「Pro Microによる距離センサーモジュール「 VL53L0X」での計測」で使用した距離センサーモジュール「 VL53L0X」で、今回はRaspberry Pi Zero WHによりＧＯ言語を用いて距離を計測します。
Raspberry Pi Zero WHと距離センサーモジュール「 VL53L0X」の接続
今回使用した距離センサーモジュール「 VL53L0X」の信号を次のようにRaspberry Pi Zero WHに接続します。
| Raspberry Pi Zero WH | 距離センサーモジュール「 VL53L0X」 |
|---|---|
| GND | GND |
| 3V3 | VCC |
| GPIO03 | SCL |
| GPIO02 | SDA |
次のコマンドで接続した距離センサーモジュール「 VL53L0X」のI2Cアドレスを確認します。I2Cアドレスは「29」になっていました。
$ sudo i2cdetect -y 1
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- 29 -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: -- -- -- -- -- -- -- --
Raspberry Pi Zero WHと距離センサーモジュール「 VL53L0X」との接続画像を次に示します。
使用する距離センサーモジュール「 VL53L0X」ライブラリのインストール
次のコマンドで距離センサーモジュール「 VL53L0X」ライブラリをインストールします。
$ go get -u github.com/d2r2/go-vl53l0x
距離センサーアプリの作成
距離センサーアプリを次に示します。「d2r2/go-vl53l0x」のGolang usageを参照してください。
govl53l0x.go
package main
import (
"log"
"github.com/d2r2/go-i2c"
"github.com/d2r2/go-vl53l0x"
)
func main() {
// Create new connection to i2c-bus on 0 line with address 0x29.
// Use i2cdetect utility to find device address over the i2c-bus
i2c, err := i2c.NewI2C(0x29, 1)
if err != nil {
log.Fatal(err)
}
defer i2c.Close()
sensor := vl53l0x.NewVl53l0x()
// It's highly recommended to reset sensor each time before repeated initialization.
err = sensor.Reset(i2c)
if err != nil {
log.Fatal(err)
}
// By default, sensor initialized with "RegularRange" and "RegularAccuracy" parameters.
err = sensor.Init(i2c)
if err != nil {
log.Fatal(err)
}
rng, err := sensor.ReadRangeSingleMillimeters(i2c)
if err != nil {
log.Fatal(err)
}
log.Printf("Measured range = %v mm", rng)
}
距離センサーアプリの実行
次のコマンドでコンパイルして実行します。最後に表示される「Measured range 」で「201 mm」と測定されました。
$ go build
$ ./govl53l0x
2021-05-14T14:40:49.571 [ vl53l0x] DEBUG Set reset bit
2021-05-14T14:40:49.576 [ i2c] DEBUG Write 2 hex bytes: [bf00]
2021-05-14T14:40:49.580 [ i2c] DEBUG Write U8 0 to reg 0xBF
2021-05-14T14:40:49.584 [ i2c] DEBUG Write 1 hex bytes: [c0]
2021-05-14T14:40:49.588 [ i2c] DEBUG Read 1 hex bytes: [00]
2021-05-14T14:40:49.592 [ i2c] DEBUG Read U8 0 from reg 0xC0
2021-05-14T14:40:49.596 [ vl53l0x] DEBUG Release reset bit
2021-05-14T14:40:49.599 [ i2c] DEBUG Write 2 hex bytes: [bf01]
2021-05-14T14:40:49.603 [ i2c] DEBUG Write U8 1 to reg 0xBF
2021-05-14T14:40:49.606 [ i2c] DEBUG Write 1 hex bytes: [c0]
2021-05-14T14:40:49.610 [ i2c] DEBUG Read 1 hex bytes: [ee]
2021-05-14T14:40:49.613 [ i2c] DEBUG Read U8 238 from reg 0xC0
2021-05-14T14:40:49.617 [ i2c] DEBUG Write 2 hex bytes: [8800]
2021-05-14T14:40:49.620 [ i2c] DEBUG Write U8 0 to reg 0x88
2021-05-14T14:40:49.624 [ i2c] DEBUG Write 2 hex bytes: [8001]
2021-05-14T14:40:49.627 [ i2c] DEBUG Write U8 1 to reg 0x80
2021-05-14T14:40:49.630 [ i2c] DEBUG Write 2 hex bytes: [ff01]
2021-05-14T14:40:49.634 [ i2c] DEBUG Write U8 1 to reg 0xFF
2021-05-14T14:40:49.637 [ i2c] DEBUG Write 2 hex bytes: [0000]
2021-05-14T14:40:49.640 [ i2c] DEBUG Write U8 0 to reg 0x0
2021-05-14T14:40:49.643 [ i2c] DEBUG Write 1 hex bytes: [91]
2021-05-14T14:40:49.648 [ i2c] DEBUG Read 1 hex bytes: [3c]
2021-05-14T14:40:49.651 [ i2c] DEBUG Read U8 60 from reg 0x91
2021-05-14T14:40:49.655 [ i2c] DEBUG Write 2 hex bytes: [0001]
2021-05-14T14:40:49.659 [ i2c] DEBUG Write U8 1 to reg 0x0
2021-05-14T14:40:49.662 [ i2c] DEBUG Write 2 hex bytes: [ff00]
2021-05-14T14:40:49.666 [ i2c] DEBUG Write U8 0 to reg 0xFF
2021-05-14T14:40:49.669 [ i2c] DEBUG Write 2 hex bytes: [8000]
2021-05-14T14:40:49.673 [ i2c] DEBUG Write U8 0 to reg 0x80
2021-05-14T14:40:49.676 [ i2c] DEBUG Write 1 hex bytes: [60]
2021-05-14T14:40:49.680 [ i2c] DEBUG Read 1 hex bytes: [00]
2021-05-14T14:40:49.684 [ i2c] DEBUG Read U8 0 from reg 0x60
2021-05-14T14:40:49.687 [ i2c] DEBUG Write 2 hex bytes: [6012]
2021-05-14T14:40:49.691 [ i2c] DEBUG Write U8 18 to reg 0x60
2021-05-14T14:40:49.694 [ i2c] DEBUG Write 3 hex bytes: [440020]
2021-05-14T14:40:49.698 [ i2c] DEBUG Write 2 hex bytes: [01ff]
2021-05-14T14:40:49.702 [ i2c] DEBUG Write U8 255 to reg 0x1
2021-05-14T14:40:49.705 [ i2c] DEBUG Write 2 hex bytes: [8001]
2021-05-14T14:40:49.708 [ i2c] DEBUG Write U8 1 to reg 0x80
2021-05-14T14:40:49.712 [ i2c] DEBUG Write 2 hex bytes: [ff01]
2021-05-14T14:40:49.715 [ i2c] DEBUG Write U8 1 to reg 0xFF
2021-05-14T14:40:49.719 [ i2c] DEBUG Write 2 hex bytes: [0000]
2021-05-14T14:40:49.722 [ i2c] DEBUG Write U8 0 to reg 0x0
2021-05-14T14:40:49.726 [ i2c] DEBUG Write 2 hex bytes: [ff06]
2021-05-14T14:40:49.729 [ i2c] DEBUG Write U8 6 to reg 0xFF
2021-05-14T14:40:49.732 [ i2c] DEBUG Write 1 hex bytes: [83]
2021-05-14T14:40:49.737 [ i2c] DEBUG Read 1 hex bytes: [01]
2021-05-14T14:40:49.739 [ i2c] DEBUG Read U8 1 from reg 0x83
2021-05-14T14:40:49.742 [ i2c] DEBUG Write 2 hex bytes: [8305]
2021-05-14T14:40:49.747 [ i2c] DEBUG Write U8 5 to reg 0x83
2021-05-14T14:40:49.749 [ i2c] DEBUG Write 2 hex bytes: [ff07]
2021-05-14T14:40:49.754 [ i2c] DEBUG Write U8 7 to reg 0xFF
2021-05-14T14:40:49.757 [ i2c] DEBUG Write 2 hex bytes: [8101]
2021-05-14T14:40:49.760 [ i2c] DEBUG Write U8 1 to reg 0x81
2021-05-14T14:40:49.763 [ i2c] DEBUG Write 2 hex bytes: [8001]
2021-05-14T14:40:49.767 [ i2c] DEBUG Write U8 1 to reg 0x80
2021-05-14T14:40:49.771 [ i2c] DEBUG Write 2 hex bytes: [946b]
2021-05-14T14:40:49.775 [ i2c] DEBUG Write U8 107 to reg 0x94
2021-05-14T14:40:49.778 [ i2c] DEBUG Write 2 hex bytes: [8300]
2021-05-14T14:40:49.782 [ i2c] DEBUG Write U8 0 to reg 0x83
2021-05-14T14:40:49.785 [ i2c] DEBUG Write 1 hex bytes: [83]
2021-05-14T14:40:49.789 [ i2c] DEBUG Read 1 hex bytes: [10]
2021-05-14T14:40:49.792 [ i2c] DEBUG Read U8 16 from reg 0x83
2021-05-14T14:40:49.795 [ i2c] DEBUG Write 2 hex bytes: [8301]
2021-05-14T14:40:49.799 [ i2c] DEBUG Write U8 1 to reg 0x83
2021-05-14T14:40:49.802 [ i2c] DEBUG Write 1 hex bytes: [92]
2021-05-14T14:40:49.806 [ i2c] DEBUG Read 1 hex bytes: [94]
2021-05-14T14:40:49.810 [ i2c] DEBUG Read U8 148 from reg 0x92
2021-05-14T14:40:49.813 [ i2c] DEBUG Write 2 hex bytes: [8100]
2021-05-14T14:40:49.817 [ i2c] DEBUG Write U8 0 to reg 0x81
2021-05-14T14:40:49.820 [ i2c] DEBUG Write 2 hex bytes: [ff06]
2021-05-14T14:40:49.824 [ i2c] DEBUG Write U8 6 to reg 0xFF
2021-05-14T14:40:49.827 [ i2c] DEBUG Write 1 hex bytes: [83]
2021-05-14T14:40:49.831 [ i2c] DEBUG Read 1 hex bytes: [05]
2021-05-14T14:40:49.835 [ i2c] DEBUG Read U8 5 from reg 0x83
2021-05-14T14:40:49.838 [ i2c] DEBUG Write 2 hex bytes: [8301]
2021-05-14T14:40:49.841 [ i2c] DEBUG Write U8 1 to reg 0x83
2021-05-14T14:40:49.844 [ i2c] DEBUG Write 2 hex bytes: [ff01]
2021-05-14T14:40:49.848 [ i2c] DEBUG Write U8 1 to reg 0xFF
2021-05-14T14:40:49.852 [ i2c] DEBUG Write 2 hex bytes: [0001]
2021-05-14T14:40:49.855 [ i2c] DEBUG Write U8 1 to reg 0x0
2021-05-14T14:40:49.859 [ i2c] DEBUG Write 2 hex bytes: [ff00]
2021-05-14T14:40:49.862 [ i2c] DEBUG Write U8 0 to reg 0xFF
2021-05-14T14:40:49.865 [ i2c] DEBUG Write 2 hex bytes: [8000]
2021-05-14T14:40:49.869 [ i2c] DEBUG Write U8 0 to reg 0x80
2021-05-14T14:40:49.873 [ i2c] DEBUG Write 1 hex bytes: [b0]
2021-05-14T14:40:49.877 [ i2c] DEBUG Read 6 hex bytes: [fffffffeff0d]
2021-05-14T14:40:49.880 [ i2c] DEBUG Write 2 hex bytes: [ff01]
2021-05-14T14:40:49.885 [ i2c] DEBUG Write U8 1 to reg 0xFF
2021-05-14T14:40:49.888 [ i2c] DEBUG Write 2 hex bytes: [4f00]
2021-05-14T14:40:49.891 [ i2c] DEBUG Write U8 0 to reg 0x4F
2021-05-14T14:40:49.895 [ i2c] DEBUG Write 2 hex bytes: [4e2c]
2021-05-14T14:40:49.898 [ i2c] DEBUG Write U8 44 to reg 0x4E
2021-05-14T14:40:49.901 [ i2c] DEBUG Write 2 hex bytes: [ff00]
2021-05-14T14:40:49.905 [ i2c] DEBUG Write U8 0 to reg 0xFF
2021-05-14T14:40:49.908 [ i2c] DEBUG Write 2 hex bytes: [b6b4]
2021-05-14T14:40:49.912 [ i2c] DEBUG Write U8 180 to reg 0xB6
2021-05-14T14:40:49.915 [ i2c] DEBUG Write 7 hex bytes: [b000f0fffe0100]
2021-05-14T14:40:49.919 [ i2c] DEBUG Write 2 hex bytes: [ff01]
2021-05-14T14:40:49.923 [ i2c] DEBUG Write U8 1 to reg 0xFF
2021-05-14T14:40:49.926 [ i2c] DEBUG Write 2 hex bytes: [0000]
2021-05-14T14:40:49.930 [ i2c] DEBUG Write U8 0 to reg 0x0
2021-05-14T14:40:49.933 [ i2c] DEBUG Write 2 hex bytes: [ff00]
2021-05-14T14:40:49.937 [ i2c] DEBUG Write U8 0 to reg 0xFF
2021-05-14T14:40:49.940 [ i2c] DEBUG Write 2 hex bytes: [0900]
2021-05-14T14:40:49.943 [ i2c] DEBUG Write U8 0 to reg 0x9
2021-05-14T14:40:49.946 [ i2c] DEBUG Write 2 hex bytes: [1000]
2021-05-14T14:40:49.950 [ i2c] DEBUG Write U8 0 to reg 0x10
2021-05-14T14:40:49.953 [ i2c] DEBUG Write 2 hex bytes: [1100]
2021-05-14T14:40:49.957 [ i2c] DEBUG Write U8 0 to reg 0x11
2021-05-14T14:40:49.960 [ i2c] DEBUG Write 2 hex bytes: [2401]
2021-05-14T14:40:49.963 [ i2c] DEBUG Write U8 1 to reg 0x24
2021-05-14T14:40:49.967 [ i2c] DEBUG Write 2 hex bytes: [25ff]
2021-05-14T14:40:49.970 [ i2c] DEBUG Write U8 255 to reg 0x25
2021-05-14T14:40:49.973 [ i2c] DEBUG Write 2 hex bytes: [7500]
2021-05-14T14:40:49.977 [ i2c] DEBUG Write U8 0 to reg 0x75
2021-05-14T14:40:49.981 [ i2c] DEBUG Write 2 hex bytes: [ff01]
2021-05-14T14:40:49.984 [ i2c] DEBUG Write U8 1 to reg 0xFF
2021-05-14T14:40:49.988 [ i2c] DEBUG Write 2 hex bytes: [4e2c]
2021-05-14T14:40:49.992 [ i2c] DEBUG Write U8 44 to reg 0x4E
2021-05-14T14:40:49.995 [ i2c] DEBUG Write 2 hex bytes: [4800]
2021-05-14T14:40:49.998 [ i2c] DEBUG Write U8 0 to reg 0x48
2021-05-14T14:40:50.002 [ i2c] DEBUG Write 2 hex bytes: [3020]
2021-05-14T14:40:50.006 [ i2c] DEBUG Write U8 32 to reg 0x30
2021-05-14T14:40:50.009 [ i2c] DEBUG Write 2 hex bytes: [ff00]
2021-05-14T14:40:50.013 [ i2c] DEBUG Write U8 0 to reg 0xFF
2021-05-14T14:40:50.016 [ i2c] DEBUG Write 2 hex bytes: [3009]
2021-05-14T14:40:50.020 [ i2c] DEBUG Write U8 9 to reg 0x30
2021-05-14T14:40:50.023 [ i2c] DEBUG Write 2 hex bytes: [5400]
2021-05-14T14:40:50.027 [ i2c] DEBUG Write U8 0 to reg 0x54
2021-05-14T14:40:50.029 [ i2c] DEBUG Write 2 hex bytes: [3104]
2021-05-14T14:40:50.034 [ i2c] DEBUG Write U8 4 to reg 0x31
2021-05-14T14:40:50.036 [ i2c] DEBUG Write 2 hex bytes: [3203]
2021-05-14T14:40:50.041 [ i2c] DEBUG Write U8 3 to reg 0x32
2021-05-14T14:40:50.043 [ i2c] DEBUG Write 2 hex bytes: [4083]
2021-05-14T14:40:50.047 [ i2c] DEBUG Write U8 131 to reg 0x40
2021-05-14T14:40:50.050 [ i2c] DEBUG Write 2 hex bytes: [4625]
2021-05-14T14:40:50.054 [ i2c] DEBUG Write U8 37 to reg 0x46
2021-05-14T14:40:50.057 [ i2c] DEBUG Write 2 hex bytes: [6000]
2021-05-14T14:40:50.060 [ i2c] DEBUG Write U8 0 to reg 0x60
2021-05-14T14:40:50.063 [ i2c] DEBUG Write 2 hex bytes: [2700]
2021-05-14T14:40:50.067 [ i2c] DEBUG Write U8 0 to reg 0x27
2021-05-14T14:40:50.071 [ i2c] DEBUG Write 2 hex bytes: [5006]
2021-05-14T14:40:50.074 [ i2c] DEBUG Write U8 6 to reg 0x50
2021-05-14T14:40:50.077 [ i2c] DEBUG Write 2 hex bytes: [5100]
2021-05-14T14:40:50.081 [ i2c] DEBUG Write U8 0 to reg 0x51
2021-05-14T14:40:50.084 [ i2c] DEBUG Write 2 hex bytes: [5296]
2021-05-14T14:40:50.088 [ i2c] DEBUG Write U8 150 to reg 0x52
2021-05-14T14:40:50.091 [ i2c] DEBUG Write 2 hex bytes: [5608]
2021-05-14T14:40:50.095 [ i2c] DEBUG Write U8 8 to reg 0x56
2021-05-14T14:40:50.098 [ i2c] DEBUG Write 2 hex bytes: [5730]
2021-05-14T14:40:50.102 [ i2c] DEBUG Write U8 48 to reg 0x57
2021-05-14T14:40:50.105 [ i2c] DEBUG Write 2 hex bytes: [6100]
2021-05-14T14:40:50.108 [ i2c] DEBUG Write U8 0 to reg 0x61
2021-05-14T14:40:50.112 [ i2c] DEBUG Write 2 hex bytes: [6200]
2021-05-14T14:40:50.116 [ i2c] DEBUG Write U8 0 to reg 0x62
2021-05-14T14:40:50.119 [ i2c] DEBUG Write 2 hex bytes: [6400]
2021-05-14T14:40:50.123 [ i2c] DEBUG Write U8 0 to reg 0x64
2021-05-14T14:40:50.126 [ i2c] DEBUG Write 2 hex bytes: [6500]
2021-05-14T14:40:50.130 [ i2c] DEBUG Write U8 0 to reg 0x65
2021-05-14T14:40:50.133 [ i2c] DEBUG Write 2 hex bytes: [66a0]
2021-05-14T14:40:50.137 [ i2c] DEBUG Write U8 160 to reg 0x66
2021-05-14T14:40:50.140 [ i2c] DEBUG Write 2 hex bytes: [ff01]
2021-05-14T14:40:50.144 [ i2c] DEBUG Write U8 1 to reg 0xFF
2021-05-14T14:40:50.147 [ i2c] DEBUG Write 2 hex bytes: [2232]
2021-05-14T14:40:50.150 [ i2c] DEBUG Write U8 50 to reg 0x22
2021-05-14T14:40:50.154 [ i2c] DEBUG Write 2 hex bytes: [4714]
2021-05-14T14:40:50.158 [ i2c] DEBUG Write U8 20 to reg 0x47
2021-05-14T14:40:50.161 [ i2c] DEBUG Write 2 hex bytes: [49ff]
2021-05-14T14:40:50.165 [ i2c] DEBUG Write U8 255 to reg 0x49
2021-05-14T14:40:50.168 [ i2c] DEBUG Write 2 hex bytes: [4a00]
2021-05-14T14:40:50.172 [ i2c] DEBUG Write U8 0 to reg 0x4A
2021-05-14T14:40:50.175 [ i2c] DEBUG Write 2 hex bytes: [ff00]
2021-05-14T14:40:50.179 [ i2c] DEBUG Write U8 0 to reg 0xFF
2021-05-14T14:40:50.182 [ i2c] DEBUG Write 2 hex bytes: [7a0a]
2021-05-14T14:40:50.186 [ i2c] DEBUG Write U8 10 to reg 0x7A
2021-05-14T14:40:50.189 [ i2c] DEBUG Write 2 hex bytes: [7b00]
2021-05-14T14:40:50.193 [ i2c] DEBUG Write U8 0 to reg 0x7B
2021-05-14T14:40:50.196 [ i2c] DEBUG Write 2 hex bytes: [7821]
2021-05-14T14:40:50.199 [ i2c] DEBUG Write U8 33 to reg 0x78
2021-05-14T14:40:50.203 [ i2c] DEBUG Write 2 hex bytes: [ff01]
2021-05-14T14:40:50.207 [ i2c] DEBUG Write U8 1 to reg 0xFF
2021-05-14T14:40:50.210 [ i2c] DEBUG Write 2 hex bytes: [2334]
2021-05-14T14:40:50.214 [ i2c] DEBUG Write U8 52 to reg 0x23
2021-05-14T14:40:50.217 [ i2c] DEBUG Write 2 hex bytes: [4200]
2021-05-14T14:40:50.221 [ i2c] DEBUG Write U8 0 to reg 0x42
2021-05-14T14:40:50.224 [ i2c] DEBUG Write 2 hex bytes: [44ff]
2021-05-14T14:40:50.228 [ i2c] DEBUG Write U8 255 to reg 0x44
2021-05-14T14:40:50.231 [ i2c] DEBUG Write 2 hex bytes: [4526]
2021-05-14T14:40:50.234 [ i2c] DEBUG Write U8 38 to reg 0x45
2021-05-14T14:40:50.238 [ i2c] DEBUG Write 2 hex bytes: [4605]
2021-05-14T14:40:50.242 [ i2c] DEBUG Write U8 5 to reg 0x46
2021-05-14T14:40:50.245 [ i2c] DEBUG Write 2 hex bytes: [4040]
2021-05-14T14:40:50.249 [ i2c] DEBUG Write U8 64 to reg 0x40
2021-05-14T14:40:50.252 [ i2c] DEBUG Write 2 hex bytes: [0e06]
2021-05-14T14:40:50.255 [ i2c] DEBUG Write U8 6 to reg 0xE
2021-05-14T14:40:50.259 [ i2c] DEBUG Write 2 hex bytes: [201a]
2021-05-14T14:40:50.263 [ i2c] DEBUG Write U8 26 to reg 0x20
2021-05-14T14:40:50.266 [ i2c] DEBUG Write 2 hex bytes: [4340]
2021-05-14T14:40:50.270 [ i2c] DEBUG Write U8 64 to reg 0x43
2021-05-14T14:40:50.273 [ i2c] DEBUG Write 2 hex bytes: [ff00]
2021-05-14T14:40:50.277 [ i2c] DEBUG Write U8 0 to reg 0xFF
2021-05-14T14:40:50.280 [ i2c] DEBUG Write 2 hex bytes: [3403]
2021-05-14T14:40:50.284 [ i2c] DEBUG Write U8 3 to reg 0x34
2021-05-14T14:40:50.287 [ i2c] DEBUG Write 2 hex bytes: [3544]
2021-05-14T14:40:50.291 [ i2c] DEBUG Write U8 68 to reg 0x35
2021-05-14T14:40:50.293 [ i2c] DEBUG Write 2 hex bytes: [ff01]
2021-05-14T14:40:50.296 [ i2c] DEBUG Write U8 1 to reg 0xFF
2021-05-14T14:40:50.300 [ i2c] DEBUG Write 2 hex bytes: [3104]
2021-05-14T14:40:50.304 [ i2c] DEBUG Write U8 4 to reg 0x31
2021-05-14T14:40:50.306 [ i2c] DEBUG Write 2 hex bytes: [4b09]
2021-05-14T14:40:50.311 [ i2c] DEBUG Write U8 9 to reg 0x4B
2021-05-14T14:40:50.313 [ i2c] DEBUG Write 2 hex bytes: [4c05]
2021-05-14T14:40:50.317 [ i2c] DEBUG Write U8 5 to reg 0x4C
2021-05-14T14:40:50.321 [ i2c] DEBUG Write 2 hex bytes: [4d04]
2021-05-14T14:40:50.325 [ i2c] DEBUG Write U8 4 to reg 0x4D
2021-05-14T14:40:50.328 [ i2c] DEBUG Write 2 hex bytes: [ff00]
2021-05-14T14:40:50.332 [ i2c] DEBUG Write U8 0 to reg 0xFF
2021-05-14T14:40:50.335 [ i2c] DEBUG Write 2 hex bytes: [4400]
2021-05-14T14:40:50.339 [ i2c] DEBUG Write U8 0 to reg 0x44
2021-05-14T14:40:50.342 [ i2c] DEBUG Write 2 hex bytes: [4520]
2021-05-14T14:40:50.346 [ i2c] DEBUG Write U8 32 to reg 0x45
2021-05-14T14:40:50.349 [ i2c] DEBUG Write 2 hex bytes: [4708]
2021-05-14T14:40:50.352 [ i2c] DEBUG Write U8 8 to reg 0x47
2021-05-14T14:40:50.355 [ i2c] DEBUG Write 2 hex bytes: [4828]
2021-05-14T14:40:50.359 [ i2c] DEBUG Write U8 40 to reg 0x48
2021-05-14T14:40:50.362 [ i2c] DEBUG Write 2 hex bytes: [6700]
2021-05-14T14:40:50.366 [ i2c] DEBUG Write U8 0 to reg 0x67
2021-05-14T14:40:50.369 [ i2c] DEBUG Write 2 hex bytes: [7004]
2021-05-14T14:40:50.373 [ i2c] DEBUG Write U8 4 to reg 0x70
2021-05-14T14:40:50.377 [ i2c] DEBUG Write 2 hex bytes: [7101]
2021-05-14T14:40:50.380 [ i2c] DEBUG Write U8 1 to reg 0x71
2021-05-14T14:40:50.383 [ i2c] DEBUG Write 2 hex bytes: [72fe]
2021-05-14T14:40:50.387 [ i2c] DEBUG Write U8 254 to reg 0x72
2021-05-14T14:40:50.390 [ i2c] DEBUG Write 2 hex bytes: [7600]
2021-05-14T14:40:50.394 [ i2c] DEBUG Write U8 0 to reg 0x76
2021-05-14T14:40:50.397 [ i2c] DEBUG Write 2 hex bytes: [7700]
2021-05-14T14:40:50.401 [ i2c] DEBUG Write U8 0 to reg 0x77
2021-05-14T14:40:50.405 [ i2c] DEBUG Write 2 hex bytes: [ff01]
2021-05-14T14:40:50.408 [ i2c] DEBUG Write U8 1 to reg 0xFF
2021-05-14T14:40:50.411 [ i2c] DEBUG Write 2 hex bytes: [0d01]
2021-05-14T14:40:50.415 [ i2c] DEBUG Write U8 1 to reg 0xD
2021-05-14T14:40:50.418 [ i2c] DEBUG Write 2 hex bytes: [ff00]
2021-05-14T14:40:50.422 [ i2c] DEBUG Write U8 0 to reg 0xFF
2021-05-14T14:40:50.425 [ i2c] DEBUG Write 2 hex bytes: [8001]
2021-05-14T14:40:50.429 [ i2c] DEBUG Write U8 1 to reg 0x80
2021-05-14T14:40:50.432 [ i2c] DEBUG Write 2 hex bytes: [01f8]
2021-05-14T14:40:50.436 [ i2c] DEBUG Write U8 248 to reg 0x1
2021-05-14T14:40:50.440 [ i2c] DEBUG Write 2 hex bytes: [ff01]
2021-05-14T14:40:50.443 [ i2c] DEBUG Write U8 1 to reg 0xFF
2021-05-14T14:40:50.447 [ i2c] DEBUG Write 2 hex bytes: [8e01]
2021-05-14T14:40:50.450 [ i2c] DEBUG Write U8 1 to reg 0x8E
2021-05-14T14:40:50.453 [ i2c] DEBUG Write 2 hex bytes: [0001]
2021-05-14T14:40:50.457 [ i2c] DEBUG Write U8 1 to reg 0x0
2021-05-14T14:40:50.459 [ i2c] DEBUG Write 2 hex bytes: [ff00]
2021-05-14T14:40:50.465 [ i2c] DEBUG Write U8 0 to reg 0xFF
2021-05-14T14:40:50.468 [ i2c] DEBUG Write 2 hex bytes: [8000]
2021-05-14T14:40:50.472 [ i2c] DEBUG Write U8 0 to reg 0x80
2021-05-14T14:40:50.475 [ i2c] DEBUG Write 2 hex bytes: [0a04]
2021-05-14T14:40:50.478 [ i2c] DEBUG Write U8 4 to reg 0xA
2021-05-14T14:40:50.481 [ i2c] DEBUG Write 1 hex bytes: [84]
2021-05-14T14:40:50.485 [ i2c] DEBUG Read 1 hex bytes: [01]
2021-05-14T14:40:50.489 [ i2c] DEBUG Read U8 1 from reg 0x84
2021-05-14T14:40:50.492 [ i2c] DEBUG Write 2 hex bytes: [8401]
2021-05-14T14:40:50.496 [ i2c] DEBUG Write U8 1 to reg 0x84
2021-05-14T14:40:50.499 [ i2c] DEBUG Write 2 hex bytes: [0b01]
2021-05-14T14:40:50.503 [ i2c] DEBUG Write U8 1 to reg 0xB
2021-05-14T14:40:50.505 [ vl53l0x] DEBUG Start getting sequence step enables
2021-05-14T14:40:50.509 [ i2c] DEBUG Write 1 hex bytes: [01]
2021-05-14T14:40:50.514 [ i2c] DEBUG Read 1 hex bytes: [f8]
2021-05-14T14:40:50.517 [ i2c] DEBUG Read U8 248 from reg 0x1
2021-05-14T14:40:50.519 [ vl53l0x] DEBUG Start getting sequence step timeouts
2021-05-14T14:40:50.523 [ vl53l0x] DEBUG Start getting VCSEL pulse period
2021-05-14T14:40:50.527 [ i2c] DEBUG Write 1 hex bytes: [50]
2021-05-14T14:40:50.531 [ i2c] DEBUG Read 1 hex bytes: [06]
2021-05-14T14:40:50.534 [ i2c] DEBUG Read U8 6 from reg 0x50
2021-05-14T14:40:50.537 [ i2c] DEBUG Write 1 hex bytes: [46]
2021-05-14T14:40:50.541 [ i2c] DEBUG Read 1 hex bytes: [25]
2021-05-14T14:40:50.545 [ i2c] DEBUG Read U8 37 from reg 0x46
2021-05-14T14:40:50.548 [ i2c] DEBUG Write 1 hex bytes: [51]
2021-05-14T14:40:50.552 [ i2c] DEBUG Read 2 hex bytes: [0096]
2021-05-14T14:40:50.555 [ vl53l0x] DEBUG Start getting VCSEL pulse period
2021-05-14T14:40:50.559 [ i2c] DEBUG Write 1 hex bytes: [70]
2021-05-14T14:40:50.562 [ i2c] DEBUG Read 1 hex bytes: [04]
2021-05-14T14:40:50.566 [ i2c] DEBUG Read U8 4 from reg 0x70
2021-05-14T14:40:50.569 [ i2c] DEBUG Write 1 hex bytes: [71]
2021-05-14T14:40:50.573 [ i2c] DEBUG Read 2 hex bytes: [01fe]
2021-05-14T14:40:50.577 [ i2c] DEBUG Write 2 hex bytes: [01e8]
2021-05-14T14:40:50.580 [ i2c] DEBUG Write U8 232 to reg 0x1
2021-05-14T14:40:50.583 [ vl53l0x] DEBUG Start setting measurement timing budget
2021-05-14T14:40:50.586 [ vl53l0x] DEBUG Start getting sequence step enables
2021-05-14T14:40:50.590 [ i2c] DEBUG Write 1 hex bytes: [01]
2021-05-14T14:40:50.594 [ i2c] DEBUG Read 1 hex bytes: [e8]
2021-05-14T14:40:50.597 [ i2c] DEBUG Read U8 232 from reg 0x1
2021-05-14T14:40:50.601 [ vl53l0x] DEBUG Sequence step enables = (*vl53l0x.SequenceStepEnables){TCC:(bool)false MSRC:(bool)false DSS:(bool)true PreRange:(bool)true FinalRange:(bool)true}
2021-05-14T14:40:50.603 [ vl53l0x] DEBUG Start getting sequence step timeouts
2021-05-14T14:40:50.607 [ vl53l0x] DEBUG Start getting VCSEL pulse period
2021-05-14T14:40:50.610 [ i2c] DEBUG Write 1 hex bytes: [50]
2021-05-14T14:40:50.615 [ i2c] DEBUG Read 1 hex bytes: [06]
2021-05-14T14:40:50.618 [ i2c] DEBUG Read U8 6 from reg 0x50
2021-05-14T14:40:50.620 [ i2c] DEBUG Write 1 hex bytes: [46]
2021-05-14T14:40:50.625 [ i2c] DEBUG Read 1 hex bytes: [25]
2021-05-14T14:40:50.628 [ i2c] DEBUG Read U8 37 from reg 0x46
2021-05-14T14:40:50.631 [ i2c] DEBUG Write 1 hex bytes: [51]
2021-05-14T14:40:50.636 [ i2c] DEBUG Read 2 hex bytes: [0096]
2021-05-14T14:40:50.639 [ vl53l0x] DEBUG Start getting VCSEL pulse period
2021-05-14T14:40:50.642 [ i2c] DEBUG Write 1 hex bytes: [70]
2021-05-14T14:40:50.646 [ i2c] DEBUG Read 1 hex bytes: [04]
2021-05-14T14:40:50.649 [ i2c] DEBUG Read U8 4 from reg 0x70
2021-05-14T14:40:50.652 [ i2c] DEBUG Write 1 hex bytes: [71]
2021-05-14T14:40:50.657 [ i2c] DEBUG Read 2 hex bytes: [01fe]
2021-05-14T14:40:50.660 [ vl53l0x] DEBUG Sequence step timeouts = (*vl53l0x.SequenceStepTimeouts){PreRangeVcselPeriodPclks:(uint16)14 FinalRangeVcselPeriodPclks:(uint16)10 MsrcDssTccMclks:(uint16)38 PreRangeMclks:(uint16)151 FinalRangeMclks:(uint16)358 MsrcDssTccUsec:(uint32)2055 PreRangeUsec:(uint32)8087 FinalRangeUsec:(uint32)13669}
2021-05-14T14:40:50.663 [ vl53l0x] DEBUG set_sequence_step_timeout() begin
2021-05-14T14:40:50.666 [ i2c] DEBUG Write 3 hex bytes: [710294]
2021-05-14T14:40:50.670 [ vl53l0x] DEBUG set_sequence_step_timeout() end
2021-05-14T14:40:50.672 [ vl53l0x] DEBUG End setting measurement timing budget
2021-05-14T14:40:50.676 [ i2c] DEBUG Write 2 hex bytes: [0101]
2021-05-14T14:40:50.680 [ i2c] DEBUG Write U8 1 to reg 0x1
2021-05-14T14:40:50.683 [ i2c] DEBUG Write 2 hex bytes: [0041]
2021-05-14T14:40:50.688 [ i2c] DEBUG Write U8 65 to reg 0x0
2021-05-14T14:40:50.690 [ i2c] DEBUG Write 1 hex bytes: [13]
2021-05-14T14:40:50.695 [ i2c] DEBUG Read 1 hex bytes: [40]
2021-05-14T14:40:50.698 [ i2c] DEBUG Read U8 64 from reg 0x13
2021-05-14T14:40:50.702 [ i2c] DEBUG Write 1 hex bytes: [13]
2021-05-14T14:40:50.706 [ i2c] DEBUG Read 1 hex bytes: [44]
2021-05-14T14:40:50.709 [ i2c] DEBUG Read U8 68 from reg 0x13
2021-05-14T14:40:50.712 [ i2c] DEBUG Write 2 hex bytes: [0b01]
2021-05-14T14:40:50.716 [ i2c] DEBUG Write U8 1 to reg 0xB
2021-05-14T14:40:50.719 [ i2c] DEBUG Write 2 hex bytes: [0000]
2021-05-14T14:40:50.722 [ i2c] DEBUG Write U8 0 to reg 0x0
2021-05-14T14:40:50.725 [ i2c] DEBUG Write 2 hex bytes: [0102]
2021-05-14T14:40:50.729 [ i2c] DEBUG Write U8 2 to reg 0x1
2021-05-14T14:40:50.732 [ i2c] DEBUG Write 2 hex bytes: [0001]
2021-05-14T14:40:50.736 [ i2c] DEBUG Write U8 1 to reg 0x0
2021-05-14T14:40:50.739 [ i2c] DEBUG Write 1 hex bytes: [13]
2021-05-14T14:40:50.744 [ i2c] DEBUG Read 1 hex bytes: [44]
2021-05-14T14:40:50.747 [ i2c] DEBUG Read U8 68 from reg 0x13
2021-05-14T14:40:50.750 [ i2c] DEBUG Write 2 hex bytes: [0b01]
2021-05-14T14:40:50.754 [ i2c] DEBUG Write U8 1 to reg 0xB
2021-05-14T14:40:50.757 [ i2c] DEBUG Write 2 hex bytes: [0000]
2021-05-14T14:40:50.761 [ i2c] DEBUG Write U8 0 to reg 0x0
2021-05-14T14:40:50.763 [ i2c] DEBUG Write 2 hex bytes: [01e8]
2021-05-14T14:40:50.766 [ i2c] DEBUG Write U8 232 to reg 0x1
2021-05-14T14:40:50.770 [ vl53l0x] DEBUG Read range single
2021-05-14T14:40:50.774 [ i2c] DEBUG Write 2 hex bytes: [8001]
2021-05-14T14:40:50.777 [ i2c] DEBUG Write U8 1 to reg 0x80
2021-05-14T14:40:50.781 [ i2c] DEBUG Write 2 hex bytes: [ff01]
2021-05-14T14:40:50.785 [ i2c] DEBUG Write U8 1 to reg 0xFF
2021-05-14T14:40:50.788 [ i2c] DEBUG Write 2 hex bytes: [0000]
2021-05-14T14:40:50.792 [ i2c] DEBUG Write U8 0 to reg 0x0
2021-05-14T14:40:50.795 [ i2c] DEBUG Write 2 hex bytes: [913c]
2021-05-14T14:40:50.799 [ i2c] DEBUG Write U8 60 to reg 0x91
2021-05-14T14:40:50.802 [ i2c] DEBUG Write 2 hex bytes: [0001]
2021-05-14T14:40:50.806 [ i2c] DEBUG Write U8 1 to reg 0x0
2021-05-14T14:40:50.808 [ i2c] DEBUG Write 2 hex bytes: [ff00]
2021-05-14T14:40:50.813 [ i2c] DEBUG Write U8 0 to reg 0xFF
2021-05-14T14:40:50.815 [ i2c] DEBUG Write 2 hex bytes: [8000]
2021-05-14T14:40:50.819 [ i2c] DEBUG Write U8 0 to reg 0x80
2021-05-14T14:40:50.822 [ i2c] DEBUG Write 2 hex bytes: [0001]
2021-05-14T14:40:50.826 [ i2c] DEBUG Write U8 1 to reg 0x0
2021-05-14T14:40:50.829 [ i2c] DEBUG Write 1 hex bytes: [00]
2021-05-14T14:40:50.833 [ i2c] DEBUG Read 1 hex bytes: [00]
2021-05-14T14:40:50.837 [ i2c] DEBUG Read U8 0 from reg 0x0
2021-05-14T14:40:50.840 [ i2c] DEBUG Write 1 hex bytes: [13]
2021-05-14T14:40:50.844 [ i2c] DEBUG Read 1 hex bytes: [40]
2021-05-14T14:40:50.847 [ i2c] DEBUG Read U8 64 from reg 0x13
2021-05-14T14:40:50.850 [ i2c] DEBUG Write 1 hex bytes: [13]
2021-05-14T14:40:50.854 [ i2c] DEBUG Read 1 hex bytes: [40]
2021-05-14T14:40:50.857 [ i2c] DEBUG Read U8 64 from reg 0x13
2021-05-14T14:40:50.861 [ i2c] DEBUG Write 1 hex bytes: [13]
2021-05-14T14:40:50.865 [ i2c] DEBUG Read 1 hex bytes: [44]
2021-05-14T14:40:50.867 [ i2c] DEBUG Read U8 68 from reg 0x13
2021-05-14T14:40:50.871 [ i2c] DEBUG Write 1 hex bytes: [1e]
2021-05-14T14:40:50.875 [ i2c] DEBUG Read 2 hex bytes: [00c9]
2021-05-14T14:40:50.879 [ i2c] DEBUG Write 2 hex bytes: [0b01]
2021-05-14T14:40:50.882 [ i2c] DEBUG Write U8 1 to reg 0xB
2021/05/14 14:40:50 Measured range = 201 mm