Diff: VL6180x.h

Revision:

0:84fb42fedc5b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/VL6180x.h	Tue Jul 07 20:36:43 2015 +0000
@@ -0,0 +1,319 @@
+/**
+* @file VL6180x.h
+ * @brief Library for VL6180x time of flight range finder.
+ * Casey Kuhns @ SparkFun Electronics
+ * 10/29/2014
+ * https://github.com/sparkfun/
+ * 
+ * The VL6180x by ST micro is a time of flight range finder that
+ * uses pulsed IR light to determine distances from object at close
+ * range.  The average range of a sensor is between 0-200mm
+ * 
+ * In this file are the function prototypes in the VL6180x class
+ * 
+ * Resources:
+ * This library uses the Arduino Wire.h to complete I2C transactions.
+ * 
+ * Development environment specifics:
+ *  IDE: Arduino 1.0.5
+ *  Hardware Platform: Arduino Pro 3.3V/8MHz
+ *  VL6180x Breakout Version: 1.0
+ * 
+ * Some settings and initial values come from code written by Kris Winer
+ * VL6180X_t3 Basic Example Code
+ * by: Kris Winer
+ * date: September 1, 2014
+ * license: Beerware - Use this code however you'd like. If you 
+ * find it useful you can buy me a beer some time.
+ * 
+ * This code is beerware. If you see me (or any other SparkFun employee) at the
+ * local pub, and you've found our code helpful, please buy us a round!
+ * 
+ * Distributed as-is; no warranty is given.
+*/
+#include "mbed.h"
+#ifndef VL6180x_h
+#define VL6180x_h
+
+#define VL6180x_FAILURE_RESET  -1
+
+#define VL6180X_IDENTIFICATION_MODEL_ID              0x0000
+#define VL6180X_IDENTIFICATION_MODEL_REV_MAJOR       0x0001
+#define VL6180X_IDENTIFICATION_MODEL_REV_MINOR       0x0002
+#define VL6180X_IDENTIFICATION_MODULE_REV_MAJOR      0x0003
+#define VL6180X_IDENTIFICATION_MODULE_REV_MINOR      0x0004
+#define VL6180X_IDENTIFICATION_DATE                  0x0006 //16bit value
+#define VL6180X_IDENTIFICATION_TIME                  0x0008 //16bit value
+
+#define VL6180X_SYSTEM_MODE_GPIO0                    0x0010
+#define VL6180X_SYSTEM_MODE_GPIO1                    0x0011
+#define VL6180X_SYSTEM_HISTORY_CTRL                  0x0012
+#define VL6180X_SYSTEM_INTERRUPT_CONFIG_GPIO         0x0014
+#define VL6180X_SYSTEM_INTERRUPT_CLEAR               0x0015
+#define VL6180X_SYSTEM_FRESH_OUT_OF_RESET            0x0016
+#define VL6180X_SYSTEM_GROUPED_PARAMETER_HOLD        0x0017
+
+#define VL6180X_SYSRANGE_START                       0x0018
+#define VL6180X_SYSRANGE_THRESH_HIGH                 0x0019
+#define VL6180X_SYSRANGE_THRESH_LOW                  0x001A
+#define VL6180X_SYSRANGE_INTERMEASUREMENT_PERIOD     0x001B
+#define VL6180X_SYSRANGE_MAX_CONVERGENCE_TIME        0x001C
+#define VL6180X_SYSRANGE_CROSSTALK_COMPENSATION_RATE 0x001E
+#define VL6180X_SYSRANGE_CROSSTALK_VALID_HEIGHT      0x0021
+#define VL6180X_SYSRANGE_EARLY_CONVERGENCE_ESTIMATE  0x0022
+#define VL6180X_SYSRANGE_PART_TO_PART_RANGE_OFFSET   0x0024
+#define VL6180X_SYSRANGE_RANGE_IGNORE_VALID_HEIGHT   0x0025
+#define VL6180X_SYSRANGE_RANGE_IGNORE_THRESHOLD      0x0026
+#define VL6180X_SYSRANGE_MAX_AMBIENT_LEVEL_MULT      0x002C
+#define VL6180X_SYSRANGE_RANGE_CHECK_ENABLES         0x002D
+#define VL6180X_SYSRANGE_VHV_RECALIBRATE             0x002E
+#define VL6180X_SYSRANGE_VHV_REPEAT_RATE             0x0031
+
+#define VL6180X_SYSALS_START                         0x0038
+#define VL6180X_SYSALS_THRESH_HIGH                   0x003A
+#define VL6180X_SYSALS_THRESH_LOW                    0x003C
+#define VL6180X_SYSALS_INTERMEASUREMENT_PERIOD       0x003E
+#define VL6180X_SYSALS_ANALOGUE_GAIN                 0x003F
+#define VL6180X_SYSALS_INTEGRATION_PERIOD            0x0040
+
+#define VL6180X_RESULT_RANGE_STATUS                  0x004D
+#define VL6180X_RESULT_ALS_STATUS                    0x004E
+#define VL6180X_RESULT_INTERRUPT_STATUS_GPIO         0x004F
+#define VL6180X_RESULT_ALS_VAL                       0x0050
+#define VL6180X_RESULT_HISTORY_BUFFER                0x0052 
+#define VL6180X_RESULT_RANGE_VAL                     0x0062
+#define VL6180X_RESULT_RANGE_RAW                     0x0064
+#define VL6180X_RESULT_RANGE_RETURN_RATE             0x0066
+#define VL6180X_RESULT_RANGE_REFERENCE_RATE          0x0068
+#define VL6180X_RESULT_RANGE_RETURN_SIGNAL_COUNT     0x006C
+#define VL6180X_RESULT_RANGE_REFERENCE_SIGNAL_COUNT  0x0070
+#define VL6180X_RESULT_RANGE_RETURN_AMB_COUNT        0x0074
+#define VL6180X_RESULT_RANGE_REFERENCE_AMB_COUNT     0x0078
+#define VL6180X_RESULT_RANGE_RETURN_CONV_TIME        0x007C
+#define VL6180X_RESULT_RANGE_REFERENCE_CONV_TIME     0x0080
+
+#define VL6180X_READOUT_AVERAGING_SAMPLE_PERIOD      0x010A
+#define VL6180X_FIRMWARE_BOOTUP                      0x0119
+#define VL6180X_FIRMWARE_RESULT_SCALER               0x0120
+#define VL6180X_I2C_SLAVE_DEVICE_ADDRESS             0x0212
+#define VL6180X_INTERLEAVED_MODE_ENABLE              0x02A3
+
+/**
+* gain settings for ALS
+*Data sheet shows gain values as binary list
+*/
+enum vl6180x_als_gain { 
+
+GAIN_20 = 0, // Actual ALS Gain of 20
+GAIN_10,     // Actual ALS Gain of 10.32
+GAIN_5,      // Actual ALS Gain of 5.21
+GAIN_2_5,    // Actual ALS Gain of 2.60
+GAIN_1_67,   // Actual ALS Gain of 1.72
+GAIN_1_25,   // Actual ALS Gain of 1.28
+GAIN_1 ,     // Actual ALS Gain of 1.01
+GAIN_40,     // Actual ALS Gain of 40
+
+};
+/**
+* VL6180xIdentification
+* @brief structure to hold module identification
+*
+* @param idModel Model number
+* @param idModelRevMajor Major revision
+* @param idModelRevMinor Minor revision
+* @param idModuleRevMajor Module Major revision
+* @param idModuleRevMinor Module Minor revision
+* @param idDate Date of manufacture
+* @param idTime Seconds after midnight manufacture
+*/
+struct VL6180xIdentification {
+  uint8_t idModel;
+  uint8_t idModelRevMajor;
+  uint8_t idModelRevMinor;
+  uint8_t idModuleRevMajor;
+  uint8_t idModuleRevMinor;
+  uint16_t idDate;
+  uint16_t idTime;
+};
+/**
+* VL6180x tof/als sensor example
+*
+* @code
+#include "mbed.h"
+#include <VL6180x.h>
+
+const float GAIN_1    = 1.01;  // Actual ALS Gain of 1.01
+const float GAIN_1_25 = 1.28;  // Actual ALS Gain of 1.28
+const float GAIN_1_67 = 1.72;  // Actual ALS Gain of 1.72
+const float GAIN_2_5  = 2.6;   // Actual ALS Gain of 2.60
+const float GAIN_5    = 5.21;  // Actual ALS Gain of 5.21
+const float GAIN_10   = 10.32; // Actual ALS Gain of 10.32
+const float GAIN_20   = 20;    // Actual ALS Gain of 20
+const float GAIN_40   = 40;    // Actual ALS Gain of 40
+
+
+#define VL6180X_ADDRESS 0x29
+
+VL6180xIdentification identification;
+// mbed uses 8bit addresses shift address by 1 bit left
+VL6180x sensor(D14, D15, VL6180X_ADDRESS<<1);
+
+void printIdentification(struct VL6180xIdentification *temp){
+  printf("Model ID = ");
+  printf("%d\n",temp->idModel);
+
+  printf("Model Rev = ");
+  printf("%d",temp->idModelRevMajor);
+  printf(".");
+  printf("%d\n",temp->idModelRevMinor);
+
+  printf("Module Rev = ");
+  printf("%d",temp->idModuleRevMajor);
+  printf(".");
+  printf("%d\n",temp->idModuleRevMinor);  
+
+  printf("Manufacture Date = ");
+  printf("%d",((temp->idDate >> 3) & 0x001F));
+  printf("/");
+  printf("%d",((temp->idDate >> 8) & 0x000F));
+  printf("/1");
+  printf("%d\n",((temp->idDate >> 12) & 0x000F));
+  printf(" Phase: ");
+  printf("%d\n",(temp->idDate & 0x0007));
+
+  printf("Manufacture Time (s)= ");
+  printf("%d\n",(temp->idTime * 2));
+  printf("\n\n");
+}
+int main() {
+
+  wait_ms(100); // delay .1s
+
+  sensor.getIdentification(&identification); // Retrieve manufacture info from device memory
+  printIdentification(&identification); // Helper function to print all the Module information
+
+  if(sensor.VL6180xInit() != 0){
+        printf("FAILED TO INITALIZE\n"); //Initialize device and check for errors
+  }; 
+
+  sensor.VL6180xDefautSettings(); //Load default settings to get started.
+  
+    wait_ms(1000); // delay 1s
+
+    
+    
+    while(1) {
+  //Get Ambient Light level and report in LUX
+      printf("Ambient Light Level (Lux) = ");
+  
+  //Input GAIN for light levels, 
+  // GAIN_20     // Actual ALS Gain of 20
+  // GAIN_10     // Actual ALS Gain of 10.32
+  // GAIN_5      // Actual ALS Gain of 5.21
+  // GAIN_2_5    // Actual ALS Gain of 2.60
+  // GAIN_1_67   // Actual ALS Gain of 1.72
+  // GAIN_1_25   // Actual ALS Gain of 1.28
+  // GAIN_1      // Actual ALS Gain of 1.01
+  // GAIN_40     // Actual ALS Gain of 40
+  
+      printf("%f\n",sensor.getAmbientLight(GAIN_1) );
+
+  //Get Distance and report in mm
+      printf("Distance measured (mm) = ");
+      printf("%d\n", sensor.getDistance() ); 
+
+      wait_ms(500);  
+    }
+}
+* @endcode
+*/
+class VL6180x
+{
+public: 
+/**
+* VL6180x constructor
+*
+* @param sda SDA pin
+* @param sdl SCL pin
+* @param addr addr of the I2C peripheral
+*/
+  VL6180x(PinName sda, PinName scl, uint8_t addr);
+/**
+* VL6180x destructor
+*/
+  ~VL6180x();
+/**
+* Send mandatory settings as stated in ST datasheet.
+* http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf (Section 1.3)
+* @returns 0 if ok 
+* @returns -1 on error*/
+  int VL6180xInit(void);
+/**
+* Use default settings from ST data sheet section 9.
+*
+* http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf
+*/
+  void VL6180xDefautSettings(void);
+/**
+* Get Range distance in (mm)
+* @returns TOF distance in mm  
+*/
+  uint8_t getDistance();
+/**
+* Get ALS level in Lux
+* @param vl6180x_als_gain gain setting for sensor
+* @param sdl SCL pin
+* @param addr addr of the I2C peripheral
+* @returns light level in Lux 
+*/
+  float getAmbientLight(vl6180x_als_gain VL6180X_ALS_GAIN);
+/**
+* Load structure provided by the user with identification info
+* Structure example:
+* struct VL6180xIdentification
+*/
+  void getIdentification(struct VL6180xIdentification *temp);
+
+/**
+* Change the default address of the device to allow multiple
+* sensors on the bus.  Can use up to 127 sensors. New address
+* is saved in non-volatile device memory.
+* @param old_address current address
+* @param new_address desired new address
+* @returns new address
+*/
+  uint8_t changeAddress(uint8_t old_address, uint8_t new_address);
+
+
+private:
+  //Store address given when the class is initialized.
+  //This value can be changed by the changeAddress() function
+  I2C m_i2c;
+  int m_addr;
+/**
+* read 8 bit register
+* @param registerAddr address for register
+* @returns contents of register
+*/
+  uint8_t VL6180x_getRegister(uint16_t registerAddr);
+/**
+* read 16 bit register
+* @param registerAddr address for register
+* @param returns contents of register
+*/
+uint16_t VL6180x_getRegister16bit(uint16_t registerAddr);
+/**
+* write 8 bit register
+* @param registerAddr address for register
+* @returns ERROR
+*/
+  void VL6180x_setRegister(uint16_t registerAddr, uint8_t data);
+/**
+* write 16 bit register
+* @param registerAddr address for register
+* @returns ERROR
+*/
+  void VL6180x_setRegister16bit(uint16_t registerAddr, uint16_t data);
+};
+
+#endif