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‎LICENSE.txt‎

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MIT License
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Copyright (c) 2024 ams OSRAM
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.

‎README.md‎

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# tmf8806_app_circuitpython
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Circuitpython measurement implementation
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# TMF8806 (Time-of-flight) CircuitPython v8.0.5 calibration and measurement example
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This folder provides simple examples to demonstrate factory calibration and basic device startup with calibration and continuous measurements
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## Requirements
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- An MCU device running Circuitpython v8.0.5, this code was developed using a TMF8806 connected to an RP2040 I2C interface
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- Code was developed using Thonny v4.1.6
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- CircuitPython Homepage : https://circuitpython.org/
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## Files
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The project consists of 2 files:
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- **tmf8806_read_cal_data.py** - CircuitPython script to configure TMF8806, start factory calibration and print out calibration data
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- **tmf8806_basic_example.py** - CurcuitPython script to configure TMF8806, load factory calibration, start measurements and print out TID, Distance and confidence
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## Factory calibration
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Please refer to the TMF8806 datasheet(DS001097) section 6.9.1 and TMF8806 Host Driver Communication Application Note (AN001069) for full details
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To achieve the performance described in the next sections, a calibration of the algorithm needs to be performed (command = 0x0A). The TMF8806 shall be embedded in the final application and the cover glass including the IR ink needs to be assembled. The calibration test shall be done in a housing with minimal ambient light and no target within 40 cm in field of view of the TMF8806.
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The tmf8806_read_cal_data.py script outputs a string of 14 bytes that should be copied to the tmf8806_basic_example.py script cal_data variable.
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## Basic device configuration and continuous measurement example
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The tmf8806_basic_example.py will configure the sensor with the defualt settings as described in the TMF8806 datasheet(DS001097) and TMF8806 Host Driver Communication Application Note (AN001069) section 8.8. The script includes several other configuration examples which can be used to change the basic device configuration.
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The script output consists of the Transaction ID (TID), a distance (mm) and a confidence (0-63).
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‎tmf8806_basic_example.py‎

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"""
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*****************************************************************************
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* Copyright by ams OSRAM AG *
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* All rights are reserved. *
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* *
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* IMPORTANT - PLEASE READ CAREFULLY BEFORE COPYING, INSTALLING OR USING *
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* THE SOFTWARE. *
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* *
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS *
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT *
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS *
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT *
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* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, *
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT *
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, *
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY *
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE *
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
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*****************************************************************************
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TMF8806 CircuitPython v8.0.5 implementation specific to the RP2040 (Pin layout)
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Configure device, load calibration data and start periodic measurements example
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"""
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import time
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import board
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import busio
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import digitalio
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"""
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Constants
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"""
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SLAVE_ADDR = 0x41
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BSL_SLEEP = 0x00
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BSL_READY = 0x41
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PON = 0x01
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APP0 = 0xC0
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CLR_INT = 0x01
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EN_INT = 0x01
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RES_INT = 0x01
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I2C_FREQUENCY_1MHz = 1000000
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"""
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TMF8806 register addresses
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"""
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app_req_id_reg = 0x02
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cmd_reg = 0x10
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stat_reg = 0x1D
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factory_cal_reg = 0x20
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enable_reg = 0xE0
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int_stat_reg = 0xE1
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int_en_reg = 0xE2
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result = bytearray(7)
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int_stat_result = bytearray(1)
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"""
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Alternate command data strings, changes period & # of iterations
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Command = [addr, cd9, cd8, cd7, cd6, cd5, cd4, cd3, cd2, cd1, cd0, cmd]
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Command = [addr, emc, ss, cal/st, alg, gpio,gpiot,thres,rep_ms,it_lsb,it_msb,start]
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start_measure = [0x06, 0x00, 0x00, 0x11, 0x02, 0x00, 0x00, 0x06, 0xFE, 0x0A, 0x00, 0x02] # 1Hz continuous sample rate, 10k iterations
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start_measure = [0x06, 0x00, 0x00, 0x11, 0x02, 0x00, 0x00, 0x06, 0xFE, 0xFF, 0x01, 0x02] # 1Hz continuous sample rate, 511k iterations
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start_measure = [0x06, 0x00, 0x00, 0x11, 0x02, 0x03, 0x01, 0x00, 0xC8, 0x01, 0x00, 0x02] # 10Hz continuous sample rate, 900k iterations
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start_measure = [0x06, 0x00, 0x00, 0x11, 0x02, 0x00, 0x00, 0x06, 0x1E, 0xA0, 0x0F, 0x02] # 10Hz continuous sample rate, 4000k iterations
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start_measure = [0x06, 0x00, 0x00, 0x11, 0x02, 0x00, 0x00, 0x06, 0x1E, 0x84, 0x03, 0x02] # 30Hz continuous sample rate, 900k iterations
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"""
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start_measure = [0x06, 0x00, 0x00, 0x11, 0x02, 0x00, 0x00, 0x06, 0x1E, 0x84, 0x03, 0x02] # 30Hz continuous sample rate, 900k iterations
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"""
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Calibration data - individual to each device
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"""
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cal_data = [factory_cal_reg, 0x02,0x00,0x00,0xF9,0xCF,0xE0,0x3F,0x7F,0x03,0x00,0x40,0x20,0x00,0x04]
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"""
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Configure TMF8806 Enable pin
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"""
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tmf8806_enablepin = digitalio.DigitalInOut(board.GP16)
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tmf8806_enablepin.direction = digitalio.Direction.OUTPUT
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"""
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I2C setup
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"""
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tmf8806 = busio.I2C(scl=board.GP7, sda=board.GP6, frequency = I2C_FREQUENCY_1MHz)
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"""
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Function definitions
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"""
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def enable_tmf8806():
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"""
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Function to enable TMF8806 device
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"""
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res = bytearray(1)
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tmf8806_enablepin.value = False # pull enable pin low for 3 milliseconds to allow cap to discharge
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time.sleep(0.003)
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tmf8806_enablepin.value = True
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time.sleep(0.002) # 2ms boot time
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tmf8806.writeto_then_readfrom(SLAVE_ADDR, bytes([enable_reg]), res) # read state of device
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while (res[0] != BSL_SLEEP):
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tmf8806.writeto_then_readfrom(SLAVE_ADDR, bytes([enable_reg]), res)
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tmf8806.writeto_then_readfrom(SLAVE_ADDR, bytes([enable_reg, PON]), res) # wake-up device
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while (res[0] != BSL_READY):
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tmf8806.writeto_then_readfrom(SLAVE_ADDR, bytes([enable_reg]), res)
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tmf8806.writeto_then_readfrom(SLAVE_ADDR, bytes([app_req_id_reg, APP0]), res)
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tmf8806.writeto_then_readfrom(SLAVE_ADDR, bytes([app_req_id_reg]), res) # check the App Id here to make sure app is running
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while (res[0] != APP0):
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tmf8806.writeto_then_readfrom(SLAVE_ADDR, bytes([app_req_id_reg]), res)
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def load_cal():
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"""
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Load calibration data to device
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"""
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tmf8806.writeto(SLAVE_ADDR, bytes(cal_data))
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def start_measurements():
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"""
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Write command data string to TMF8806 device
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"""
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tmf8806.writeto(SLAVE_ADDR, bytes([int_stat_reg, CLR_INT])) # clear any outdated (but still pending) interrupt (e.g. from previous run)
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tmf8806.writeto(SLAVE_ADDR, bytes([int_en_reg, EN_INT])) # enable interrupts before starting to measure, so to not miss the first one
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tmf8806.writeto(SLAVE_ADDR, bytes(start_measure)) # send command string
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"""
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Main code - Wait for result ready flag and print TID, Distance & Confidence
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"""
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while not tmf8806.try_lock():
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pass
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try:
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enable_tmf8806() # pull enable pin high and wait for CPU ready
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load_cal() # load factory calibration information
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start_measurements() # start continuous measurements as per start_measurement configuration
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tmf8806.writeto_then_readfrom(SLAVE_ADDR, bytes([int_stat_reg]), int_stat_result) # just read 1 byte
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while(1):
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while (int_stat_result[0] != RES_INT): # poll interrupt flag for result ready indication
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tmf8806.writeto_then_readfrom(SLAVE_ADDR, bytes([int_stat_reg]), int_stat_result)
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tmf8806.writeto(SLAVE_ADDR, bytes([int_stat_reg, CLR_INT]))
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tmf8806.writeto_then_readfrom(SLAVE_ADDR, bytes([stat_reg]), result) # read result block
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print("TID: ", (result[2])) # print Transaction ID
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print("Distance:", (result[5] + 0xFF * result[6])) # print distance from lsb & msb distance bytes (mm)
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print("Confidence:", (result[4])) # print result confidence (0-63)
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print("")
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tmf8806.writeto_then_readfrom(SLAVE_ADDR, bytes([int_stat_reg]), int_stat_result) # reset interrupt for next measurement result
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finally:
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tmf8806.unlock()

‎tmf8806_read_cal_data.py‎

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"""
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*****************************************************************************
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* Copyright by ams OSRAM AG *
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* All rights are reserved. *
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* *
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* IMPORTANT - PLEASE READ CAREFULLY BEFORE COPYING, INSTALLING OR USING *
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* THE SOFTWARE. *
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* *
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS *
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT *
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS *
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT *
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* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, *
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT *
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, *
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY *
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE *
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
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*****************************************************************************
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TMF8806 CircuitPython v8.0.5 implementation specific to the RP2040 (Pin layout)
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Device calibration and print calibration data example
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"""
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import time
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import board
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import busio
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import digitalio
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"""
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Constants
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"""
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SLAVE_ADDR = 0x41
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BSL_SLEEP = 0x00
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BSL_READY = 0x41
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PON = 0x01
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APP0 = 0xC0
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I2C_FREQUENCY_1MHz = 1000000
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"""
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TMF8806 register addresses
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"""
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app_req_id_reg = 0x02
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cmd_reg = 0x10
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stat_reg = 0x1D
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reg_contents_reg = 0x1E
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factory_cal_reg = 0x20
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enable_reg = 0xE0
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"""
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Data array
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"""
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result = bytearray(14)
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"""
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Command string to begin factory calibration routine
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"""
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start_cal = [ 0x06, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x64, 0x00, 0xA0, 0x0A]
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"""
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Configure TMF8806 Enable pin
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"""
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tmf8806_enablepin = digitalio.DigitalInOut(board.GP16)
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tmf8806_enablepin.direction = digitalio.Direction.OUTPUT
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"""
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I2C setup
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"""
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tmf8806 = busio.I2C(scl=board.GP7, sda=board.GP6, frequency = I2C_FREQUENCY_1MHz)
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"""
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Function definitions
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"""
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def enable_tmf8806():
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"""
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Function to enable TMF8806 device
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"""
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result = bytearray(1)
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tmf8806_enablepin.value = False
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tmf8806_enablepin.value = True
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time.sleep(0.1)
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tmf8806.writeto_then_readfrom(SLAVE_ADDR, bytes([enable_reg]), result)
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while (result[0] != BSL_SLEEP):
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tmf8806.writeto_then_readfrom(SLAVE_ADDR, bytes([enable_reg]), result)
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tmf8806.writeto_then_readfrom(SLAVE_ADDR, bytes([enable_reg, PON]), result)
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while (result[0] != BSL_READY):
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tmf8806.writeto_then_readfrom(SLAVE_ADDR, bytes([enable_reg]), result)
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tmf8806.writeto_then_readfrom(SLAVE_ADDR, bytes([app_req_id_reg, APP0]), result)
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tmf8806.writeto_then_readfrom(SLAVE_ADDR, bytes([app_req_id_reg]), result)
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while (result[0] != APP0):
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tmf8806.writeto_then_readfrom(SLAVE_ADDR, bytes([app_req_id_reg]), result)
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def start_calibration():
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"""
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Write command data string to TMF8806 device
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"""
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tmf8806.writeto(SLAVE_ADDR, bytes(start_cal))
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tmf8806.writeto_then_readfrom(SLAVE_ADDR, bytes([reg_contents_reg]), result)
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while (result[0] != 0x0A):
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tmf8806.writeto_then_readfrom(SLAVE_ADDR, bytes([reg_contents_reg]), result)
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"""
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Main code - enable device, start calibration and print calibration data
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"""
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while not tmf8806.try_lock():
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pass
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try:
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enable_tmf8806() # pull enable pin high and wait for CPU ready
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print("Gathering calibration data\n")
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start_calibration() # start factory calibration routine
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tmf8806.writeto_then_readfrom(SLAVE_ADDR, bytes([factory_cal_reg]), result)
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print (','.join(f'{byte:02X}' for byte in result))
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print("\nCopy data to cal_data in tmf8806_basic_example.py\n")
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finally:
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tmf8806.unlock()

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