Vl53l0x (#644)

* VL530LX

* VL53L0X

* Updates

* License

* Lint

MANIFEST.in

@@ -3,3 +3,4 @@ include README.md
 include esphome/dashboard/templates/*.html
 recursive-include esphome/dashboard/static *.ico *.js *.css *.woff* LICENSE
 recursive-include esphome *.cpp *.h *.tcc
+recursive-include esphome LICENSE.txt

esphome/components/i2c/i2c.cpp

@@ -208,5 +208,30 @@ void I2CDevice::set_i2c_parent(I2CComponent *parent) { this->parent_ = parent; }
 uint8_t next_i2c_bus_num_ = 0;
 #endif
 
+I2CRegister &I2CRegister::operator=(uint8_t value) {
+  this->parent_->write_byte(this->register_, value);
+  return *this;
+}
+
+I2CRegister &I2CRegister::operator&=(uint8_t value) {
+  this->parent_->write_byte(this->register_, this->get() & value);
+  return *this;
+}
+
+I2CRegister &I2CRegister::operator|=(uint8_t value) {
+  this->parent_->write_byte(this->register_, this->get() | value);
+  return *this;
+}
+
+uint8_t I2CRegister::get() {
+  uint8_t value = 0x00;
+  this->parent_->read_byte(this->register_, &value);
+  return value;
+}
+I2CRegister &I2CRegister::operator=(const std::vector<uint8_t> &value) {
+  this->parent_->write_bytes(this->register_, value);
+  return *this;
+}
+
 }  // namespace i2c
 }  // namespace esphome

esphome/components/i2c/i2c.h

@@ -134,6 +134,24 @@ class I2CComponent : public Component {
 extern uint8_t next_i2c_bus_num_;
 #endif
 
+class I2CDevice;
+
+class I2CRegister {
+ public:
+  I2CRegister(I2CDevice *parent, uint8_t a_register) : parent_(parent), register_(a_register) {}
+
+  I2CRegister &operator=(uint8_t value);
+  I2CRegister &operator=(const std::vector<uint8_t> &value);
+  I2CRegister &operator&=(uint8_t value);
+  I2CRegister &operator|=(uint8_t value);
+
+  uint8_t get();
+
+ protected:
+  I2CDevice *parent_;
+  uint8_t register_;
+};
+
 /** All components doing communication on the I2C bus should subclass I2CDevice.
  *
  * This class stores 1. the address of the i2c device and has a helper function to allow
@@ -153,6 +171,8 @@ class I2CDevice {
   /// Manually set the parent i2c bus for this device.
   void set_i2c_parent(I2CComponent *parent);
 
+  I2CRegister reg(uint8_t a_register) { return {this, a_register}; }
+
   /** Read len amount of bytes from a register into data. Optionally with a conversion time after
    * writing the register value to the bus.
    *

esphome/components/vl53l0x/LICENSE.txt

@@ -0,0 +1,80 @@
+Most of the code in this integration is based on the VL53L0x library
+by Pololu (Pololu Corporation), which in turn is based on the VL53L0X
+API from ST. The code has been adapted to work with ESPHome's i2c APIs.
+Please see the top-level LICENSE.txt for information about ESPHome's license.
+The licenses for Pololu's and ST's software are included below.
+Orignally taken from https://github.com/pololu/vl53l0x-arduino (accessed 20th october 2019).
+
+=================================================================
+
+Copyright (c) 2017 Pololu Corporation.  For more information, see
+
+https://www.pololu.com/
+https://forum.pololu.com/
+
+Permission is hereby granted, free of charge, to any person
+obtaining a copy of this software and associated documentation
+files (the "Software"), to deal in the Software without
+restriction, including without limitation the rights to use,
+copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following
+conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+OTHER DEALINGS IN THE SOFTWARE.
+
+=================================================================
+
+Most of the functionality of this library is based on the VL53L0X
+API provided by ST (STSW-IMG005), and some of the explanatory
+comments are quoted or paraphrased from the API source code, API
+user manual (UM2039), and the VL53L0X datasheet.
+
+The following applies to source code reproduced or derived from
+the API:
+
+-----------------------------------------------------------------
+
+Copyright © 2016, STMicroelectronics International N.V.  All
+rights reserved.
+
+Redistribution and use in source and binary forms, with or
+without modification, are permitted provided that the following
+conditions are met:
+* Redistributions of source code must retain the above copyright
+notice, this list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above
+copyright notice, this list of conditions and the following
+disclaimer in the documentation and/or other materials provided
+with the distribution.
+* Neither the name of STMicroelectronics nor the
+names of its contributors may be used to endorse or promote
+products derived from this software without specific prior
+written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
+NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
+IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
+USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
+
+-----------------------------------------------------------------

esphome/components/vl53l0x/sensor.py

@@ -0,0 +1,24 @@
+import esphome.codegen as cg
+import esphome.config_validation as cv
+from esphome.components import i2c, sensor
+from esphome.const import CONF_ID, UNIT_METER, ICON_ARROW_EXPAND_VERTICAL
+
+DEPENDENCIES = ['i2c']
+
+vl53l0x_ns = cg.esphome_ns.namespace('vl53l0x')
+VL53L0XSensor = vl53l0x_ns.class_('VL53L0XSensor', sensor.Sensor, cg.PollingComponent,
+                                  i2c.I2CDevice)
+
+CONF_SIGNAL_RATE_LIMIT = 'signal_rate_limit'
+CONFIG_SCHEMA = sensor.sensor_schema(UNIT_METER, ICON_ARROW_EXPAND_VERTICAL, 2).extend({
+    cv.GenerateID(): cv.declare_id(VL53L0XSensor),
+    cv.Optional(CONF_SIGNAL_RATE_LIMIT, default=0.25): cv.float_range(
+        min=0.0, max=512.0, min_included=False, max_included=False)
+}).extend(cv.polling_component_schema('60s')).extend(i2c.i2c_device_schema(0x29))
+
+
+def to_code(config):
+    var = cg.new_Pvariable(config[CONF_ID])
+    yield cg.register_component(var, config)
+    yield sensor.register_sensor(var, config)
+    yield i2c.register_i2c_device(var, config)

esphome/components/vl53l0x/vl53l0x_sensor.cpp

@@ -0,0 +1,249 @@
+#include "vl53l0x_sensor.h"
+#include "esphome/core/log.h"
+
+/*
+ * Most of the code in this integration is based on the VL53L0x library
+ * by Pololu (Pololu Corporation), which in turn is based on the VL53L0X
+ * API from ST.
+ *
+ * For more information about licensing, please view the included LICENSE.txt file
+ * in the vl53l0x integration directory.
+ */
+
+namespace esphome {
+namespace vl53l0x {
+
+static const char *TAG = "vl53l0x";
+
+void VL53L0XSensor::dump_config() {
+  LOG_SENSOR("", "VL53L0X", this);
+  LOG_UPDATE_INTERVAL(this);
+  LOG_I2C_DEVICE(this);
+}
+void VL53L0XSensor::setup() {
+  reg(0x89) |= 0x01;
+  reg(0x88) = 0x00;
+
+  reg(0x80) = 0x01;
+  reg(0xFF) = 0x01;
+  reg(0x00) = 0x00;
+  stop_variable_ = reg(0x91).get();
+
+  reg(0x00) = 0x01;
+  reg(0xFF) = 0x00;
+  reg(0x80) = 0x00;
+  reg(0x60) |= 0x12;
+
+  auto rate_value = static_cast<uint16_t>(signal_rate_limit_ * 128);
+  write_byte_16(0x44, rate_value);
+
+  reg(0x01) = 0xFF;
+
+  // getSpadInfo()
+  reg(0x80) = 0x01;
+  reg(0xFF) = 0x01;
+  reg(0x00) = 0x00;
+  reg(0xFF) = 0x06;
+  reg(0x83) |= 0x04;
+  reg(0xFF) = 0x07;
+  reg(0x81) = 0x01;
+  reg(0x80) = 0x01;
+  reg(0x94) = 0x6B;
+  reg(0x83) = 0x00;
+
+  while (reg(0x83).get() == 0x00)
+    yield();
+
+  reg(0x83) = 0x01;
+  uint8_t tmp = reg(0x92).get();
+  uint8_t spad_count = tmp & 0x7F;
+  bool spad_type_is_aperture = tmp & 0x80;
+
+  reg(0x81) = 0x00;
+  reg(0xFF) = 0x06;
+  reg(0x83) &= ~0x04;
+  reg(0xFF) = 0x01;
+  reg(0x00) = 0x01;
+  reg(0xFF) = 0x00;
+  reg(0x80) = 0x00;
+
+  uint8_t ref_spad_map[6];
+  this->read_bytes(0xB0, ref_spad_map, 6);
+
+  reg(0xFF) = 0x01;
+  reg(0x4F) = 0x00;
+  reg(0x4E) = 0x2C;
+  reg(0xFF) = 0x00;
+  reg(0xB6) = 0xB4;
+
+  uint8_t first_spad_to_enable = spad_type_is_aperture ? 12 : 0;
+  uint8_t spads_enabled = 0;
+  for (int i = 0; i < 48; i++) {
+    uint8_t &val = ref_spad_map[i / 8];
+    uint8_t mask = 1 << (i % 8);
+
+    if (i < first_spad_to_enable || spads_enabled == spad_count)
+      val &= ~mask;
+    else if (val & mask)
+      spads_enabled += 1;
+  }
+
+  this->write_bytes(0xB0, ref_spad_map, 6);
+
+  reg(0xFF) = 0x01;
+  reg(0x00) = 0x00;
+  reg(0xFF) = 0x00;
+  reg(0x09) = 0x00;
+  reg(0x10) = 0x00;
+  reg(0x11) = 0x00;
+  reg(0x24) = 0x01;
+  reg(0x25) = 0xFF;
+  reg(0x75) = 0x00;
+  reg(0xFF) = 0x01;
+  reg(0x4E) = 0x2C;
+  reg(0x48) = 0x00;
+  reg(0x30) = 0x20;
+  reg(0xFF) = 0x00;
+  reg(0x30) = 0x09;
+  reg(0x54) = 0x00;
+  reg(0x31) = 0x04;
+  reg(0x32) = 0x03;
+  reg(0x40) = 0x83;
+  reg(0x46) = 0x25;
+  reg(0x60) = 0x00;
+  reg(0x27) = 0x00;
+  reg(0x50) = 0x06;
+  reg(0x51) = 0x00;
+  reg(0x52) = 0x96;
+  reg(0x56) = 0x08;
+  reg(0x57) = 0x30;
+  reg(0x61) = 0x00;
+  reg(0x62) = 0x00;
+  reg(0x64) = 0x00;
+  reg(0x65) = 0x00;
+  reg(0x66) = 0xA0;
+  reg(0xFF) = 0x01;
+  reg(0x22) = 0x32;
+  reg(0x47) = 0x14;
+  reg(0x49) = 0xFF;
+  reg(0x4A) = 0x00;
+  reg(0xFF) = 0x00;
+  reg(0x7A) = 0x0A;
+  reg(0x7B) = 0x00;
+  reg(0x78) = 0x21;
+  reg(0xFF) = 0x01;
+  reg(0x23) = 0x34;
+  reg(0x42) = 0x00;
+  reg(0x44) = 0xFF;
+  reg(0x45) = 0x26;
+  reg(0x46) = 0x05;
+  reg(0x40) = 0x40;
+  reg(0x0E) = 0x06;
+  reg(0x20) = 0x1A;
+  reg(0x43) = 0x40;
+  reg(0xFF) = 0x00;
+  reg(0x34) = 0x03;
+  reg(0x35) = 0x44;
+  reg(0xFF) = 0x01;
+  reg(0x31) = 0x04;
+  reg(0x4B) = 0x09;
+  reg(0x4C) = 0x05;
+  reg(0x4D) = 0x04;
+  reg(0xFF) = 0x00;
+  reg(0x44) = 0x00;
+  reg(0x45) = 0x20;
+  reg(0x47) = 0x08;
+  reg(0x48) = 0x28;
+  reg(0x67) = 0x00;
+  reg(0x70) = 0x04;
+  reg(0x71) = 0x01;
+  reg(0x72) = 0xFE;
+  reg(0x76) = 0x00;
+  reg(0x77) = 0x00;
+  reg(0xFF) = 0x01;
+  reg(0x0D) = 0x01;
+  reg(0xFF) = 0x00;
+  reg(0x80) = 0x01;
+  reg(0x01) = 0xF8;
+  reg(0xFF) = 0x01;
+  reg(0x8E) = 0x01;
+  reg(0x00) = 0x01;
+  reg(0xFF) = 0x00;
+  reg(0x80) = 0x00;
+
+  reg(0x0A) = 0x04;
+  reg(0x84) &= ~0x10;
+  reg(0x0B) = 0x01;
+
+  measurement_timing_budget_us_ = get_measurement_timing_budget_();
+  reg(0x01) = 0xE8;
+  set_measurement_timing_budget_(measurement_timing_budget_us_);
+  reg(0x01) = 0x01;
+
+  if (!perform_single_ref_calibration_(0x40)) {
+    ESP_LOGW(TAG, "1st reference calibration failed!");
+    this->mark_failed();
+    return;
+  }
+  reg(0x01) = 0x02;
+  if (!perform_single_ref_calibration_(0x00)) {
+    ESP_LOGW(TAG, "2nd reference calibration failed!");
+    this->mark_failed();
+    return;
+  }
+  reg(0x01) = 0xE8;
+}
+void VL53L0XSensor::update() {
+  if (this->initiated_read_ || this->waiting_for_interrupt_) {
+    this->publish_state(NAN);
+    this->status_set_warning();
+  }
+
+  // initiate single shot measurement
+  reg(0x80) = 0x01;
+  reg(0xFF) = 0x01;
+
+  reg(0x00) = 0x00;
+  reg(0x91) = stop_variable_;
+  reg(0x00) = 0x01;
+  reg(0xFF) = 0x00;
+  reg(0x80) = 0x00;
+
+  reg(0x00) = 0x01;
+  this->waiting_for_interrupt_ = false;
+  this->initiated_read_ = true;
+  // wait for timeout
+}
+void VL53L0XSensor::loop() {
+  if (this->initiated_read_) {
+    if (reg(0x00).get() & 0x01) {
+      // waiting
+    } else {
+      // done
+      // wait until reg(0x13) & 0x07 is set
+      this->initiated_read_ = false;
+      this->waiting_for_interrupt_ = true;
+    }
+  }
+  if (this->waiting_for_interrupt_) {
+    if (reg(0x13).get() & 0x07) {
+      uint16_t range_mm;
+      this->read_byte_16(0x14 + 10, &range_mm);
+      reg(0x0B) = 0x01;
+      this->waiting_for_interrupt_ = false;
+
+      if (range_mm >= 8190) {
+        ESP_LOGW(TAG, "'%s' - Distance is out of range, please move the target closer", this->name_.c_str());
+        this->publish_state(NAN);
+        return;
+      }
+
+      float range_m = range_mm / 1e3f;
+      ESP_LOGD(TAG, "'%s' - Got distance %.3f m", this->name_.c_str(), range_m);
+      this->publish_state(range_m);
+    }
+  }
+}
+
+}  // namespace vl53l0x
+}  // namespace esphome

esphome/components/vl53l0x/vl53l0x_sensor.h

@@ -0,0 +1,257 @@
+#pragma once
+
+#include "esphome/core/component.h"
+#include "esphome/components/sensor/sensor.h"
+#include "esphome/components/i2c/i2c.h"
+
+namespace esphome {
+namespace vl53l0x {
+
+struct SequenceStepEnables {
+  bool tcc, msrc, dss, pre_range, final_range;
+};
+
+struct SequenceStepTimeouts {
+  uint16_t pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks;
+
+  uint16_t msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks;
+  uint32_t msrc_dss_tcc_us, pre_range_us, final_range_us;
+};
+
+class VL53L0XSensor : public sensor::Sensor, public PollingComponent, public i2c::I2CDevice {
+ public:
+  void setup() override;
+
+  void dump_config() override;
+  float get_setup_priority() const override { return setup_priority::DATA; }
+  void update() override;
+
+  void loop() override;
+
+  void set_signal_rate_limit(float signal_rate_limit) { signal_rate_limit_ = signal_rate_limit; }
+
+ protected:
+  uint32_t get_measurement_timing_budget_() {
+    SequenceStepEnables enables{};
+    SequenceStepTimeouts timeouts{};
+
+    uint16_t start_overhead = 1910;
+    uint16_t end_overhead = 960;
+    uint16_t msrc_overhead = 660;
+    uint16_t tcc_overhead = 590;
+    uint16_t dss_overhead = 690;
+    uint16_t pre_range_overhead = 660;
+    uint16_t final_range_overhead = 550;
+
+    // "Start and end overhead times always present"
+    uint32_t budget_us = start_overhead + end_overhead;
+
+    get_sequence_step_enables_(&enables);
+    get_sequence_step_timeouts_(&enables, &timeouts);
+
+    if (enables.tcc)
+      budget_us += (timeouts.msrc_dss_tcc_us + tcc_overhead);
+
+    if (enables.dss)
+      budget_us += 2 * (timeouts.msrc_dss_tcc_us + dss_overhead);
+    else if (enables.msrc)
+      budget_us += (timeouts.msrc_dss_tcc_us + msrc_overhead);
+
+    if (enables.pre_range)
+      budget_us += (timeouts.pre_range_us + pre_range_overhead);
+
+    if (enables.final_range)
+      budget_us += (timeouts.final_range_us + final_range_overhead);
+
+    measurement_timing_budget_us_ = budget_us;  // store for internal reuse
+    return budget_us;
+  }
+
+  bool set_measurement_timing_budget_(uint32_t budget_us) {
+    SequenceStepEnables enables{};
+    SequenceStepTimeouts timeouts{};
+
+    uint16_t start_overhead = 1320;  // note that this is different than the value in get_
+    uint16_t end_overhead = 960;
+    uint16_t msrc_overhead = 660;
+    uint16_t tcc_overhead = 590;
+    uint16_t dss_overhead = 690;
+    uint16_t pre_range_overhead = 660;
+    uint16_t final_range_overhead = 550;
+
+    uint32_t min_timing_budget = 20000;
+
+    if (budget_us < min_timing_budget) {
+      return false;
+    }
+
+    uint32_t used_budget_us = start_overhead + end_overhead;
+
+    get_sequence_step_enables_(&enables);
+    get_sequence_step_timeouts_(&enables, &timeouts);
+
+    if (enables.tcc) {
+      used_budget_us += (timeouts.msrc_dss_tcc_us + tcc_overhead);
+    }
+
+    if (enables.dss) {
+      used_budget_us += 2 * (timeouts.msrc_dss_tcc_us + dss_overhead);
+    } else if (enables.msrc) {
+      used_budget_us += (timeouts.msrc_dss_tcc_us + msrc_overhead);
+    }
+
+    if (enables.pre_range) {
+      used_budget_us += (timeouts.pre_range_us + pre_range_overhead);
+    }
+
+    if (enables.final_range) {
+      used_budget_us += final_range_overhead;
+
+      // "Note that the final range timeout is determined by the timing
+      // budget and the sum of all other timeouts within the sequence.
+      // If there is no room for the final range timeout, then an error
+      // will be set. Otherwise the remaining time will be applied to
+      // the final range."
+
+      if (used_budget_us > budget_us) {
+        // "Requested timeout too big."
+        return false;
+      }
+
+      uint32_t final_range_timeout_us = budget_us - used_budget_us;
+
+      // set_sequence_step_timeout() begin
+      // (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE)
+
+      // "For the final range timeout, the pre-range timeout
+      //  must be added. To do this both final and pre-range
+      //  timeouts must be expressed in macro periods MClks
+      //  because they have different vcsel periods."
+
+      uint16_t final_range_timeout_mclks =
+          timeout_microseconds_to_mclks_(final_range_timeout_us, timeouts.final_range_vcsel_period_pclks);
+
+      if (enables.pre_range) {
+        final_range_timeout_mclks += timeouts.pre_range_mclks;
+      }
+
+      write_byte_16(0x71, encode_timeout_(final_range_timeout_mclks));
+
+      // set_sequence_step_timeout() end
+
+      measurement_timing_budget_us_ = budget_us;  // store for internal reuse
+    }
+    return true;
+  }
+
+  void get_sequence_step_enables_(SequenceStepEnables *enables) {
+    uint8_t sequence_config = reg(0x01).get();
+    enables->tcc = (sequence_config >> 4) & 0x1;
+    enables->dss = (sequence_config >> 3) & 0x1;
+    enables->msrc = (sequence_config >> 2) & 0x1;
+    enables->pre_range = (sequence_config >> 6) & 0x1;
+    enables->final_range = (sequence_config >> 7) & 0x1;
+  }
+
+  enum VcselPeriodType { VCSEL_PERIOD_PRE_RANGE, VCSEL_PERIOD_FINAL_RANGE };
+
+  void get_sequence_step_timeouts_(SequenceStepEnables const *enables, SequenceStepTimeouts *timeouts) {
+    timeouts->pre_range_vcsel_period_pclks = get_vcsel_pulse_period_(VCSEL_PERIOD_PRE_RANGE);
+
+    timeouts->msrc_dss_tcc_mclks = reg(0x46).get() + 1;
+    timeouts->msrc_dss_tcc_us =
+        timeout_mclks_to_microseconds_(timeouts->msrc_dss_tcc_mclks, timeouts->pre_range_vcsel_period_pclks);
+
+    uint16_t value;
+    read_byte_16(0x51, &value);
+    timeouts->pre_range_mclks = decode_timeout_(value);
+    timeouts->pre_range_us =
+        timeout_mclks_to_microseconds_(timeouts->pre_range_mclks, timeouts->pre_range_vcsel_period_pclks);
+
+    timeouts->final_range_vcsel_period_pclks = get_vcsel_pulse_period_(VCSEL_PERIOD_FINAL_RANGE);
+
+    read_byte_16(0x71, &value);
+    timeouts->final_range_mclks = decode_timeout_(value);
+
+    if (enables->pre_range) {
+      timeouts->final_range_mclks -= timeouts->pre_range_mclks;
+    }
+
+    timeouts->final_range_us =
+        timeout_mclks_to_microseconds_(timeouts->final_range_mclks, timeouts->final_range_vcsel_period_pclks);
+  }
+
+  uint8_t get_vcsel_pulse_period_(VcselPeriodType type) {
+    uint8_t vcsel;
+    if (type == VCSEL_PERIOD_PRE_RANGE)
+      vcsel = reg(0x50).get();
+    else if (type == VCSEL_PERIOD_FINAL_RANGE)
+      vcsel = reg(0x70).get();
+    else
+      return 255;
+
+    return (vcsel + 1) << 1;
+  }
+
+  uint32_t get_macro_period_(uint8_t vcsel_period_pclks) {
+    return ((2304UL * vcsel_period_pclks * 1655UL) + 500UL) / 1000UL;
+  }
+
+  uint32_t timeout_mclks_to_microseconds_(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks) {
+    uint32_t macro_period_ns = get_macro_period_(vcsel_period_pclks);
+    return ((timeout_period_mclks * macro_period_ns) + (macro_period_ns / 2)) / 1000;
+  }
+  uint32_t timeout_microseconds_to_mclks_(uint32_t timeout_period_us, uint8_t vcsel_period_pclks) {
+    uint32_t macro_period_ns = get_macro_period_(vcsel_period_pclks);
+    return (((timeout_period_us * 1000) + (macro_period_ns / 2)) / macro_period_ns);
+  }
+
+  uint16_t decode_timeout_(uint16_t reg_val) {
+    // format: "(LSByte * 2^MSByte) + 1"
+    uint8_t msb = (reg_val >> 8) & 0xFF;
+    uint8_t lsb = (reg_val >> 0) & 0xFF;
+    return (uint16_t(lsb) << msb) + 1;
+  }
+  uint16_t encode_timeout_(uint16_t timeout_mclks) {
+    // format: "(LSByte * 2^MSByte) + 1"
+    uint32_t ls_byte = 0;
+    uint16_t ms_byte = 0;
+
+    if (timeout_mclks <= 0)
+      return 0;
+
+    ls_byte = timeout_mclks - 1;
+
+    while ((ls_byte & 0xFFFFFF00) > 0) {
+      ls_byte >>= 1;
+      ms_byte++;
+    }
+
+    return (ms_byte << 8) | (ls_byte & 0xFF);
+  }
+
+  bool perform_single_ref_calibration_(uint8_t vhv_init_byte) {
+    reg(0x00) = 0x01 | vhv_init_byte;  // VL53L0X_REG_SYSRANGE_MODE_START_STOP
+
+    uint32_t start = millis();
+    while ((reg(0x13).get() & 0x07) == 0) {
+      if (millis() - start > 1000)
+        return false;
+      yield();
+    }
+
+    reg(0x0B) = 0x01;
+    reg(0x00) = 0x00;
+
+    return true;
+  }
+
+  float signal_rate_limit_;
+  uint32_t measurement_timing_budget_us_;
+  bool initiated_read_{false};
+  bool waiting_for_interrupt_{false};
+  uint8_t stop_variable_;
+};
+
+}  // namespace vl53l0x
+}  // namespace esphome