From 6343dc11eb14272f62be33619b2da928bb9f9696 Mon Sep 17 00:00:00 2001 From: Scott Shawcroft Date: Thu, 7 Dec 2017 16:36:09 -0800 Subject: [PATCH 1/2] Update to new build process and turn on lint. I haven't tested these changes on device yet. Please only merge you test it or I follow up later to say its tested. For https://github.com/adafruit/circuitpython/issues/475 --- .gitignore | 3 + .pylintrc | 432 +++++++++++++++++++++++++++++++++++++++++ .travis.yml | 63 ++---- adafruit_vl53l0x.py | 110 ++++++----- examples/simpletest.py | 3 +- readthedocs.yml | 3 +- 6 files changed, 522 insertions(+), 92 deletions(-) create mode 100644 .pylintrc diff --git a/.gitignore b/.gitignore index 92d3065..0dd8629 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,6 @@ __pycache__ _build *.pyc +.env +build* +bundles diff --git a/.pylintrc b/.pylintrc new file mode 100644 index 0000000..c02df0e --- /dev/null +++ b/.pylintrc @@ -0,0 +1,432 @@ +[MASTER] + +# A comma-separated list of package or module names from where C extensions may +# be loaded. Extensions are loading into the active Python interpreter and may +# run arbitrary code +extension-pkg-whitelist= + +# Add files or directories to the blacklist. They should be base names, not +# paths. +ignore=CVS + +# Add files or directories matching the regex patterns to the blacklist. The +# regex matches against base names, not paths. +ignore-patterns= + +# Python code to execute, usually for sys.path manipulation such as +# pygtk.require(). +#init-hook= + +# Use multiple processes to speed up Pylint. +# jobs=1 +jobs=2 + +# List of plugins (as comma separated values of python modules names) to load, +# usually to register additional checkers. +load-plugins= + +# Pickle collected data for later comparisons. +persistent=yes + +# Specify a configuration file. +#rcfile= + +# Allow loading of arbitrary C extensions. Extensions are imported into the +# active Python interpreter and may run arbitrary code. +unsafe-load-any-extension=no + + +[MESSAGES CONTROL] + +# Only show warnings with the listed confidence levels. Leave empty to show +# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED +confidence= + +# Disable the message, report, category or checker with the given id(s). You +# can either give multiple identifiers separated by comma (,) or put this +# option multiple times (only on the command line, not in the configuration +# file where it should appear only once).You can also use "--disable=all" to +# disable everything first and then reenable specific checks. For example, if +# you want to run only the similarities checker, you can use "--disable=all +# --enable=similarities". If you want to run only the classes checker, but have +# no Warning level messages displayed, use"--disable=all --enable=classes +# --disable=W" +# disable=import-error,print-statement,parameter-unpacking,unpacking-in-except,old-raise-syntax,backtick,long-suffix,old-ne-operator,old-octal-literal,import-star-module-level,raw-checker-failed,bad-inline-option,locally-disabled,locally-enabled,file-ignored,suppressed-message,useless-suppression,deprecated-pragma,apply-builtin,basestring-builtin,buffer-builtin,cmp-builtin,coerce-builtin,execfile-builtin,file-builtin,long-builtin,raw_input-builtin,reduce-builtin,standarderror-builtin,unicode-builtin,xrange-builtin,coerce-method,delslice-method,getslice-method,setslice-method,no-absolute-import,old-division,dict-iter-method,dict-view-method,next-method-called,metaclass-assignment,indexing-exception,raising-string,reload-builtin,oct-method,hex-method,nonzero-method,cmp-method,input-builtin,round-builtin,intern-builtin,unichr-builtin,map-builtin-not-iterating,zip-builtin-not-iterating,range-builtin-not-iterating,filter-builtin-not-iterating,using-cmp-argument,eq-without-hash,div-method,idiv-method,rdiv-method,exception-message-attribute,invalid-str-codec,sys-max-int,bad-python3-import,deprecated-string-function,deprecated-str-translate-call +disable=print-statement,parameter-unpacking,unpacking-in-except,old-raise-syntax,backtick,long-suffix,old-ne-operator,old-octal-literal,import-star-module-level,raw-checker-failed,bad-inline-option,locally-disabled,locally-enabled,file-ignored,suppressed-message,useless-suppression,deprecated-pragma,apply-builtin,basestring-builtin,buffer-builtin,cmp-builtin,coerce-builtin,execfile-builtin,file-builtin,long-builtin,raw_input-builtin,reduce-builtin,standarderror-builtin,unicode-builtin,xrange-builtin,coerce-method,delslice-method,getslice-method,setslice-method,no-absolute-import,old-division,dict-iter-method,dict-view-method,next-method-called,metaclass-assignment,indexing-exception,raising-string,reload-builtin,oct-method,hex-method,nonzero-method,cmp-method,input-builtin,round-builtin,intern-builtin,unichr-builtin,map-builtin-not-iterating,zip-builtin-not-iterating,range-builtin-not-iterating,filter-builtin-not-iterating,using-cmp-argument,eq-without-hash,div-method,idiv-method,rdiv-method,exception-message-attribute,invalid-str-codec,sys-max-int,bad-python3-import,deprecated-string-function,deprecated-str-translate-call,import-error + +# Enable the message, report, category or checker with the given id(s). You can +# either give multiple identifier separated by comma (,) or put this option +# multiple time (only on the command line, not in the configuration file where +# it should appear only once). See also the "--disable" option for examples. +enable= + + +[REPORTS] + +# Python expression which should return a note less than 10 (10 is the highest +# note). You have access to the variables errors warning, statement which +# respectively contain the number of errors / warnings messages and the total +# number of statements analyzed. This is used by the global evaluation report +# (RP0004). +evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10) + +# Template used to display messages. This is a python new-style format string +# used to format the message information. See doc for all details +#msg-template= + +# Set the output format. Available formats are text, parseable, colorized, json +# and msvs (visual studio).You can also give a reporter class, eg +# mypackage.mymodule.MyReporterClass. +output-format=text + +# Tells whether to display a full report or only the messages +reports=no + +# Activate the evaluation score. +score=yes + + +[REFACTORING] + +# Maximum number of nested blocks for function / method body +max-nested-blocks=5 + + +[LOGGING] + +# Logging modules to check that the string format arguments are in logging +# function parameter format +logging-modules=logging + + +[SPELLING] + +# Spelling dictionary name. Available dictionaries: none. To make it working +# install python-enchant package. +spelling-dict= + +# List of comma separated words that should not be checked. +spelling-ignore-words= + +# A path to a file that contains private dictionary; one word per line. +spelling-private-dict-file= + +# Tells whether to store unknown words to indicated private dictionary in +# --spelling-private-dict-file option instead of raising a message. +spelling-store-unknown-words=no + + +[MISCELLANEOUS] + +# List of note tags to take in consideration, separated by a comma. +notes=FIXME,XXX,TODO + + +[TYPECHECK] + +# List of decorators that produce context managers, such as +# contextlib.contextmanager. Add to this list to register other decorators that +# produce valid context managers. +contextmanager-decorators=contextlib.contextmanager + +# List of members which are set dynamically and missed by pylint inference +# system, and so shouldn't trigger E1101 when accessed. Python regular +# expressions are accepted. +generated-members= + +# Tells whether missing members accessed in mixin class should be ignored. A +# mixin class is detected if its name ends with "mixin" (case insensitive). +ignore-mixin-members=yes + +# This flag controls whether pylint should warn about no-member and similar +# checks whenever an opaque object is returned when inferring. The inference +# can return multiple potential results while evaluating a Python object, but +# some branches might not be evaluated, which results in partial inference. In +# that case, it might be useful to still emit no-member and other checks for +# the rest of the inferred objects. +ignore-on-opaque-inference=yes + +# List of class names for which member attributes should not be checked (useful +# for classes with dynamically set attributes). This supports the use of +# qualified names. +ignored-classes=optparse.Values,thread._local,_thread._local + +# List of module names for which member attributes should not be checked +# (useful for modules/projects where namespaces are manipulated during runtime +# and thus existing member attributes cannot be deduced by static analysis. It +# supports qualified module names, as well as Unix pattern matching. +ignored-modules= + +# Show a hint with possible names when a member name was not found. The aspect +# of finding the hint is based on edit distance. +missing-member-hint=yes + +# The minimum edit distance a name should have in order to be considered a +# similar match for a missing member name. +missing-member-hint-distance=1 + +# The total number of similar names that should be taken in consideration when +# showing a hint for a missing member. +missing-member-max-choices=1 + + +[VARIABLES] + +# List of additional names supposed to be defined in builtins. Remember that +# you should avoid to define new builtins when possible. +additional-builtins= + +# Tells whether unused global variables should be treated as a violation. +allow-global-unused-variables=yes + +# List of strings which can identify a callback function by name. A callback +# name must start or end with one of those strings. +callbacks=cb_,_cb + +# A regular expression matching the name of dummy variables (i.e. expectedly +# not used). +dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_ + +# Argument names that match this expression will be ignored. Default to name +# with leading underscore +ignored-argument-names=_.*|^ignored_|^unused_ + +# Tells whether we should check for unused import in __init__ files. +init-import=no + +# List of qualified module names which can have objects that can redefine +# builtins. +redefining-builtins-modules=six.moves,future.builtins + + +[FORMAT] + +# Expected format of line ending, e.g. empty (any line ending), LF or CRLF. +# expected-line-ending-format= +expected-line-ending-format=LF + +# Regexp for a line that is allowed to be longer than the limit. +ignore-long-lines=^\s*(# )??$ + +# Number of spaces of indent required inside a hanging or continued line. +indent-after-paren=4 + +# String used as indentation unit. This is usually " " (4 spaces) or "\t" (1 +# tab). +indent-string=' ' + +# Maximum number of characters on a single line. +max-line-length=100 + +# Maximum number of lines in a module +max-module-lines=1000 + +# List of optional constructs for which whitespace checking is disabled. `dict- +# separator` is used to allow tabulation in dicts, etc.: {1 : 1,\n222: 2}. +# `trailing-comma` allows a space between comma and closing bracket: (a, ). +# `empty-line` allows space-only lines. +no-space-check=trailing-comma,dict-separator + +# Allow the body of a class to be on the same line as the declaration if body +# contains single statement. +single-line-class-stmt=no + +# Allow the body of an if to be on the same line as the test if there is no +# else. +single-line-if-stmt=no + + +[SIMILARITIES] + +# Ignore comments when computing similarities. +ignore-comments=yes + +# Ignore docstrings when computing similarities. +ignore-docstrings=yes + +# Ignore imports when computing similarities. +ignore-imports=no + +# Minimum lines number of a similarity. +min-similarity-lines=4 + + +[BASIC] + +# Naming hint for argument names +argument-name-hint=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ + +# Regular expression matching correct argument names +argument-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ + +# Naming hint for attribute names +attr-name-hint=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ + +# Regular expression matching correct attribute names +attr-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ + +# Bad variable names which should always be refused, separated by a comma +bad-names=foo,bar,baz,toto,tutu,tata + +# Naming hint for class attribute names +class-attribute-name-hint=([A-Za-z_][A-Za-z0-9_]{2,30}|(__.*__))$ + +# Regular expression matching correct class attribute names +class-attribute-rgx=([A-Za-z_][A-Za-z0-9_]{2,30}|(__.*__))$ + +# Naming hint for class names +# class-name-hint=[A-Z_][a-zA-Z0-9]+$ +class-name-hint=[A-Z_][a-zA-Z0-9_]+$ + +# Regular expression matching correct class names +# class-rgx=[A-Z_][a-zA-Z0-9]+$ +class-rgx=[A-Z_][a-zA-Z0-9_]+$ + +# Naming hint for constant names +const-name-hint=(([A-Z_][A-Z0-9_]*)|(__.*__))$ + +# Regular expression matching correct constant names +const-rgx=(([A-Z_][A-Z0-9_]*)|(__.*__))$ + +# Minimum line length for functions/classes that require docstrings, shorter +# ones are exempt. +docstring-min-length=-1 + +# Naming hint for function names +function-name-hint=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ + +# Regular expression matching correct function names +function-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ + +# Good variable names which should always be accepted, separated by a comma +# good-names=i,j,k,ex,Run,_ +good-names=r,g,b,i,j,k,n,x,y,z,ex,ok,Run,_ + +# Include a hint for the correct naming format with invalid-name +include-naming-hint=no + +# Naming hint for inline iteration names +inlinevar-name-hint=[A-Za-z_][A-Za-z0-9_]*$ + +# Regular expression matching correct inline iteration names +inlinevar-rgx=[A-Za-z_][A-Za-z0-9_]*$ + +# Naming hint for method names +method-name-hint=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ + +# Regular expression matching correct method names +method-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ + +# Naming hint for module names +module-name-hint=(([a-z_][a-z0-9_]*)|([A-Z][a-zA-Z0-9]+))$ + +# Regular expression matching correct module names +module-rgx=(([a-z_][a-z0-9_]*)|([A-Z][a-zA-Z0-9]+))$ + +# Colon-delimited sets of names that determine each other's naming style when +# the name regexes allow several styles. +name-group= + +# Regular expression which should only match function or class names that do +# not require a docstring. +no-docstring-rgx=^_ + +# List of decorators that produce properties, such as abc.abstractproperty. Add +# to this list to register other decorators that produce valid properties. +property-classes=abc.abstractproperty + +# Naming hint for variable names +variable-name-hint=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ + +# Regular expression matching correct variable names +variable-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ + + +[IMPORTS] + +# Allow wildcard imports from modules that define __all__. +allow-wildcard-with-all=no + +# Analyse import fallback blocks. This can be used to support both Python 2 and +# 3 compatible code, which means that the block might have code that exists +# only in one or another interpreter, leading to false positives when analysed. +analyse-fallback-blocks=no + +# Deprecated modules which should not be used, separated by a comma +deprecated-modules=optparse,tkinter.tix + +# Create a graph of external dependencies in the given file (report RP0402 must +# not be disabled) +ext-import-graph= + +# Create a graph of every (i.e. internal and external) dependencies in the +# given file (report RP0402 must not be disabled) +import-graph= + +# Create a graph of internal dependencies in the given file (report RP0402 must +# not be disabled) +int-import-graph= + +# Force import order to recognize a module as part of the standard +# compatibility libraries. +known-standard-library= + +# Force import order to recognize a module as part of a third party library. +known-third-party=enchant + + +[CLASSES] + +# List of method names used to declare (i.e. assign) instance attributes. +defining-attr-methods=__init__,__new__,setUp + +# List of member names, which should be excluded from the protected access +# warning. +exclude-protected=_asdict,_fields,_replace,_source,_make + +# List of valid names for the first argument in a class method. +valid-classmethod-first-arg=cls + +# List of valid names for the first argument in a metaclass class method. +valid-metaclass-classmethod-first-arg=mcs + + +[DESIGN] + +# Maximum number of arguments for function / method +max-args=5 + +# Maximum number of attributes for a class (see R0902). +# max-attributes=7 +max-attributes=11 + +# Maximum number of boolean expressions in a if statement +max-bool-expr=5 + +# Maximum number of branch for function / method body +max-branches=12 + +# Maximum number of locals for function / method body +max-locals=15 + +# Maximum number of parents for a class (see R0901). +max-parents=7 + +# Maximum number of public methods for a class (see R0904). +max-public-methods=20 + +# Maximum number of return / yield for function / method body +max-returns=6 + +# Maximum number of statements in function / method body +max-statements=50 + +# Minimum number of public methods for a class (see R0903). +min-public-methods=1 + + +[EXCEPTIONS] + +# Exceptions that will emit a warning when being caught. Defaults to +# "Exception" +overgeneral-exceptions=Exception diff --git a/.travis.yml b/.travis.yml index 96bf6e6..454b4a5 100644 --- a/.travis.yml +++ b/.travis.yml @@ -1,53 +1,30 @@ -# Travis CI configuration for automated .mpy file generation. -# Author: Tony DiCola -# License: Public Domain -# This configuration will work with Travis CI (travis-ci.org) to automacially -# build .mpy files for CircuitPython when a new tagged release is created. This -# file is relatively generic and can be shared across multiple repositories by -# following these steps: -# 1. Copy this file into a .travis.yml file in the root of the repository. -# 2. Change the deploy > file section below to list each of the .mpy files -# that should be generated. The config will automatically look for -# .py files with the same name as the source for generating the .mpy files. -# Note that the .mpy extension should be lower case! -# 3. Commit the .travis.yml file and push it to GitHub. -# 4. Go to travis-ci.org and find the repository (it needs to be setup to access -# your github account, and your github account needs access to write to the -# repo). Flip the 'ON' switch on for Travis and the repo, see the Travis -# docs for more details: https://docs.travis-ci.com/user/getting-started/ -# 5. Get a GitHub 'personal access token' which has at least 'public_repo' or -# 'repo' scope: https://help.github.com/articles/creating-an-access-token-for-command-line-use/ -# Keep this token safe and secure! Anyone with the token will be able to -# access and write to your GitHub repositories. Travis will use the token -# to attach the .mpy files to the release. -# 6. In the Travis CI settings for the repository that was enabled find the -# environment variable editing page: https://docs.travis-ci.com/user/environment-variables/#Defining-Variables-in-Repository-Settings -# Add an environment variable named GITHUB_TOKEN and set it to the value -# of the GitHub personal access token above. Keep 'Display value in build -# log' flipped off. -# 7. That's it! Tag a release and Travis should go to work to add .mpy files -# to the release. It takes about a 2-3 minutes for a worker to spin up, -# build mpy-cross, and add the binaries to the release. -language: generic +# This is a common .travis.yml for generating library release zip files for +# CircuitPython library releases using circuitpython-build-tools. +# See https://github.com/adafruit/circuitpython-build-tools for detailed setup +# instructions. -sudo: true +dist: trusty +sudo: false +language: python +python: + - "3.6" + +cache: + pip: true deploy: provider: releases api_key: $GITHUB_TOKEN - file: - - "adafruit_vl53l0x.mpy" + file_glob: true + file: bundles/* skip_cleanup: true on: tags: true -before_install: -- sudo apt-get -yqq update -- sudo apt-get install -y build-essential git python python-pip -- git clone https://github.com/adafruit/circuitpython.git -b 2.x -- make -C circuitpython/mpy-cross -- export PATH=$PATH:$PWD/circuitpython/mpy-cross/ -- sudo pip install shyaml +install: + - pip install pylint circuitpython-travis-build-tools -before_deploy: -- shyaml get-values deploy.file < .travis.yml | sed 's/.mpy/.py/' | xargs -L1 mpy-cross +script: + - pylint adafruit_vl53l0x.py + - ([[ ! -d "examples" ]] || pylint --disable=missing-docstring,invalid-name examples/*.py) + - circuitpython-build-bundles --filename_prefix adafruit-circuitpython-vl53l0x --library_location . diff --git a/adafruit_vl53l0x.py b/adafruit_vl53l0x.py index c56b417..e1c35f9 100644 --- a/adafruit_vl53l0x.py +++ b/adafruit_vl53l0x.py @@ -35,9 +35,13 @@ import time import adafruit_bus_device.i2c_device as i2c_device +from micropython import const +__version__ = "0.0.0-auto.0" +__repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_VL53L0X.git" # Configuration constants: +# pylint: disable=bad-whitespace _SYSRANGE_START = const(0x00) _SYSTEM_THRESH_HIGH = const(0x0C) _SYSTEM_THRESH_LOW = const(0x0E) @@ -96,26 +100,48 @@ _VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV = const(0x89) _ALGO_PHASECAL_LIM = const(0x30) _ALGO_PHASECAL_CONFIG_TIMEOUT = const(0x30) -_VcselPeriodPreRange = const(0) -_VcselPeriodFinalRange = const(1) +_VCSEL_PERIOD_PRE_RANGE = const(0) +_VCSEL_PERIOD_FINAL_RANGE = const(1) +# pylint: enable=bad-whitespace -class VL53L0X: +def _decode_timeout(val): + # format: "(LSByte * 2^MSByte) + 1" + return float(val & 0xFF) * math.pow(2.0, ((val & 0xFF00) >> 8)) + 1 + +def _encode_timeout(timeout_mclks): + # format: "(LSByte * 2^MSByte) + 1" + timeout_mclks = int(timeout_mclks) & 0xFFFF + ls_byte = 0 + ms_byte = 0 + if timeout_mclks > 0: + ls_byte = timeout_mclks - 1 + while ls_byte > 255: + ls_byte >>= 1 + ms_byte += 1 + return ((ms_byte << 8) | (ls_byte & 0xFF)) & 0xFFFF + return 0 +def _timeout_mclks_to_microseconds(timeout_period_mclks, vcsel_period_pclks): + macro_period_ns = (((2304 * (vcsel_period_pclks) * 1655) + 500) // 1000) + return ((timeout_period_mclks * macro_period_ns) + (macro_period_ns // 2)) // 1000 + +class VL53L0X: + """Driver for the VL53L0X distance sensor.""" # Class-level buffer for reading and writing data with the sensor. # This reduces memory allocations but means the code is not re-entrant or # thread safe! _BUFFER = bytearray(3) def __init__(self, i2c, address=41, io_timeout_s=0): + # pylint: disable=too-many-statements self._device = i2c_device.I2CDevice(i2c, address) self.io_timeout_s = io_timeout_s # Check identification registers for expected values. # From section 3.2 of the datasheet. - if self._read_u8(0xC0) != 0xEE or \ - self._read_u8(0xC1) != 0xAA or \ - self._read_u8(0xC2) != 0x10: - raise RuntimeError('Failed to find expected ID register values. Check wiring!') + if (self._read_u8(0xC0) != 0xEE or self._read_u8(0xC1) != 0xAA or + self._read_u8(0xC2) != 0x10): + raise RuntimeError('Failed to find expected ID register values. Check wiring!') # 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. @@ -333,40 +359,18 @@ def _perform_single_ref_calibration(self, vhv_init_byte): self._write_u8(_SYSRANGE_START, 0x00) def _get_vcsel_pulse_period(self, vcsel_period_type): - if vcsel_period_type == _VcselPeriodPreRange: + if vcsel_period_type == _VCSEL_PERIOD_PRE_RANGE: val = self._read_u8(_PRE_RANGE_CONFIG_VCSEL_PERIOD) - return ((((val) + 1) & 0xFF) << 1) - elif vcsel_period_type == _VcselPeriodFinalRange: + return (((val) + 1) & 0xFF) << 1 + elif vcsel_period_type == _VCSEL_PERIOD_FINAL_RANGE: val = self._read_u8(_FINAL_RANGE_CONFIG_VCSEL_PERIOD) - return ((((val) + 1) & 0xFF) << 1) - else: - return 255 - - def _timeout_mclks_to_microseconds(self, timeout_period_mclks, vcsel_period_pclks): - macro_period_ns = (((2304 * (vcsel_period_pclks) * 1655) + 500) // 1000) - return ((timeout_period_mclks * macro_period_ns) + (macro_period_ns // 2)) // 1000 - - def _decode_timeout(self, val): - # format: "(LSByte * 2^MSByte) + 1" - return float(val & 0xFF) * math.pow(2.0, ((val & 0xFF00) >> 8)) + 1 - - def _encode_timeout(self, timeout_mclks): - # format: "(LSByte * 2^MSByte) + 1" - timeout_mclks = int(timeout_mclks) & 0xFFFF - ls_byte = 0 - ms_byte = 0 - if timeout_mclks > 0: - ls_byte = timeout_mclks - 1 - while ls_byte > 255: - ls_byte >>= 1 - ms_byte += 1 - return ((ms_byte << 8) | (ls_byte & 0xFF)) & 0xFFFF - else: - return 0 + return (((val) + 1) & 0xFF) << 1 + return 255 def _get_sequence_step_enables(self): # based on VL53L0X_GetSequenceStepEnables() from ST API sequence_config = self._read_u8(_SYSTEM_SEQUENCE_CONFIG) + # pylint: disable=bad-whitespace tcc = (sequence_config >> 4) & 0x1 > 0 dss = (sequence_config >> 3) & 0x1 > 0 msrc = (sequence_config >> 2) & 0x1 > 0 @@ -378,17 +382,23 @@ def _get_sequence_step_timeouts(self, pre_range): # based on get_sequence_step_timeout() from ST API but modified by # pololu here: # https://github.com/pololu/vl53l0x-arduino/blob/master/VL53L0X.cpp - pre_range_vcsel_period_pclks = self._get_vcsel_pulse_period(_VcselPeriodPreRange) + pre_range_vcsel_period_pclks = self._get_vcsel_pulse_period(_VCSEL_PERIOD_PRE_RANGE) msrc_dss_tcc_mclks = (self._read_u8(_MSRC_CONFIG_TIMEOUT_MACROP) + 1) & 0xFF - msrc_dss_tcc_us = self._timeout_mclks_to_microseconds(msrc_dss_tcc_mclks, pre_range_vcsel_period_pclks) - pre_range_mclks = self._decode_timeout(self._read_u16(_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI)) - pre_range_us = self._timeout_mclks_to_microseconds(pre_range_mclks, pre_range_vcsel_period_pclks) - final_range_vcsel_period_pclks = self._get_vcsel_pulse_period(_VcselPeriodFinalRange) - final_range_mclks = self._decode_timeout(self._read_u16(_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI)) + msrc_dss_tcc_us = _timeout_mclks_to_microseconds( + msrc_dss_tcc_mclks, pre_range_vcsel_period_pclks) + pre_range_mclks = _decode_timeout(self._read_u16(_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI)) + pre_range_us = _timeout_mclks_to_microseconds(pre_range_mclks, pre_range_vcsel_period_pclks) + final_range_vcsel_period_pclks = self._get_vcsel_pulse_period(_VCSEL_PERIOD_FINAL_RANGE) + final_range_mclks = _decode_timeout(self._read_u16(_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI)) if pre_range: final_range_mclks -= pre_range_mclks - final_range_us = self._timeout_mclks_to_microseconds(final_range_mclks, final_range_vcsel_period_pclks) - return (msrc_dss_tcc_us, pre_range_us, final_range_us, final_range_vcsel_period_pclks, pre_range_mclks) + final_range_us = _timeout_mclks_to_microseconds( + final_range_mclks, final_range_vcsel_period_pclks) + return (msrc_dss_tcc_us, + pre_range_us, + final_range_us, + final_range_vcsel_period_pclks, + pre_range_mclks) @property def signal_rate_limit(self): @@ -409,7 +419,8 @@ def measurement_timing_budget(self): """The measurement timing budget in microseconds.""" budget_us = 1910 + 960 # Start overhead + end overhead. tcc, dss, msrc, pre_range, final_range = self._get_sequence_step_enables() - msrc_dss_tcc_us, pre_range_us, final_range_us, final_range_vcsel_period_pclks, pre_range_mclks = self._get_sequence_step_timeouts(pre_range) + step_timeouts = self._get_sequence_step_timeouts(pre_range) + msrc_dss_tcc_us, pre_range_us, final_range_us, _, _ = step_timeouts if tcc: budget_us += (msrc_dss_tcc_us + 590) if dss: @@ -425,10 +436,13 @@ def measurement_timing_budget(self): @measurement_timing_budget.setter def measurement_timing_budget(self, budget_us): + # pylint: disable=too-many-locals assert budget_us >= 20000 used_budget_us = 1320 + 960 # Start (diff from get) + end overhead tcc, dss, msrc, pre_range, final_range = self._get_sequence_step_enables() - msrc_dss_tcc_us, pre_range_us, final_range_us, final_range_vcsel_period_pclks, pre_range_mclks = self._get_sequence_step_timeouts(pre_range) + step_timeouts = self._get_sequence_step_timeouts(pre_range) + msrc_dss_tcc_us, pre_range_us, _ = step_timeouts[:3] + final_range_vcsel_period_pclks, pre_range_mclks = step_timeouts[3:] if tcc: used_budget_us += (msrc_dss_tcc_us + 590) if dss: @@ -447,11 +461,13 @@ def measurement_timing_budget(self, budget_us): if used_budget_us > budget_us: raise ValueError('Requested timeout too big.') final_range_timeout_us = budget_us - used_budget_us - final_range_timeout_mclks = self._timeout_mclks_to_microseconds(final_range_timeout_us, final_range_vcsel_period_pclks) + final_range_timeout_mclks = _timeout_mclks_to_microseconds( + final_range_timeout_us, + final_range_vcsel_period_pclks) if pre_range: final_range_timeout_mclks += pre_range_mclks self._write_u16(_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI, - self._encode_timeout(final_range_timeout_mclks)) + _encode_timeout(final_range_timeout_mclks)) self._measurement_timing_budget_us = budget_us @property diff --git a/examples/simpletest.py b/examples/simpletest.py index 61cbe54..ae69a56 100644 --- a/examples/simpletest.py +++ b/examples/simpletest.py @@ -1,8 +1,9 @@ # Simple demo of the VL53L0X distance sensor. # Will print the sensed range/distance every second. +import time + import board import busio -import time import adafruit_vl53l0x diff --git a/readthedocs.yml b/readthedocs.yml index a3a16c1..f4243ad 100644 --- a/readthedocs.yml +++ b/readthedocs.yml @@ -1,2 +1,3 @@ +python: + version: 3 requirements_file: requirements.txt - From e92ec32ba41786642bb0a75eb64daec87ec246cb Mon Sep 17 00:00:00 2001 From: Kattni Date: Mon, 18 Dec 2017 21:54:21 -0500 Subject: [PATCH 2/2] update to `pip install` line 25 --- .travis.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index 454b4a5..39a668f 100644 --- a/.travis.yml +++ b/.travis.yml @@ -22,7 +22,7 @@ deploy: tags: true install: - - pip install pylint circuitpython-travis-build-tools + - pip install pylint circuitpython-build-tools script: - pylint adafruit_vl53l0x.py