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Reduce memory by turning calls into iterated lists #7

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Merged
merged 2 commits into from
Aug 13, 2018
Merged

Reduce memory by turning calls into iterated lists #7

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8f70183
shorten multiple calls into iter
ladyada Aug 13, 2018
a76bcfc
more calls -> iter
ladyada Aug 13, 2018
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162 changes: 47 additions & 115 deletions adafruit_vl53l0x.py
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Original file line number Diff line number Diff line change
Expand Up @@ -163,14 +163,11 @@ def __init__(self, i2c, address=41, io_timeout_s=0):
# Initialize access to the sensor. This is based on the logic from:
# https://github.com/pololu/vl53l0x-arduino/blob/master/VL53L0X.cpp
# Set I2C standard mode.
self._write_u8(0x88, 0x00)
self._write_u8(0x80, 0x01)
self._write_u8(0xFF, 0x01)
self._write_u8(0x00, 0x00)
for pair in ((0x88, 0x00), (0x80, 0x01), (0xFF, 0x01), (0x00, 0x00)):
self._write_u8(pair[0], pair[1])
self._stop_variable = self._read_u8(0x91)
self._write_u8(0x00, 0x01)
self._write_u8(0xFF, 0x00)
self._write_u8(0x80, 0x00)
for pair in ((0x00, 0x01), (0xFF, 0x00), (0x80, 0x00)):
self._write_u8(pair[0], pair[1])
# disable SIGNAL_RATE_MSRC (bit 1) and SIGNAL_RATE_PRE_RANGE (bit 4)
# limit checks
config_control = self._read_u8(_MSRC_CONFIG_CONTROL) | 0x12
Expand All @@ -189,11 +186,14 @@ def __init__(self, i2c, address=41, io_timeout_s=0):
with self._device:
self._device.write(ref_spad_map, end=1)
self._device.readinto(ref_spad_map, start=1)
self._write_u8(0xFF, 0x01)
self._write_u8(_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00)
self._write_u8(_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C)
self._write_u8(0xFF, 0x00)
self._write_u8(_GLOBAL_CONFIG_REF_EN_START_SELECT, 0xB4)

for pair in ((0xFF, 0x01),
(_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00),
(_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C),
(0xFF, 0x00),
(_GLOBAL_CONFIG_REF_EN_START_SELECT, 0xB4)):
self._write_u8(pair[0], pair[1])

first_spad_to_enable = 12 if spad_is_aperture else 0
spads_enabled = 0
for i in range(48):
Expand All @@ -206,86 +206,28 @@ def __init__(self, i2c, address=41, io_timeout_s=0):
spads_enabled += 1
with self._device:
self._device.write(ref_spad_map)
self._write_u8(0xFF, 0x01)
self._write_u8(0x00, 0x00)
self._write_u8(0xFF, 0x00)
self._write_u8(0x09, 0x00)
self._write_u8(0x10, 0x00)
self._write_u8(0x11, 0x00)
self._write_u8(0x24, 0x01)
self._write_u8(0x25, 0xFF)
self._write_u8(0x75, 0x00)
self._write_u8(0xFF, 0x01)
self._write_u8(0x4E, 0x2C)
self._write_u8(0x48, 0x00)
self._write_u8(0x30, 0x20)
self._write_u8(0xFF, 0x00)
self._write_u8(0x30, 0x09)
self._write_u8(0x54, 0x00)
self._write_u8(0x31, 0x04)
self._write_u8(0x32, 0x03)
self._write_u8(0x40, 0x83)
self._write_u8(0x46, 0x25)
self._write_u8(0x60, 0x00)
self._write_u8(0x27, 0x00)
self._write_u8(0x50, 0x06)
self._write_u8(0x51, 0x00)
self._write_u8(0x52, 0x96)
self._write_u8(0x56, 0x08)
self._write_u8(0x57, 0x30)
self._write_u8(0x61, 0x00)
self._write_u8(0x62, 0x00)
self._write_u8(0x64, 0x00)
self._write_u8(0x65, 0x00)
self._write_u8(0x66, 0xA0)
self._write_u8(0xFF, 0x01)
self._write_u8(0x22, 0x32)
self._write_u8(0x47, 0x14)
self._write_u8(0x49, 0xFF)
self._write_u8(0x4A, 0x00)
self._write_u8(0xFF, 0x00)
self._write_u8(0x7A, 0x0A)
self._write_u8(0x7B, 0x00)
self._write_u8(0x78, 0x21)
self._write_u8(0xFF, 0x01)
self._write_u8(0x23, 0x34)
self._write_u8(0x42, 0x00)
self._write_u8(0x44, 0xFF)
self._write_u8(0x45, 0x26)
self._write_u8(0x46, 0x05)
self._write_u8(0x40, 0x40)
self._write_u8(0x0E, 0x06)
self._write_u8(0x20, 0x1A)
self._write_u8(0x43, 0x40)
self._write_u8(0xFF, 0x00)
self._write_u8(0x34, 0x03)
self._write_u8(0x35, 0x44)
self._write_u8(0xFF, 0x01)
self._write_u8(0x31, 0x04)
self._write_u8(0x4B, 0x09)
self._write_u8(0x4C, 0x05)
self._write_u8(0x4D, 0x04)
self._write_u8(0xFF, 0x00)
self._write_u8(0x44, 0x00)
self._write_u8(0x45, 0x20)
self._write_u8(0x47, 0x08)
self._write_u8(0x48, 0x28)
self._write_u8(0x67, 0x00)
self._write_u8(0x70, 0x04)
self._write_u8(0x71, 0x01)
self._write_u8(0x72, 0xFE)
self._write_u8(0x76, 0x00)
self._write_u8(0x77, 0x00)
self._write_u8(0xFF, 0x01)
self._write_u8(0x0D, 0x01)
self._write_u8(0xFF, 0x00)
self._write_u8(0x80, 0x01)
self._write_u8(0x01, 0xF8)
self._write_u8(0xFF, 0x01)
self._write_u8(0x8E, 0x01)
self._write_u8(0x00, 0x01)
self._write_u8(0xFF, 0x00)
self._write_u8(0x80, 0x00)
for pair in ((0xFF, 0x01), (0x00, 0x00), (0xFF, 0x00), (0x09, 0x00),
(0x10, 0x00), (0x11, 0x00), (0x24, 0x01), (0x25, 0xFF),
(0x75, 0x00), (0xFF, 0x01), (0x4E, 0x2C), (0x48, 0x00),
(0x30, 0x20), (0xFF, 0x00), (0x30, 0x09), (0x54, 0x00),
(0x31, 0x04), (0x32, 0x03), (0x40, 0x83), (0x46, 0x25),
(0x60, 0x00), (0x27, 0x00), (0x50, 0x06), (0x51, 0x00),
(0x52, 0x96), (0x56, 0x08), (0x57, 0x30), (0x61, 0x00),
(0x62, 0x00), (0x64, 0x00), (0x65, 0x00), (0x66, 0xA0),
(0xFF, 0x01), (0x22, 0x32), (0x47, 0x14), (0x49, 0xFF),
(0x4A, 0x00), (0xFF, 0x00), (0x7A, 0x0A), (0x7B, 0x00),
(0x78, 0x21), (0xFF, 0x01), (0x23, 0x34), (0x42, 0x00),
(0x44, 0xFF), (0x45, 0x26), (0x46, 0x05), (0x40, 0x40),
(0x0E, 0x06), (0x20, 0x1A), (0x43, 0x40), (0xFF, 0x00),
(0x34, 0x03), (0x35, 0x44), (0xFF, 0x01), (0x31, 0x04),
(0x4B, 0x09), (0x4C, 0x05), (0x4D, 0x04), (0xFF, 0x00),
(0x44, 0x00), (0x45, 0x20), (0x47, 0x08), (0x48, 0x28),
(0x67, 0x00), (0x70, 0x04), (0x71, 0x01), (0x72, 0xFE),
(0x76, 0x00), (0x77, 0x00), (0xFF, 0x01), (0x0D, 0x01),
(0xFF, 0x00), (0x80, 0x01), (0x01, 0xF8), (0xFF, 0x01),
(0x8E, 0x01), (0x00, 0x01), (0xFF, 0x00), (0x80, 0x00)):
self._write_u8(pair[0], pair[1])

self._write_u8(_SYSTEM_INTERRUPT_CONFIG_GPIO, 0x04)
gpio_hv_mux_active_high = self._read_u8(_GPIO_HV_MUX_ACTIVE_HIGH)
self._write_u8(_GPIO_HV_MUX_ACTIVE_HIGH,
Expand Down Expand Up @@ -337,16 +279,12 @@ def _get_spad_info(self):
# Get reference SPAD count and type, returned as a 2-tuple of
# count and boolean is_aperture. Based on code from:
# https://github.com/pololu/vl53l0x-arduino/blob/master/VL53L0X.cpp
self._write_u8(0x80, 0x01)
self._write_u8(0xFF, 0x01)
self._write_u8(0x00, 0x00)
self._write_u8(0xFF, 0x06)
for pair in ((0x80, 0x01), (0xFF, 0x01), (0x00, 0x00), (0xFF, 0x06)):
self._write_u8(pair[0], pair[1])
self._write_u8(0x83, self._read_u8(0x83) | 0x04)
self._write_u8(0xFF, 0x07)
self._write_u8(0x81, 0x01)
self._write_u8(0x80, 0x01)
self._write_u8(0x94, 0x6b)
self._write_u8(0x83, 0x00)
for pair in ((0xFF, 0x07), (0x81, 0x01), (0x80, 0x01),
(0x94, 0x6b), (0x83, 0x00)):
self._write_u8(pair[0], pair[1])
start = time.monotonic()
while self._read_u8(0x83) == 0x00:
if self.io_timeout_s > 0 and \
Expand All @@ -356,13 +294,11 @@ def _get_spad_info(self):
tmp = self._read_u8(0x92)
count = tmp & 0x7F
is_aperture = ((tmp >> 7) & 0x01) == 1
self._write_u8(0x81, 0x00)
self._write_u8(0xFF, 0x06)
for pair in ((0x81, 0x00), (0xFF, 0x06)):
self._write_u8(pair[0], pair[1])
self._write_u8(0x83, self._read_u8(0x83) & ~0x04)
self._write_u8(0xFF, 0x01)
self._write_u8(0x00, 0x01)
self._write_u8(0xFF, 0x00)
self._write_u8(0x80, 0x00)
for pair in ((0xFF, 0x01), (0x00, 0x01), (0xFF, 0x00), (0x80, 0x00)):
self._write_u8(pair[0], pair[1])
return (count, is_aperture)

def _perform_single_ref_calibration(self, vhv_init_byte):
Expand Down Expand Up @@ -498,14 +434,10 @@ def range(self):
# Adapted from readRangeSingleMillimeters &
# readRangeContinuousMillimeters in pololu code at:
# https://github.com/pololu/vl53l0x-arduino/blob/master/VL53L0X.cpp
self._write_u8(0x80, 0x01)
self._write_u8(0xFF, 0x01)
self._write_u8(0x00, 0x00)
self._write_u8(0x91, self._stop_variable)
self._write_u8(0x00, 0x01)
self._write_u8(0xFF, 0x00)
self._write_u8(0x80, 0x00)
self._write_u8(_SYSRANGE_START, 0x01)
for pair in ((0x80, 0x01), (0xFF, 0x01), (0x00, 0x00),
(0x91, self._stop_variable), (0x00, 0x01), (0xFF, 0x00),
(0x80, 0x00), (_SYSRANGE_START, 0x01)):
self._write_u8(pair[0], pair[1])
start = time.monotonic()
while (self._read_u8(_SYSRANGE_START) & 0x01) > 0:
if self.io_timeout_s > 0 and \
Expand Down