--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/vl6180.py	Sat May 14 01:38:00 2016 +0200
@@ -0,0 +1,112 @@
+import ustruct
+import time
+
+
+class Sensor:
+    def __init__(self, i2c, address=0x29):
+        self.i2c = i2c
+        self._address = address
+        self.init()
+        self.default_settings()
+
+    def _set_reg8(self, address, value):
+        data = ustruct.pack('>HB', address, value)
+        self.i2c.writeto(self._address, data)
+
+    def _set_reg16(self, address, value):
+        data = ustruct.pack('>HH', address, value)
+        self.i2c.writeto(self._address, data)
+
+    def _get_reg8(self, address):
+        self.i2c.start()
+        self.i2c.write(ustruct.pack('>BH', self._address << 1, address))
+        data = self.i2c.readfrom(self._address, 1)
+        return data[0]
+
+    def _get_reg16(self, address):
+        self.i2c.start()
+        self.i2c.write(ustruct.pack('>BH', self._address << 1, address))
+        data = self.i2c.readfrom(self._address, 2)
+        return ustruct.unpack('>B', data)[0]
+
+    def init(self):
+        if self._get_reg8(0x0016) != 1:
+            raise RuntimeError("Failure reset")
+
+        # Recommended setup from the datasheet
+        self._set_reg8(0x0207, 0x01)
+        self._set_reg8(0x0208, 0x01)
+        self._set_reg8(0x0096, 0x00)
+        self._set_reg8(0x0097, 0xfd)
+        self._set_reg8(0x00e3, 0x00)
+        self._set_reg8(0x00e4, 0x04)
+        self._set_reg8(0x00e5, 0x02)
+        self._set_reg8(0x00e6, 0x01)
+        self._set_reg8(0x00e7, 0x03)
+        self._set_reg8(0x00f5, 0x02)
+        self._set_reg8(0x00d9, 0x05)
+        self._set_reg8(0x00db, 0xce)
+        self._set_reg8(0x00dc, 0x03)
+        self._set_reg8(0x00dd, 0xf8)
+        self._set_reg8(0x009f, 0x00)
+        self._set_reg8(0x00a3, 0x3c)
+        self._set_reg8(0x00b7, 0x00)
+        self._set_reg8(0x00bb, 0x3c)
+        self._set_reg8(0x00b2, 0x09)
+        self._set_reg8(0x00ca, 0x09)
+        self._set_reg8(0x0198, 0x01)
+        self._set_reg8(0x01b0, 0x17)
+        self._set_reg8(0x01ad, 0x00)
+        self._set_reg8(0x00ff, 0x05)
+        self._set_reg8(0x0100, 0x05)
+        self._set_reg8(0x0199, 0x05)
+        self._set_reg8(0x01a6, 0x1b)
+        self._set_reg8(0x01ac, 0x3e)
+        self._set_reg8(0x01a7, 0x1f)
+        self._set_reg8(0x0030, 0x00)
+
+    def default_settings(self):
+        self._set_reg8(0x010A, 0x30) # Set Avg sample period
+        self._set_reg8(0x003f, 0x46) # Set the ALS gain
+        self._set_reg8(0x0031, 0xFF) # Set auto calibration period
+                                     # (Max = 255)/(OFF = 0)
+        self._set_reg8(0x0040, 0x63) # Set ALS integration time to 100ms
+        self._set_reg8(0x002E, 0x01) # perform a single temperature calibration
+
+        # Optional settings from datasheet
+        self._set_reg8(0x001B, 0x09) # Set default ranging inter-measurement
+                                     # period to 100ms
+        self._set_reg8(0x003E, 0x0A) # Set default ALS inter-measurement
+                                     # period to 100ms
+
+        # Additional settings defaults from community
+        self._set_reg8(0x001C, 0x32) # Max convergence time
+        self._set_reg8(0x002D, 0x10 | 0x01) # Range check enables
+        self._set_reg8(0x0022, 0x7B) # Eraly coinvergence estimate
+        self._set_reg8(0x0120, 0x01) # Firmware result scaler
+
+    def identify(self):
+        """Retrieve identification information of the sensor."""
+        return {
+            'model': self._get_reg8(0x0000),
+            'revision': (self._get_reg8(0x0001), self._get_reg8(0x0002)),
+            'module_revision': (self._get_reg8(0x0003),
+                                self._get_reg8(0x0004)),
+            'date': self._get_reg16(0x006),
+            'time': self._get_reg16(0x008),
+        }
+
+    def address(self, address=None):
+        """Change the I2C address of the sensor."""
+        if address is None:
+            return self._address
+        if not 8 <= address <= 127:
+            raise ValueError("Wrong address")
+        self._set_reg8(0x0212, address)
+        self._address = address
+
+    def range(self):
+        """Measure the distance in millimeters. Takes 0.01s."""
+        self._set_reg8(0x0018, 0x01) # Sysrange start
+        time.sleep(0.01)
+        return self._get_reg8(0x0062) # Result range value