 17 | # First, create a file called .gitignore_global somewhere convenient for you, and add rules for 18 | # the files you want to exclude from git commits. 19 | 20 | # Second, configure Git to use the exclude file for all Git repositories by running the 21 | # following via commandline, replacing "path/to/your/" with the actual path to your newly created 22 | # .gitignore_global file: 23 | # git config --global core.excludesfile path/to/your/.gitignore_global 24 | 25 | # CircuitPython-specific files 26 | *.mpy 27 | 28 | # Python-specific files 29 | __pycache__ 30 | *.pyc 31 | 32 | # Sphinx build-specific files 33 | _build 34 | 35 | # This file results from running `pip -e install .` in a local repository 36 | *.egg-info 37 | 38 | # Virtual environment-specific files 39 | .env 40 | .venv 41 | 42 | # MacOS-specific files 43 | *.DS_Store 44 | 45 | # IDE-specific files 46 | .idea 47 | .vscode 48 | *~ 49 | -------------------------------------------------------------------------------- /.pre-commit-config.yaml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2024 Justin Myers for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: Unlicense 4 | 5 | repos: 6 | - repo: https://github.com/pre-commit/pre-commit-hooks 7 | rev: v4.5.0 8 | hooks: 9 | - id: check-yaml 10 | - id: end-of-file-fixer 11 | - id: trailing-whitespace 12 | - repo: https://github.com/astral-sh/ruff-pre-commit 13 | rev: v0.3.4 14 | hooks: 15 | - id: ruff-format 16 | - id: ruff 17 | args: ["--fix"] 18 | - repo: https://github.com/fsfe/reuse-tool 19 | rev: v3.0.1 20 | hooks: 21 | - id: reuse 22 | -------------------------------------------------------------------------------- /.readthedocs.yaml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: Unlicense 4 | 5 | # Read the Docs configuration file 6 | # See https://docs.readthedocs.io/en/stable/config-file/v2.html for details 7 | 8 | # Required 9 | version: 2 10 | 11 | sphinx: 12 | configuration: docs/conf.py 13 | 14 | build: 15 | os: ubuntu-20.04 16 | tools: 17 | python: "3" 18 | 19 | python: 20 | install: 21 | - requirements: docs/requirements.txt 22 | - requirements: requirements.txt 23 | -------------------------------------------------------------------------------- /CODE_OF_CONDUCT.md: -------------------------------------------------------------------------------- 1 | 6 | 7 | # Adafruit Community Code of Conduct 8 | 9 | ## Our Pledge 10 | 11 | In the interest of fostering an open and welcoming environment, we as 12 | contributors and leaders pledge to making participation in our project and 13 | our community a harassment-free experience for everyone, regardless of age, body 14 | size, disability, ethnicity, gender identity and expression, level or type of 15 | experience, education, socio-economic status, nationality, personal appearance, 16 | race, religion, or sexual identity and orientation. 17 | 18 | ## Our Standards 19 | 20 | We are committed to providing a friendly, safe and welcoming environment for 21 | all. 22 | 23 | Examples of behavior that contributes to creating a positive environment 24 | include: 25 | 26 | * Be kind and courteous to others 27 | * Using welcoming and inclusive language 28 | * Being respectful of differing viewpoints and experiences 29 | * Collaborating with other community members 30 | * Gracefully accepting constructive criticism 31 | * Focusing on what is best for the community 32 | * Showing empathy towards other community members 33 | 34 | Examples of unacceptable behavior by participants include: 35 | 36 | * The use of sexualized language or imagery and sexual attention or advances 37 | * The use of inappropriate images, including in a community member's avatar 38 | * The use of inappropriate language, including in a community member's nickname 39 | * Any spamming, flaming, baiting or other attention-stealing behavior 40 | * Excessive or unwelcome helping; answering outside the scope of the question 41 | asked 42 | * Trolling, insulting/derogatory comments, and personal or political attacks 43 | * Promoting or spreading disinformation, lies, or conspiracy theories against 44 | a person, group, organisation, project, or community 45 | * Public or private harassment 46 | * Publishing others' private information, such as a physical or electronic 47 | address, without explicit permission 48 | * Other conduct which could reasonably be considered inappropriate 49 | 50 | The goal of the standards and moderation guidelines outlined here is to build 51 | and maintain a respectful community. 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IN NO EVENT SHALL THE AUTHORS 17 | OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, 18 | WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF 19 | OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 20 | -------------------------------------------------------------------------------- /LICENSES/Unlicense.txt: -------------------------------------------------------------------------------- 1 | This is free and unencumbered software released into the public domain. 2 | 3 | Anyone is free to copy, modify, publish, use, compile, sell, or distribute 4 | this software, either in source code form or as a compiled binary, for any 5 | purpose, commercial or non-commercial, and by any means. 6 | 7 | In jurisdictions that recognize copyright laws, the author or authors of this 8 | software dedicate any and all copyright interest in the software to the public 9 | domain. We make this dedication for the benefit of the public at large and 10 | to the detriment of our heirs and successors. We intend this dedication to 11 | be an overt act of relinquishment in perpetuity of all present and future 12 | rights to this software under copyright law. 13 | 14 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 15 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS 16 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS 17 | BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 18 | OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH 19 | THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. For more information, 20 | please refer to 21 | -------------------------------------------------------------------------------- /README.rst: -------------------------------------------------------------------------------- 1 | Introduction 2 | ============ 3 | 4 | .. image:: https://readthedocs.org/projects/adafruit-circuitpython-lidarlite/badge/?version=latest 5 | :target: https://docs.circuitpython.org/projects/lidarlite/en/latest/ 6 | :alt: Documentation Status 7 | 8 | .. image:: https://raw.githubusercontent.com/adafruit/Adafruit_CircuitPython_Bundle/main/badges/adafruit_discord.svg 9 | :target: https://adafru.it/discord 10 | :alt: Discord 11 | 12 | .. image:: https://github.com/adafruit/Adafruit_CircuitPython_LIDARLite/workflows/Build%20CI/badge.svg 13 | :target: https://github.com/adafruit/Adafruit_CircuitPython_LIDARLite/actions/ 14 | :alt: Build Status 15 | 16 | .. image:: https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/astral-sh/ruff/main/assets/badge/v2.json 17 | :target: https://github.com/astral-sh/ruff 18 | :alt: Code Style: Ruff 19 | 20 | A CircuitPython & Python library for Garmin LIDAR Lite sensors over I2C 21 | 22 | **Does not work with Lidar Lite v4 at this time, no ETA when it may be added - PRs accepted!** 23 | 24 | Dependencies 25 | ============= 26 | This driver depends on: 27 | 28 | * `Adafruit CircuitPython `_ 29 | * `Bus Device `_ 30 | 31 | Please ensure all dependencies are available on the CircuitPython filesystem. 32 | This is easily achieved by downloading 33 | `the Adafruit library and driver bundle `_. 34 | 35 | Installing from PyPI 36 | ==================== 37 | 38 | On supported GNU/Linux systems like the Raspberry Pi, you can install the driver locally `from 39 | PyPI `_. To install for current user: 40 | 41 | .. code-block:: shell 42 | 43 | pip3 install adafruit-circuitpython-lidarlite 44 | 45 | To install system-wide (this may be required in some cases): 46 | 47 | .. code-block:: shell 48 | 49 | sudo pip3 install adafruit-circuitpython-lidarlite 50 | 51 | To install in a virtual environment in your current project: 52 | 53 | .. code-block:: shell 54 | 55 | mkdir project-name && cd project-name 56 | python3 -m venv .venv 57 | source .venv/bin/activate 58 | pip3 install adafruit-circuitpython-lidarlite 59 | 60 | Usage Examples 61 | ============== 62 | 63 | V3 Example 64 | ---------- 65 | 66 | .. code-block:: python 67 | 68 | import time 69 | import board 70 | import busio 71 | import adafruit_lidarlite 72 | 73 | # Create library object using our Bus I2C port 74 | i2c = busio.I2C(board.SCL, board.SDA) 75 | 76 | # Default configuration, with only i2c wires 77 | sensor = adafruit_lidarlite.LIDARLite(i2c) 78 | 79 | while True: 80 | try: 81 | # We print tuples so you can plot with Mu Plotter 82 | print((sensor.distance,)) 83 | except RuntimeError as e: 84 | # If we get a reading error, just print it and keep truckin' 85 | print(e) 86 | time.sleep(0.01) # you can remove this for ultra-fast measurements! 87 | 88 | 89 | V3 HP Example 90 | ------------- 91 | 92 | .. code-block:: python 93 | 94 | import time 95 | import busio 96 | import board 97 | import adafruit_lidarlite 98 | 99 | i2c = busio.I2C(board.SCL, board.SDA) 100 | 101 | sensor = adafruit_lidarlite.LIDARLite(i2c, sensor_type=adafruit_lidarlite.TYPE_V3HP) 102 | 103 | while True: 104 | try: 105 | print(f"Sensor ID#: {sensor.unit_id}") 106 | print(f"Distance = {sensor.distance}") 107 | print(f" Strength: {sensor.signal_strength}") 108 | except RuntimeError as e: 109 | print(e) 110 | try: 111 | print(f"Status: 0b{sensor.status:b}") 112 | print(f" Busy: {bool(sensor.status & adafruit_lidarlite.STATUS_BUSY_V3HP)}") 113 | print(f" Overflow: {bool(sensor.status & adafruit_lidarlite.STATUS_SIGNAL_OVERFLOW_V3HP)}") 114 | print(f" Health: 0b{sensor.health_status:b}") 115 | print(f" Power Control: 0b{sensor.power_control:b}") 116 | print(f" I2C Config: 0b{sensor.i2c_config:b}") 117 | print(f" Test Command: 0b{sensor.test_command:b}") 118 | print(f" Correlation: 0b{sensor.correlation_data}") 119 | except RuntimeError as e: 120 | print(e) 121 | 122 | print() 123 | time.sleep(1) 124 | 125 | Documentation 126 | ============= 127 | 128 | API documentation for this library can be found on `Read the Docs `_. 129 | 130 | For information on building library documentation, please check out `this guide `_. 131 | 132 | Contributing 133 | ============ 134 | 135 | Contributions are welcome! Please read our `Code of Conduct 136 | `_ 137 | before contributing to help this project stay welcoming. 138 | -------------------------------------------------------------------------------- /README.rst.license: -------------------------------------------------------------------------------- 1 | SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries 2 | 3 | SPDX-License-Identifier: MIT 4 | -------------------------------------------------------------------------------- /adafruit_lidarlite.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2018 ladyada for Adafruit Industries 2 | # SPDX-FileCopyrightText: 2022 johnrbnsn 3 | # 4 | # SPDX-License-Identifier: MIT 5 | 6 | """ 7 | `adafruit_lidarlite` 8 | ==================================================== 9 | 10 | A CircuitPython & Python library for Garmin LIDAR Lite sensors over I2C 11 | 12 | * Author(s): ladyada, johnrbnsn 13 | 14 | Implementation Notes 15 | -------------------- 16 | 17 | **Hardware:** 18 | 19 | 20 | **Software and Dependencies:** 21 | 22 | * Adafruit CircuitPython firmware for the supported boards: 23 | https://github.com/adafruit/circuitpython/releases 24 | 25 | * Adafruit's Bus Device library: https://github.com/adafruit/Adafruit_CircuitPython_BusDevice 26 | 27 | """ 28 | 29 | # imports 30 | import time 31 | 32 | from adafruit_bus_device.i2c_device import I2CDevice 33 | from digitalio import Direction 34 | from micropython import const 35 | 36 | try: 37 | from typing import Optional 38 | 39 | from busio import I2C 40 | from microcontroller import Pin 41 | except ImportError: 42 | pass 43 | 44 | __version__ = "0.0.0+auto.0" 45 | __repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_LIDARLite.git" 46 | 47 | 48 | _ADDR_DEFAULT = const(0x62) 49 | _REG_ACQ_COMMAND = const(0x00) 50 | _REG_DIST_MEAS_V3 = const(0x8F) 51 | _REG_DIST_MEAS_V3HP = const(0x0F) 52 | _REG_SIG_COUNT_VAL = const(0x02) 53 | _REG_ACQ_CONFIG_REG = const(0x04) 54 | _REG_THRESHOLD_BYPASS = const(0x1C) 55 | _REG_STATUS = const(0x01) 56 | _REG_UNIT_ID_HIGH = const(0x16) 57 | _REG_UNIT_ID_LOW = const(0x17) 58 | _REG_SIGNAL_STRENGTH = const(0x0E) 59 | _REG_HEALTH_STATUS_V3HP = const(0x48) 60 | _REG_POWER_CONTROL = const(0x65) 61 | _REG_I2C_CONFIG = const(0x1E) 62 | _REG_TEST_COMMAND = const(0x40) 63 | _REG_CORR_DATA = const(0x52) 64 | 65 | _CMD_RESET = const(0x00) 66 | _CMD_DISTANCENOBIAS = const(0x03) 67 | _CMD_DISTANCEWITHBIAS = const(0x04) 68 | _CMD_DISTANCE_V3HP = const(0x03) 69 | _NUM_DIST_BYTES = 2 # How many bytes is the returned distance measurement? 70 | 71 | TYPE_V3 = "V3" 72 | TYPE_V3HP = "V3HP" 73 | 74 | CONFIG_DEFAULT = 0 75 | CONFIG_SHORTFAST = 1 76 | CONFIG_DEFAULTFAST = 2 77 | CONFIG_MAXRANGE = 3 78 | CONFIG_HIGHSENSITIVE = 4 79 | CONFIG_LOWSENSITIVE = 5 80 | 81 | """Status Registers""" 82 | # v3 83 | STATUS_BUSY = 0x01 84 | STATUS_REF_OVERFLOW = 0x02 85 | STATUS_SIGNAL_OVERFLOW = 0x04 86 | STATUS_NO_PEAK = 0x08 87 | STATUS_SECOND_RETURN = 0x10 88 | STATUS_HEALTHY = 0x20 89 | STATUS_SYS_ERROR = 0x40 90 | 91 | # v3 HP 92 | STATUS_BUSY_V3HP = 0x01 93 | STATUS_SIGNAL_OVERFLOW_V3HP = 0x02 94 | 95 | # The various configuration register values, from arduino library 96 | _LIDAR_CONFIGS = ( 97 | (0x80, 0x08, 0x00), # default 98 | (0x1D, 0x08, 0x00), # short range, high speed 99 | (0x80, 0x00, 0x00), # default range, higher speed short range 100 | (0xFF, 0x08, 0x00), # maximum range 101 | (0x80, 0x08, 0x80), # high sensitivity & error 102 | (0x80, 0x08, 0xB0), 103 | ) # low sensitivity & error 104 | 105 | 106 | class LIDARLite: 107 | """ 108 | A driver for the Garmin LIDAR Lite laser distance sensor. 109 | 110 | Initialize the hardware for the LIDAR over I2C. You can pass in an 111 | optional reset_pin for when you call reset(). There are a few common 112 | configurations Garmin suggests: CONFIG_DEFAULT, CONFIG_SHORTFAST, 113 | CONFIG_DEFAULTFAST, CONFIG_MAXRANGE, CONFIG_HIGHSENSITIVE, and 114 | CONFIG_LOWSENSITIVE. For the I2C address, the default is 0x62 but if you 115 | pass a different number in, we'll try to change the address so multiple 116 | LIDARs can be connected. (Note all but one need to be in reset for this 117 | to work!) 118 | 119 | :param i2c_bus: The `busio.I2C` object to use. This is the only 120 | required parameter. 121 | :param int address: (optional) The I2C address of the device to set 122 | after initialization. 123 | """ 124 | 125 | def __init__( 126 | self, 127 | i2c_bus: I2C, 128 | *, 129 | reset_pin: Optional[Pin] = None, 130 | configuration: Optional[int] = CONFIG_DEFAULT, 131 | address: Optional[int] = _ADDR_DEFAULT, 132 | sensor_type: Optional[str] = TYPE_V3, 133 | ) -> None: 134 | self.i2c_device = I2CDevice(i2c_bus, address) 135 | self._buf = bytearray(2) 136 | self._bias_count = 0 137 | self._reset = reset_pin 138 | time.sleep(0.5) 139 | self.configure(configuration) 140 | self._status = self.status 141 | self._sensor_type = sensor_type 142 | 143 | def reset(self) -> None: 144 | """Hardware reset (if pin passed into init) or software reset. Will take 145 | 100 readings in order to 'flush' measurement unit, otherwise data is off.""" 146 | # Optional hardware reset pin 147 | if self._reset is not None: 148 | self._reset.direction = Direction.OUTPUT 149 | self._reset.value = True 150 | self._reset.value = False 151 | time.sleep(0.01) 152 | self._reset.value = True 153 | else: 154 | try: 155 | self._write_reg(_REG_ACQ_COMMAND, _CMD_RESET) 156 | except OSError: 157 | print("OSError") 158 | time.sleep(1) 159 | # take 100 readings to 'flush' out sensor! 160 | for _ in range(100): 161 | try: 162 | self.read_distance_v3(True) 163 | except RuntimeError: 164 | print("RuntimeError") 165 | 166 | def configure(self, config: int) -> None: 167 | """Set the LIDAR desired style of measurement. There are a few common 168 | configurations Garmin suggests: CONFIG_DEFAULT, CONFIG_SHORTFAST, 169 | CONFIG_DEFAULTFAST, CONFIG_MAXRANGE, CONFIG_HIGHSENSITIVE, and 170 | CONFIG_LOWSENSITIVE.""" 171 | settings = _LIDAR_CONFIGS[config] 172 | self._write_reg(_REG_SIG_COUNT_VAL, settings[0]) 173 | self._write_reg(_REG_ACQ_CONFIG_REG, settings[1]) 174 | self._write_reg(_REG_THRESHOLD_BYPASS, settings[2]) 175 | 176 | def read_distance_v3(self, bias: Optional[bool] = False) -> int: 177 | """Perform a distance reading with or without 'bias'. It's recommended 178 | to take a bias measurement every 100 non-bias readings (they're slower)""" 179 | if bias: 180 | self._write_reg(_REG_ACQ_COMMAND, _CMD_DISTANCEWITHBIAS) 181 | else: 182 | self._write_reg(_REG_ACQ_COMMAND, _CMD_DISTANCENOBIAS) 183 | dist = self._read_reg(_REG_DIST_MEAS_V3, _NUM_DIST_BYTES) 184 | if self._status & (STATUS_NO_PEAK | STATUS_SECOND_RETURN): 185 | if self._status & STATUS_NO_PEAK: 186 | raise RuntimeError("Measurement failure STATUS_NO_PEAK") 187 | if self._status & STATUS_SECOND_RETURN: 188 | raise RuntimeError("Measurement failure STATUS_NO_PEAK") 189 | raise RuntimeError("Some other runtime error") 190 | 191 | if (self._status & STATUS_SYS_ERROR) or (not self._status & STATUS_HEALTHY): 192 | raise RuntimeError("System failure") 193 | return dist[0] << 8 | dist[1] 194 | 195 | def read_distance_v3hp(self) -> int: 196 | """Perform a distance measurement for the v3 HP sensor""" 197 | # Any non-zero value written to _REG_ACQ_COMMAND will start a reading on v3HP, no bias vs. 198 | # non-bias 199 | self._write_reg(_REG_ACQ_COMMAND, _CMD_DISTANCEWITHBIAS) 200 | dist = self._read_reg(_REG_DIST_MEAS_V3HP, _NUM_DIST_BYTES) 201 | return dist[0] << 8 | dist[1] 202 | 203 | @property 204 | def correlation_data(self) -> int: 205 | """Reads correlation data""" 206 | # TODO: How to translate correlation data property? 207 | corr_data = self._read_reg(_REG_CORR_DATA, 2) 208 | return corr_data[0] << 8 | corr_data[1] 209 | 210 | @property 211 | def test_command(self) -> int: 212 | """Reads the test command""" 213 | return self._read_reg(_REG_TEST_COMMAND, 1)[0] 214 | 215 | @property 216 | def i2c_config(self) -> int: 217 | """Reads the I2C config""" 218 | return self._read_reg(_REG_I2C_CONFIG, 1)[0] 219 | 220 | @property 221 | def power_control(self) -> int: 222 | """Reads the power control register""" 223 | return self._read_reg(_REG_POWER_CONTROL, 1)[0] 224 | 225 | @property 226 | def health_status(self) -> int: 227 | """Reads health status for v3HP (not available on v3, will return -1)""" 228 | if self._sensor_type == TYPE_V3HP: 229 | return self._read_reg(_REG_HEALTH_STATUS_V3HP, 1)[0] 230 | 231 | return -1 232 | 233 | @property 234 | def signal_strength(self) -> int: 235 | """Reads the signal strength of the last measurement""" 236 | return self._read_reg(_REG_SIGNAL_STRENGTH, 1)[0] 237 | 238 | @property 239 | def unit_id(self) -> int: 240 | """Reads the serial number of the unit""" 241 | high_byte = self._read_reg(_REG_UNIT_ID_HIGH, 1) 242 | low_byte = self._read_reg(_REG_UNIT_ID_LOW, 1) 243 | 244 | return high_byte[0] << 8 | low_byte[0] 245 | 246 | @property 247 | def distance(self) -> int: 248 | """The measured distance in cm. Will take a bias reading every 100 calls""" 249 | self._bias_count -= 1 250 | 251 | if self._bias_count < 0: 252 | self._bias_count = 100 # every 100 reads, check bias 253 | if self._sensor_type == TYPE_V3: 254 | return self.read_distance_v3(self._bias_count <= 0) 255 | if self._sensor_type == TYPE_V3HP: 256 | return self.read_distance_v3hp() 257 | 258 | # If no sensor type has been identified, return a negative distance as an error 259 | return -1 260 | 261 | @property 262 | def status(self) -> int: 263 | """The status byte, check datasheet for bitmask""" 264 | buf = bytearray([_REG_STATUS]) 265 | with self.i2c_device as i2c: 266 | i2c.write_then_readinto(buf, buf) 267 | return buf[0] 268 | 269 | def _write_reg(self, reg: int, value: int) -> None: 270 | self._buf[0] = reg 271 | self._buf[1] = value 272 | with self.i2c_device as i2c: 273 | # print("Writing: ", [hex(i) for i in self._buf]) 274 | i2c.write(self._buf) 275 | time.sleep(0.001) # there's a delay in arduino library 276 | 277 | def _read_reg(self, reg: int, num: int) -> bytearray: 278 | while True: 279 | self._status = self.status 280 | if not self._status & STATUS_BUSY: 281 | break 282 | # no longer busy 283 | self._buf[0] = reg 284 | with self.i2c_device as i2c: 285 | i2c.write_then_readinto(self._buf, self._buf, out_end=1, in_end=num) 286 | # print("Read from ", hex(reg), [hex(i) for i in self._buf]) 287 | return self._buf 288 | -------------------------------------------------------------------------------- /docs/_static/favicon.ico: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/adafruit/Adafruit_CircuitPython_LIDARLite/b726e7b32a7884742d6f7bf11edaa4b5b626c65e/docs/_static/favicon.ico -------------------------------------------------------------------------------- /docs/_static/favicon.ico.license: -------------------------------------------------------------------------------- 1 | SPDX-FileCopyrightText: 2018 Phillip Torrone for Adafruit Industries 2 | 3 | SPDX-License-Identifier: CC-BY-4.0 4 | -------------------------------------------------------------------------------- /docs/api.rst: -------------------------------------------------------------------------------- 1 | 2 | .. If you created a package, create one automodule per module in the package. 3 | 4 | .. If your library file(s) are nested in a directory (e.g. /adafruit_foo/foo.py) 5 | .. use this format as the module name: "adafruit_foo.foo" 6 | 7 | API Reference 8 | ############# 9 | 10 | .. automodule:: adafruit_lidarlite 11 | :members: 12 | -------------------------------------------------------------------------------- /docs/api.rst.license: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2020 ladyada for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | -------------------------------------------------------------------------------- /docs/conf.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | import datetime 6 | import os 7 | import sys 8 | 9 | sys.path.insert(0, os.path.abspath("..")) 10 | 11 | # -- General configuration ------------------------------------------------ 12 | 13 | # Add any Sphinx extension module names here, as strings. They can be 14 | # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom 15 | # ones. 16 | extensions = [ 17 | "sphinx.ext.autodoc", 18 | "sphinxcontrib.jquery", 19 | "sphinx.ext.intersphinx", 20 | "sphinx.ext.napoleon", 21 | "sphinx.ext.todo", 22 | ] 23 | 24 | # TODO: Please Read! 25 | # Uncomment the below if you use native CircuitPython modules such as 26 | # digitalio, micropython and busio. List the modules you use. Without it, the 27 | # autodoc module docs will fail to generate with a warning. 28 | # autodoc_mock_imports = ["digitalio", "busio"] 29 | 30 | 31 | intersphinx_mapping = { 32 | "python": ("https://docs.python.org/3", None), 33 | "BusDevice": ( 34 | "https://docs.circuitpython.org/projects/busdevice/en/latest/", 35 | None, 36 | ), 37 | "CircuitPython": ("https://docs.circuitpython.org/en/latest/", None), 38 | } 39 | 40 | # Add any paths that contain templates here, relative to this directory. 41 | templates_path = ["_templates"] 42 | 43 | source_suffix = ".rst" 44 | 45 | # The master toctree document. 46 | master_doc = "index" 47 | 48 | # General information about the project. 49 | project = "Adafruit LIDARLite Library" 50 | creation_year = "2018" 51 | current_year = str(datetime.datetime.now().year) 52 | year_duration = ( 53 | current_year if current_year == creation_year else creation_year + " - " + current_year 54 | ) 55 | copyright = year_duration + " ladyada" 56 | author = "ladyada" 57 | 58 | # The version info for the project you're documenting, acts as replacement for 59 | # |version| and |release|, also used in various other places throughout the 60 | # built documents. 61 | # 62 | # The short X.Y version. 63 | version = "1.0" 64 | # The full version, including alpha/beta/rc tags. 65 | release = "1.0" 66 | 67 | # The language for content autogenerated by Sphinx. Refer to documentation 68 | # for a list of supported languages. 69 | # 70 | # This is also used if you do content translation via gettext catalogs. 71 | # Usually you set "language" from the command line for these cases. 72 | language = "en" 73 | 74 | # List of patterns, relative to source directory, that match files and 75 | # directories to ignore when looking for source files. 76 | # This patterns also effect to html_static_path and html_extra_path 77 | exclude_patterns = ["_build", "Thumbs.db", ".DS_Store", ".env", "CODE_OF_CONDUCT.md"] 78 | 79 | # The reST default role (used for this markup: `text`) to use for all 80 | # documents. 81 | # 82 | default_role = "any" 83 | 84 | # If true, '()' will be appended to :func: etc. cross-reference text. 85 | # 86 | add_function_parentheses = True 87 | 88 | # The name of the Pygments (syntax highlighting) style to use. 89 | pygments_style = "sphinx" 90 | 91 | # If true, `todo` and `todoList` produce output, else they produce nothing. 92 | todo_include_todos = False 93 | 94 | # If this is True, todo emits a warning for each TODO entries. The default is False. 95 | todo_emit_warnings = True 96 | 97 | napoleon_numpy_docstring = False 98 | 99 | # -- Options for HTML output ---------------------------------------------- 100 | 101 | # The theme to use for HTML and HTML Help pages. See the documentation for 102 | # a list of builtin themes. 103 | # 104 | import sphinx_rtd_theme 105 | 106 | html_theme = "sphinx_rtd_theme" 107 | 108 | # Add any paths that contain custom static files (such as style sheets) here, 109 | # relative to this directory. They are copied after the builtin static files, 110 | # so a file named "default.css" will overwrite the builtin "default.css". 111 | html_static_path = ["_static"] 112 | 113 | # The name of an image file (relative to this directory) to use as a favicon of 114 | # the docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32 115 | # pixels large. 116 | # 117 | html_favicon = "_static/favicon.ico" 118 | 119 | # Output file base name for HTML help builder. 120 | htmlhelp_basename = "AdafruitLidarliteLibrarydoc" 121 | 122 | # -- Options for LaTeX output --------------------------------------------- 123 | 124 | latex_elements = { 125 | # The paper size ('letterpaper' or 'a4paper'). 126 | # 127 | # 'papersize': 'letterpaper', 128 | # The font size ('10pt', '11pt' or '12pt'). 129 | # 130 | # 'pointsize': '10pt', 131 | # Additional stuff for the LaTeX preamble. 132 | # 133 | # 'preamble': '', 134 | # Latex figure (float) alignment 135 | # 136 | # 'figure_align': 'htbp', 137 | } 138 | 139 | # Grouping the document tree into LaTeX files. List of tuples 140 | # (source start file, target name, title, 141 | # author, documentclass [howto, manual, or own class]). 142 | latex_documents = [ 143 | ( 144 | master_doc, 145 | "AdafruitLIDARLiteLibrary.tex", 146 | "AdafruitLIDARLite Library Documentation", 147 | author, 148 | "manual", 149 | ), 150 | ] 151 | 152 | # -- Options for manual page output --------------------------------------- 153 | 154 | # One entry per manual page. List of tuples 155 | # (source start file, name, description, authors, manual section). 156 | man_pages = [ 157 | ( 158 | master_doc, 159 | "AdafruitLIDARLitelibrary", 160 | "Adafruit LIDARLite Library Documentation", 161 | [author], 162 | 1, 163 | ) 164 | ] 165 | 166 | # -- Options for Texinfo output ------------------------------------------- 167 | 168 | # Grouping the document tree into Texinfo files. List of tuples 169 | # (source start file, target name, title, author, 170 | # dir menu entry, description, category) 171 | texinfo_documents = [ 172 | ( 173 | master_doc, 174 | "AdafruitLIDARLiteLibrary", 175 | "Adafruit LIDARLite Library Documentation", 176 | author, 177 | "AdafruitLIDARLiteLibrary", 178 | "One line description of project.", 179 | "Miscellaneous", 180 | ), 181 | ] 182 | -------------------------------------------------------------------------------- /docs/examples.rst: -------------------------------------------------------------------------------- 1 | Simple test 2 | ------------ 3 | 4 | Ensure your device works with this simple test. 5 | 6 | .. literalinclude:: ../examples/lidarlite_simpletest.py 7 | :caption: examples/lidarlite_simpletest.py 8 | :linenos: 9 | -------------------------------------------------------------------------------- /docs/examples.rst.license: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2020 ladyada for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | -------------------------------------------------------------------------------- /docs/index.rst: -------------------------------------------------------------------------------- 1 | .. include:: ../README.rst 2 | 3 | Table of Contents 4 | ================= 5 | 6 | .. toctree:: 7 | :maxdepth: 4 8 | :hidden: 9 | 10 | self 11 | 12 | .. toctree:: 13 | :caption: Examples 14 | 15 | examples 16 | 17 | .. toctree:: 18 | :caption: API Reference 19 | :maxdepth: 3 20 | 21 | api 22 | 23 | .. toctree:: 24 | :caption: Tutorials 25 | 26 | .. toctree:: 27 | :caption: Related Products 28 | 29 | .. toctree:: 30 | :caption: Other Links 31 | 32 | Download from GitHub 33 | Download Library Bundle 34 | CircuitPython Reference Documentation 35 | CircuitPython Support Forum 36 | Discord Chat 37 | Adafruit Learning System 38 | Adafruit Blog 39 | Adafruit Store 40 | 41 | Indices and tables 42 | ================== 43 | 44 | * :ref:`genindex` 45 | * :ref:`modindex` 46 | * :ref:`search` 47 | -------------------------------------------------------------------------------- /docs/index.rst.license: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2020 ladyada for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | -------------------------------------------------------------------------------- /docs/requirements.txt: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 Kattni Rembor for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: Unlicense 4 | 5 | sphinx 6 | sphinxcontrib-jquery 7 | sphinx-rtd-theme 8 | -------------------------------------------------------------------------------- /examples/lidarlite_simpletest.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries 2 | # SPDX-License-Identifier: MIT 3 | 4 | import time 5 | 6 | import board 7 | import busio 8 | 9 | import adafruit_lidarlite 10 | 11 | # Create library object using our Bus I2C port 12 | i2c = busio.I2C(board.SCL, board.SDA) 13 | 14 | # Default configuration, with only i2c wires 15 | sensor = adafruit_lidarlite.LIDARLite(i2c) 16 | 17 | # Optionally, we can pass in a hardware reset pin, or custom config 18 | # import digitalio 19 | # reset = digitalio.DigitalInOut(board.D5) 20 | # sensor = adafruit_lidarlite.LIDARLite(i2c, reset_pin=reset, 21 | # configuration=adafruit_lidarlite.CONFIG_MAXRANGE) 22 | 23 | # If you want to reset, you can do so, note that it can take 10-20 seconds 24 | # for the data to 'normalize' after a reset (and this isnt documented at all) 25 | # sensor.reset() 26 | 27 | while True: 28 | try: 29 | # We print tuples so you can plot with Mu Plotter 30 | print((sensor.distance,)) 31 | except RuntimeError as e: 32 | # If we get a reading error, just print it and keep truckin' 33 | print(e) 34 | time.sleep(0.01) # you can remove this for ultra-fast measurements! 35 | -------------------------------------------------------------------------------- /optional_requirements.txt: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2022 Alec Delaney, for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: Unlicense 4 | -------------------------------------------------------------------------------- /pyproject.toml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2022 Alec Delaney for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | [build-system] 6 | requires = [ 7 | "setuptools", 8 | "wheel", 9 | "setuptools-scm", 10 | ] 11 | 12 | [project] 13 | name = "adafruit-circuitpython-lidarlite" 14 | description = "A CircuitPython & Python library for Garmin LIDAR Lite sensors over I2C." 15 | version = "0.0.0+auto.0" 16 | readme = "README.rst" 17 | authors = [ 18 | {name = "Adafruit Industries", email = "circuitpython@adafruit.com"} 19 | ] 20 | urls = {Homepage = "https://github.com/adafruit/Adafruit_CircuitPython_LIDARLite"} 21 | keywords = [ 22 | "adafruit", 23 | "lidarlite", 24 | "lidar", 25 | "garmin", 26 | "i2c", 27 | "hardware", 28 | "sensor", 29 | "micropython", 30 | "circuitpython", 31 | ] 32 | license = {text = "MIT"} 33 | classifiers = [ 34 | "Intended Audience :: Developers", 35 | "Topic :: Software Development :: Libraries", 36 | "Topic :: Software Development :: Embedded Systems", 37 | "Topic :: System :: Hardware", 38 | "License :: OSI Approved :: MIT License", 39 | "Programming Language :: Python :: 3", 40 | ] 41 | dynamic = ["dependencies", "optional-dependencies"] 42 | 43 | [tool.setuptools] 44 | py-modules = ["adafruit_lidarlite"] 45 | 46 | [tool.setuptools.dynamic] 47 | dependencies = {file = ["requirements.txt"]} 48 | optional-dependencies = {optional = {file = ["optional_requirements.txt"]}} 49 | -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2022 Alec Delaney, for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: Unlicense 4 | 5 | Adafruit-Blinka 6 | adafruit-circuitpython-busdevice 7 | -------------------------------------------------------------------------------- /ruff.toml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2024 Tim Cocks for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | target-version = "py38" 6 | line-length = 100 7 | 8 | [lint] 9 | preview = true 10 | select = ["I", "PL", "UP"] 11 | 12 | extend-select = [ 13 | "D419", # empty-docstring 14 | "E501", # line-too-long 15 | "W291", # trailing-whitespace 16 | "PLC0414", # useless-import-alias 17 | "PLC2401", # non-ascii-name 18 | "PLC2801", # unnecessary-dunder-call 19 | "PLC3002", # unnecessary-direct-lambda-call 20 | "E999", # syntax-error 21 | "PLE0101", # return-in-init 22 | "F706", # return-outside-function 23 | "F704", # yield-outside-function 24 | "PLE0116", # continue-in-finally 25 | "PLE0117", # nonlocal-without-binding 26 | "PLE0241", # duplicate-bases 27 | "PLE0302", # unexpected-special-method-signature 28 | "PLE0604", # invalid-all-object 29 | "PLE0605", # invalid-all-format 30 | "PLE0643", # potential-index-error 31 | "PLE0704", # misplaced-bare-raise 32 | "PLE1141", # dict-iter-missing-items 33 | "PLE1142", # await-outside-async 34 | "PLE1205", # logging-too-many-args 35 | "PLE1206", # logging-too-few-args 36 | "PLE1307", # bad-string-format-type 37 | "PLE1310", # bad-str-strip-call 38 | "PLE1507", # invalid-envvar-value 39 | "PLE2502", # bidirectional-unicode 40 | "PLE2510", # invalid-character-backspace 41 | "PLE2512", # invalid-character-sub 42 | "PLE2513", # invalid-character-esc 43 | "PLE2514", # invalid-character-nul 44 | "PLE2515", # invalid-character-zero-width-space 45 | "PLR0124", # comparison-with-itself 46 | "PLR0202", # no-classmethod-decorator 47 | "PLR0203", # no-staticmethod-decorator 48 | "UP004", # useless-object-inheritance 49 | "PLR0206", # property-with-parameters 50 | "PLR0904", # too-many-public-methods 51 | "PLR0911", # too-many-return-statements 52 | "PLR0912", # too-many-branches 53 | "PLR0913", # too-many-arguments 54 | "PLR0914", # too-many-locals 55 | "PLR0915", # too-many-statements 56 | "PLR0916", # too-many-boolean-expressions 57 | "PLR1702", # too-many-nested-blocks 58 | "PLR1704", # redefined-argument-from-local 59 | "PLR1711", # useless-return 60 | "C416", # unnecessary-comprehension 61 | "PLR1733", # unnecessary-dict-index-lookup 62 | "PLR1736", # unnecessary-list-index-lookup 63 | 64 | # ruff reports this rule is unstable 65 | #"PLR6301", # no-self-use 66 | 67 | "PLW0108", # unnecessary-lambda 68 | "PLW0120", # useless-else-on-loop 69 | "PLW0127", # self-assigning-variable 70 | "PLW0129", # assert-on-string-literal 71 | "B033", # duplicate-value 72 | "PLW0131", # named-expr-without-context 73 | "PLW0245", # super-without-brackets 74 | "PLW0406", # import-self 75 | "PLW0602", # global-variable-not-assigned 76 | "PLW0603", # global-statement 77 | "PLW0604", # global-at-module-level 78 | 79 | # fails on the try: import typing used by libraries 80 | #"F401", # unused-import 81 | 82 | "F841", # unused-variable 83 | "E722", # bare-except 84 | "PLW0711", # binary-op-exception 85 | "PLW1501", # bad-open-mode 86 | "PLW1508", # invalid-envvar-default 87 | "PLW1509", # subprocess-popen-preexec-fn 88 | "PLW2101", # useless-with-lock 89 | "PLW3301", # nested-min-max 90 | ] 91 | 92 | ignore = [ 93 | "PLR2004", # magic-value-comparison 94 | "UP030", # format literals 95 | "PLW1514", # unspecified-encoding 96 | "PLR0913", # too-many-arguments 97 | "PLR0915", # too-many-statements 98 | "PLR0917", # too-many-positional-arguments 99 | "PLR0904", # too-many-public-methods 100 | "PLR0912", # too-many-branches 101 | "PLR0916", # too-many-boolean-expressions 102 | ] 103 | 104 | [format] 105 | line-ending = "lf" 106 | --------------------------------------------------------------------------------