├── README.md
├── lib
    ├── __init__.py
    ├── constants.py
    └── lidar.py
└── main.py


/README.md:
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 1 | # tf-luna
 2 | A simple micropython i2c library for TF-Luna LiDAR Module.
 3 | 
 4 | **Repo-status**: See [Implemented functions](#implemented-functions)
 5 | 
 6 | ## Getting started
 7 | 
 8 | To enable i2c, connect pin 5 to GND, see [Datasheet](https://www.robotshop.com/media/files/content/b/ben/pdf/tf-luna-8m-lidar-distance-sensor-instructions-manual.pdf)
 9 | 
10 | To run main.py, connect RXD/SDA to P7 and TXD/SCL to P8
11 | 
12 | 
13 | | Pin & Function        | Description        |
14 | | --------------------- | ------------------ |
15 | | 1 VCC                 | Vin (5V)           |     
16 | | 2 RXD/SDA             | Receiving/Data     |
17 | | 3 TXD/SCL             | Transmitting/Clock |     
18 | | 4 GND                 | GND                |     
19 | | 5 Configuration Input | Ground: I2C mode <br />/3.3V: Serial port <br />Communications mode |     
20 | | 6 Multiplexing output | Default: on/off mode output<br />I2C mode: Data availability<br />signal on but not switching value mode     |     
21 | 
22 | 
23 | ## Implemented functions
24 | * Distance
25 | * Chip temperature
26 | * Signal Amplitude
27 | * Set Min/Max range
28 | * Reboot
29 | * Reset to factory defaults
30 | * Change sampling rate / freq
31 | 
32 | ## To-Do
33 | * Trigger mode
34 | * Change slave address
35 | * Tick
36 | * Error
37 | * UART
38 | 


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/lib/__init__.py:
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https://raw.githubusercontent.com/davmoz/tf-luna-micropython/e8a6024a73e3bd9b84951596112b4c448c0a9fe9/lib/__init__.py


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/lib/constants.py:
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 1 | DIST_LOW =                  0x00   # cm
 2 | DIST_HIGH =                 0x01
 3 | AMP_LOW =                   0x02
 4 | AMP_HIGH =                  0x03
 5 | TEMP_LOW =                  0x04   # Unit: 0.01 Celsius
 6 | TEMP_HIGH =                 0x05
 7 | TICK_LOW =                  0x06   # Timestamp
 8 | TICK_HIGH =                 0x07
 9 | ERROR_LOW =                 0x08
10 | ERROR_HIGH =                0x09
11 | VERSION_REVISION =          0x0A
12 | VERSION_MINOR =             0x0B
13 | VERSION_MAJOR =             0x0C
14 | SN =                        0x10    # Production code in 14 bytes ASCI code (0x10 is the first byte)
15 | SAVE =                      0x20    # Write 0x01 to save current setting
16 | SHUTDOWN_REBOOT =           0x21    # Write 0x02 to reboot
17 | SLAVE_ADDR =                0x22    # Default: 0x10, Range: [0x08, 0x77]
18 | MODE =                      0x23    # Default: 0x00 | Continuous ranging mode: 0x00  Trigger mode: 0x01
19 | TRIG_ONE_SHOT =             0x24    # 0x01: Trigger once (only on trigger mode)
20 | ENABLE =                    0x25    # Turn on LiDAR: 0x00, Turn off LiDAR: 0x01
21 | FPS_LOW =                   0x26    # Default: 0x64 100Hz, 0xFA 250Hz
22 | FPS_HIGH =                  0x27
23 | LOW_POWER =                 0x28    # Default: 0x00, Normal: 0x00, Power saving mode: 0x01
24 | RESTORE_FACTORY_DEFAULTS =  0x29    # Write 0x01 to restore factory default settings
25 | AMP_THR_LOW =               0x2A    # Default: 0x64, Amp threshold value
26 | MIN_DIST_LOW =              0x2E    # Default: 0x00, Minimum dist in cm, but not working on DUMMY_DIST
27 | MIN_DIST_HIGH =             0x2F    # Default: 0x00
28 | MAX_DIST_LOW =              0x30    # Default: 0x20, Maximum dist in cm, but not working on DUMMY_DIST
29 | MAX_DIST_HIGH =             0x31    # Default: 0x03
30 | 


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/lib/lidar.py:
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 1 | import struct, utime
 2 | import constants as const
 3 | 
 4 | class LIDAR:
 5 |     '''docstring for LIDAR.'''
 6 | 
 7 |     def __init__(self, i2c, addr):
 8 |         self.i2c = i2c
 9 |         self.addr = addr
10 | 
11 |     def addr(self):
12 |         return self.addr
13 | 
14 |     def _read(self, addr, bytes):
15 |         return self.i2c.readfrom_mem(self.addr, addr, bytes)
16 | 
17 |     def _write(self, addr, value):
18 |         self.i2c.writeto_mem(self.addr, addr, value)
19 | 
20 |     def save(self):
21 |         self._write(const.SAVE, 0x01)
22 |         utime.sleep_ms(100)
23 | 
24 |     def reboot(self):
25 |         utime.sleep_ms(50)
26 |         self.save()
27 |         self._write(const.SHUTDOWN_REBOOT, 0x02)
28 | 
29 |     def _save_reboot(self):
30 |         self.reboot()
31 |         utime.sleep_ms(500)
32 | 
33 |     def distance(self):
34 |         dist = self._read(const.DIST_LOW, 2)
35 |         return struct.unpack('<H', dist)[0]
36 | 
37 |     def signal_amp(self):
38 |         amp = self._read(const.AMP_LOW, 2)
39 |         return int(struct.unpack('<H', amp)[0])
40 | 
41 |     def temp(self):
42 |         temp = self._read(const.TEMP_LOW, 2)
43 |         return int(struct.unpack('<H', temp)[0]) * 0.01
44 | 
45 |     def version(self):
46 |         v = self._read(const.VERSION_REVISION, 3)
47 |         return 'LiDAR Version {}.{}.{}'.format(v[2], v[1], v[0])
48 | 
49 |     def set_frequency(self, freq=0x64):
50 |         self._write(const.FPS_LOW, freq)
51 |         self._save_reboot()
52 | 
53 |     def power_saving_mode(self, power_saving_mode=True):
54 |         val = 0x01 if power_saving_mode else 0x00
55 |         self._write(const.LOW_POWER, val)
56 | 
57 |     def on_off(self, on=True):
58 |         val = 0x00 if on else 0x01
59 |         self._write(const.ENABLE, val)
60 | 
61 |     def reset(self):
62 |         self._write(const.RESTORE_FACTORY_DEFAULTS, 0x01)
63 |         self._save_reboot()
64 | 
65 |     def set_min_max(self, min, max):
66 |         min *= 10
67 |         max *= 10
68 | 
69 |         high, low  = min >> 8, min & 0XFF
70 |         self._write(const.MIN_DIST_HIGH, high)
71 |         self._write(const.MIN_DIST_LOW, low)
72 | 
73 |         high, low  = max >> 8, max & 0XFF
74 |         self._write(const.MAX_DIST_HIGH, high)
75 |         self._write(const.MAX_DIST_LOW, low)
76 |         self._save_reboot()
77 | 
78 |     def read_all(self):
79 |         return 'Distance {}, ChipTemp {}, SignalAmp {}'.format(
80 |         self.distance(),
81 |         self.temp(),
82 |         self.signal_amp())
83 | 


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/main.py:
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 1 | from machine import I2C
 2 | import utime
 3 | import sys
 4 | from lib.lidar import LIDAR
 5 | 
 6 | # TF-Luna has the default slave_address 0x10
 7 | LIDAR_ADDRESS = 0x10
 8 | 
 9 | i2c_0 = I2C(0, mode=I2C.MASTER, baudrate=400000, pins=('P7', 'P8'))
10 | utime.sleep_ms(50)
11 | 
12 | slaves = i2c_0.scan()
13 | if LIDAR_ADDRESS not in slaves:
14 |     print('Bus error: Please check LIDAR wiring')
15 |     sys.exit()
16 | 
17 | 
18 | lidar = LIDAR(i2c_0, LIDAR_ADDRESS)
19 | print(lidar.version())
20 | 
21 | # Output limit when out of range
22 | # Output only when between 20cm and 150cm (Up to 800cm)
23 | lidar.set_min_max(20, 150)
24 | 
25 | lidar.set_frequency(250)
26 | 
27 | while True:
28 |     print(lidar.distance())
29 |     utime.sleep_ms(10)
30 | 


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