以下是我从某个来源收到的 python 代码。他们在代码中定义了一个名为 GLLv3 的类。我可以执行程序。但是我的激光雷达传感器什么也没发生。我是否需要创建该类的对象，或者我们是否期望执行此代码应该运行传感器？
class GLLv3:
i2c = None
__GLL_ACQ_COMMAND = 0x00
__GLL_STATUS = 0x01
__GLL_SIG_COUNT_VAL = 0x02
__GLL_ACQ_CONFIG_REG = 0x04
__GLL_VELOCITY = 0x09
__GLL_PEAK_CORR = 0x0C
__GLL_NOISE_PEAK = 0x0D
__GLL_SIGNAL_STRENGTH = 0x0E
__GLL_FULL_DELAY_HIGH = 0x0F
__GLL_FULL_DELAY_LOW = 0x10
__GLL_OUTER_LOOP_COUNT = 0x11
__GLL_REF_COUNT_VAL = 0x12
__GLL_LAST_DELAY_HIGH = 0x14
__GLL_LAST_DELAY_LOW = 0x15
__GLL_UNIT_ID_HIGH = 0x16
__GLL_UNIT_ID_LOW = 0x17
__GLL_I2C_ID_HIGHT = 0x18
__GLL_I2C_ID_LOW = 0x19
__GLL_I2C_SEC_ADDR = 0x1A
__GLL_THRESHOLD_BYPASS = 0x1C
__GLL_I2C_CONFIG = 0x1E
__GLL_COMMAND = 0x40
__GLL_MEASURE_DELAY = 0x45
__GLL_PEAK_BCK = 0x4C
__GLL_CORR_DATA = 0x52
__GLL_CORR_DATA_SIGN = 0x53
__GLL_ACQ_SETTINGS = 0x5D
__GLL_POWER_CONTROL = 0x65
def __init__(self, address=0x62, rate=10):
self.i2c = I2C(address)
self.rate = rate
#-------------------------------------------------------------------------------------------
# Set to continuous sampling after initial read.
#-------------------------------------------------------------------------------------------
self.i2c.write8(self.__GLL_OUTER_LOOP_COUNT, 0xFF)
#-------------------------------------------------------------------------------------------
# Set the sampling frequency as 2000 / Hz:
# 10Hz = 0xc8
# 20Hz = 0x64
# 100Hz = 0x14
#-------------------------------------------------------------------------------------------
self.i2c.write8(self.__GLL_MEASURE_DELAY, int(2000 / rate))
#-------------------------------------------------------------------------------------------
# Include receiver bias correction 0x04
#AB: 0x04 | 0x01 should cause (falling edge?) GPIO_GLL_DR_INTERRUPT. Test GPIO handle this?
#-------------------------------------------------------------------------------------------
self.i2c.write8(self.__GLL_ACQ_COMMAND, 0x04 | 0x01)
#-------------------------------------------------------------------------------------------
# Acquisition config register:
# 0x01 Data ready interrupt
# 0x20 Take sampling rate from MEASURE_DELAY
#-------------------------------------------------------------------------------------------
self.i2c.write8(self.__GLL_ACQ_CONFIG_REG, 0x21)
def read(self):
#-------------------------------------------------------------------------------------------
# Distance is in cm hence the 100s to convert to meters.
# Velocity is in cm between consecutive reads; sampling rate converts these to a velocity.
# Reading the list from 0x8F seems to get the previous reading, probably cached for the sake
# of calculating the velocity next time round.
#-------------------------------------------------------------------------------------------
distance = self.i2c.readU16(self.__GLL_FULL_DELAY_HIGH)
if distance == 1:
raise ValueError("GLL out of range")
return distance / 100