add set_address to change the I2C address

adafruit_vl53l4cd.py

@@ -71,6 +71,7 @@ class VL53L4CD:
     """Driver for the VL53L4CD distance sensor."""
 
     def __init__(self, i2c, address=41):
+        self._i2c = i2c
         self.i2c_device = i2c_device.I2CDevice(i2c, address)
         model_id, module_type = self.model_info
         if model_id != 0xEB or module_type != 0xAA:
@@ -394,3 +395,14 @@ def _read_register(self, address, length=1):
             i2c.write(struct.pack(">H", address))
             i2c.readinto(data)
         return data
+
+    def set_address(self, new_address):
+        """
+        Set a new I2C address to the instantaited object. This is only called when using
+        multiple VL53L4CD sensors on the same I2C bus (SDA & SCL pins). See also the
+        `example <examples.html#id2>`_ for proper usage.
+        """
+        self._write_register(
+            _VL53L4CD_I2C_SLAVE_DEVICE_ADDRESS, struct.pack(">B", new_address)
+        )
+        self.i2c_device = i2c_device.I2CDevice(self._i2c, new_address)

docs/examples.rst

@@ -6,3 +6,9 @@ Ensure your device works with this simple test.
 .. literalinclude:: ../examples/vl53l4cd_simpletest.py
     :caption: examples/vl53l4cd_simpletest.py
     :linenos:
+
+Use set_address to update the I2C address of additional connected sensors.
+
+.. literalinclude:: ../examples/vl53l4cd_set_address_multiple_sensors.py
+    :caption: examples/vl53l4cd_set_address_multiple_sensors.py
+    :linenos:

examples/vl53l4cd_set_address_multiple_sensors.py

@@ -0,0 +1,68 @@
+# SPDX-FileCopyrightText: 2022 wrdaigle for Adafruit Industries
+# SPDX-FileCopyrightText: 2022 Kattni Rembor for Adafruit Industries
+#
+# SPDX-License-Identifier: MIT
+"""
+VL53L4CD multiple sensor I2C set_address demo.
+
+This example is written for two sensors, but it can easily be modified to include more.
+
+NOTE: A multitude of sensors may require more current than the on-board 3V regulator can output.
+The typical current consumption during active range readings is about 19 mA per sensor.
+"""
+
+import time
+import board
+import digitalio
+import adafruit_vl53l4cd
+
+# Define the I2C pins.
+i2c = board.I2C()
+
+xshut = [
+    # Update the D6 and D5 pins to match the pins to which you wired your sensor XSHUT pins.
+    digitalio.DigitalInOut(board.D6),
+    digitalio.DigitalInOut(board.D5),
+    # Add more VL53L4CD sensors by defining their XSHUT pins here.
+]
+
+for shutdown_pin in xshut:
+    # Set the shutdown pins to output, and pull them low.
+    shutdown_pin.switch_to_output(value=False)
+    # These pins are active when Low, meaning:
+    #   If the output signal is LOW, then the VL53L4CD sensor is off.
+    #   If the output signal is HIGH, then the VL53L4CD sensor is on.
+# All VL53L4CD sensors are now off.
+
+# Create a list to be used for the array of VL53L4CD sensors.
+vl53l4cd_list = []
+
+# Change the address of the additional VL53L4CD sensors.
+for pin_number, shutdown_pin in enumerate(xshut):
+    # Turn on the VL53L4CD sensors to allow hardware check.
+    shutdown_pin.value = True
+    # Instantiate the VL53L4CD I2C object and insert it into the VL53L4CD list.
+    # This also performs VL53L4CD hardware check.
+    sensor_i2c = adafruit_vl53l4cd.VL53L4CD(i2c)
+    vl53l4cd_list.append(sensor_i2c)
+    # This ensures no address change on one sensor board, specifically the last one in the series.
+    if pin_number < len(xshut) - 1:
+        # The default address is 0x29. Update it to an address that is not already in use.
+        sensor_i2c.set_address(pin_number + 0x30)
+
+# Print the various sensor I2C addresses to the serial console.
+if i2c.try_lock():
+    print("Sensor I2C addresses:", [hex(x) for x in i2c.scan()])
+    i2c.unlock()
+
+# Start ranging for sensor data collection.
+for sensor in vl53l4cd_list:
+    sensor.start_ranging()
+while True:
+    # Extract the appropriate data from the current list, and print
+    # the sensor distance readings for all available sensors.
+    for sensor_number, sensor in enumerate(vl53l4cd_list):
+        if sensor.data_ready:
+            print("Sensor {}: {}".format(sensor_number + 1, sensor.distance))
+            sensor.clear_interrupt()
+    time.sleep(0.5)