Arnaud VALLEY / Mbed 2 deprecated Pinscape_Controller_V2_arnoz

Mirror with some correction

Dependencies:   mbed FastIO FastPWM USBDevice

VL6180X/VL6180X.cpp@82:4f6209cb5c33, 2017-04-13 (annotated)

Committer:
mjr
Date:
Thu Apr 13 23:20:28 2017 +0000
Revision:
82:4f6209cb5c33
Child:
85:3c28aee81cde
Plunger refactoring; AEDR-8300 added; TSL1401CL in progress; VL6180X added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mjr 82:4f6209cb5c33 1 // VL6180X Time of Flight sensor interface
mjr 82:4f6209cb5c33 2
mjr 82:4f6209cb5c33 3 #include "mbed.h"
mjr 82:4f6209cb5c33 4 #include "VL6180X.h"
mjr 82:4f6209cb5c33 5
mjr 82:4f6209cb5c33 6 VL6180X::VL6180X(PinName sda, PinName scl, uint8_t addr, PinName gpio0)
mjr 82:4f6209cb5c33 7 : i2c(sda, scl), gpio0Pin(gpio0)
mjr 82:4f6209cb5c33 8 {
mjr 82:4f6209cb5c33 9 // remember the address
mjr 82:4f6209cb5c33 10 this->addr = addr;
mjr 82:4f6209cb5c33 11
mjr 82:4f6209cb5c33 12 // start in single-shot distance mode
mjr 82:4f6209cb5c33 13 distMode = 0;
mjr 82:4f6209cb5c33 14
mjr 82:4f6209cb5c33 15 // initially reset the sensor
mjr 82:4f6209cb5c33 16 gpio0Pin.write(0);
mjr 82:4f6209cb5c33 17 }
mjr 82:4f6209cb5c33 18
mjr 82:4f6209cb5c33 19 VL6180X::~VL6180X()
mjr 82:4f6209cb5c33 20 {
mjr 82:4f6209cb5c33 21 }
mjr 82:4f6209cb5c33 22
mjr 82:4f6209cb5c33 23 bool VL6180X::init()
mjr 82:4f6209cb5c33 24 {
mjr 82:4f6209cb5c33 25 // hold reset low for 10ms
mjr 82:4f6209cb5c33 26 gpio0Pin.write(0);
mjr 82:4f6209cb5c33 27 wait_us(10000);
mjr 82:4f6209cb5c33 28
mjr 82:4f6209cb5c33 29 // release reset to allow the sensor to reboot
mjr 82:4f6209cb5c33 30 gpio0Pin.write(1);
mjr 82:4f6209cb5c33 31 wait_us(10000);
mjr 82:4f6209cb5c33 32
mjr 82:4f6209cb5c33 33 // reset the I2C bus
mjr 82:4f6209cb5c33 34 i2c.reset();
mjr 82:4f6209cb5c33 35
mjr 82:4f6209cb5c33 36 // check that the sensor's reset register reads as '1'
mjr 82:4f6209cb5c33 37 Timer t;
mjr 82:4f6209cb5c33 38 t.start();
mjr 82:4f6209cb5c33 39 while (readReg8(VL6180X_SYSTEM_FRESH_OUT_OF_RESET) != 1)
mjr 82:4f6209cb5c33 40 {
mjr 82:4f6209cb5c33 41 if (t.read_us() > 10000000)
mjr 82:4f6209cb5c33 42 return false;
mjr 82:4f6209cb5c33 43 }
mjr 82:4f6209cb5c33 44
mjr 82:4f6209cb5c33 45 // clear reset flag
mjr 82:4f6209cb5c33 46 writeReg8(VL6180X_SYSTEM_FRESH_OUT_OF_RESET, 0);
mjr 82:4f6209cb5c33 47
mjr 82:4f6209cb5c33 48 // give the device 50ms before sending the startup sequence
mjr 82:4f6209cb5c33 49 wait_ms(50);
mjr 82:4f6209cb5c33 50
mjr 82:4f6209cb5c33 51 // Send the mandatory initial register assignments, per the manufacturer's app notes:
mjr 82:4f6209cb5c33 52 // http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf
mjr 82:4f6209cb5c33 53 writeReg8(0x0207, 0x01);
mjr 82:4f6209cb5c33 54 writeReg8(0x0208, 0x01);
mjr 82:4f6209cb5c33 55 writeReg8(0x0096, 0x00);
mjr 82:4f6209cb5c33 56 writeReg8(0x0097, 0xfd);
mjr 82:4f6209cb5c33 57 writeReg8(0x00e3, 0x00);
mjr 82:4f6209cb5c33 58 writeReg8(0x00e4, 0x04);
mjr 82:4f6209cb5c33 59 writeReg8(0x00e5, 0x02);
mjr 82:4f6209cb5c33 60 writeReg8(0x00e6, 0x01);
mjr 82:4f6209cb5c33 61 writeReg8(0x00e7, 0x03);
mjr 82:4f6209cb5c33 62 writeReg8(0x00f5, 0x02);
mjr 82:4f6209cb5c33 63 writeReg8(0x00d9, 0x05);
mjr 82:4f6209cb5c33 64 writeReg8(0x00db, 0xce);
mjr 82:4f6209cb5c33 65 writeReg8(0x00dc, 0x03);
mjr 82:4f6209cb5c33 66 writeReg8(0x00dd, 0xf8);
mjr 82:4f6209cb5c33 67 writeReg8(0x009f, 0x00);
mjr 82:4f6209cb5c33 68 writeReg8(0x00a3, 0x3c);
mjr 82:4f6209cb5c33 69 writeReg8(0x00b7, 0x00);
mjr 82:4f6209cb5c33 70 writeReg8(0x00bb, 0x3c);
mjr 82:4f6209cb5c33 71 writeReg8(0x00b2, 0x09);
mjr 82:4f6209cb5c33 72 writeReg8(0x00ca, 0x09);
mjr 82:4f6209cb5c33 73 writeReg8(0x0198, 0x01);
mjr 82:4f6209cb5c33 74 writeReg8(0x01b0, 0x17);
mjr 82:4f6209cb5c33 75 writeReg8(0x01ad, 0x00);
mjr 82:4f6209cb5c33 76 writeReg8(0x00ff, 0x05);
mjr 82:4f6209cb5c33 77 writeReg8(0x0100, 0x05);
mjr 82:4f6209cb5c33 78 writeReg8(0x0199, 0x05);
mjr 82:4f6209cb5c33 79 writeReg8(0x01a6, 0x1b);
mjr 82:4f6209cb5c33 80 writeReg8(0x01ac, 0x3e);
mjr 82:4f6209cb5c33 81 writeReg8(0x01a7, 0x1f);
mjr 82:4f6209cb5c33 82 writeReg8(0x0030, 0x00);
mjr 82:4f6209cb5c33 83
mjr 82:4f6209cb5c33 84 // allow time to settle
mjr 82:4f6209cb5c33 85 wait_us(1000);
mjr 82:4f6209cb5c33 86
mjr 82:4f6209cb5c33 87 // success
mjr 82:4f6209cb5c33 88 return true;
mjr 82:4f6209cb5c33 89 }
mjr 82:4f6209cb5c33 90
mjr 82:4f6209cb5c33 91 void VL6180X::setDefaults()
mjr 82:4f6209cb5c33 92 {
mjr 82:4f6209cb5c33 93 writeReg8(VL6180X_SYSTEM_GROUPED_PARAMETER_HOLD, 0x01); // set parameter hold while updating settings
mjr 82:4f6209cb5c33 94
mjr 82:4f6209cb5c33 95 writeReg8(VL6180X_SYSTEM_INTERRUPT_CONFIG_GPIO, (4<<3) | 4); // Enable interrupts from range and ambient integrator
mjr 82:4f6209cb5c33 96 writeReg8(VL6180X_SYSTEM_MODE_GPIO1, 0x10); // Set GPIO1 low when sample complete
mjr 82:4f6209cb5c33 97 writeReg8(VL6180X_SYSRANGE_VHV_REPEAT_RATE, 0xFF); // Set auto calibration period (Max = 255)/(OFF = 0)
mjr 82:4f6209cb5c33 98 writeReg8(VL6180X_SYSRANGE_INTERMEASUREMENT_PERIOD, 0x09); // Set default ranging inter-measurement period to 100ms
mjr 82:4f6209cb5c33 99 writeReg8(VL6180X_SYSRANGE_MAX_CONVERGENCE_TIME, 0x32); // Max range convergence time 48ms
mjr 82:4f6209cb5c33 100 writeReg8(VL6180X_SYSRANGE_RANGE_CHECK_ENABLES, 0x11); // S/N enable, ignore disable, early convergence test enable
mjr 82:4f6209cb5c33 101 writeReg16(VL6180X_SYSRANGE_EARLY_CONVERGENCE_ESTIMATE, 0x7B); // abort range measurement if convergence rate below this value
mjr 82:4f6209cb5c33 102
mjr 82:4f6209cb5c33 103 writeReg8(VL6180X_SYSALS_INTERMEASUREMENT_PERIOD, 0x0A); // Set default ALS inter-measurement period to 100ms
mjr 82:4f6209cb5c33 104 writeReg8(VL6180X_SYSALS_ANALOGUE_GAIN, 0x46); // Set the ALS gain
mjr 82:4f6209cb5c33 105 writeReg16(VL6180X_SYSALS_INTEGRATION_PERIOD, 0x63); // ALS integration time 100ms
mjr 82:4f6209cb5c33 106
mjr 82:4f6209cb5c33 107 writeReg8(VL6180X_READOUT_AVERAGING_SAMPLE_PERIOD, 0x30); // Sample averaging period (1.3ms + N*64.5us)
mjr 82:4f6209cb5c33 108 writeReg8(VL6180X_FIRMWARE_RESULT_SCALER, 0x01);
mjr 82:4f6209cb5c33 109
mjr 82:4f6209cb5c33 110 writeReg8(VL6180X_SYSTEM_GROUPED_PARAMETER_HOLD, 0x00); // end parameter hold
mjr 82:4f6209cb5c33 111
mjr 82:4f6209cb5c33 112 // perform a single calibration; wait until it's done (within reason)
mjr 82:4f6209cb5c33 113 Timer t;
mjr 82:4f6209cb5c33 114 t.start();
mjr 82:4f6209cb5c33 115 writeReg8(VL6180X_SYSRANGE_VHV_RECALIBRATE, 0x01);
mjr 82:4f6209cb5c33 116 while (readReg8(VL6180X_SYSRANGE_VHV_RECALIBRATE) != 0)
mjr 82:4f6209cb5c33 117 {
mjr 82:4f6209cb5c33 118 // if we've been waiting too long, abort
mjr 82:4f6209cb5c33 119 if (t.read_us() > 1000000)
mjr 82:4f6209cb5c33 120 break;
mjr 82:4f6209cb5c33 121 }
mjr 82:4f6209cb5c33 122 }
mjr 82:4f6209cb5c33 123
mjr 82:4f6209cb5c33 124 void VL6180X::getID(struct VL6180X_ID &id)
mjr 82:4f6209cb5c33 125 {
mjr 82:4f6209cb5c33 126 id.model = readReg8(VL6180X_IDENTIFICATION_MODEL_ID);
mjr 82:4f6209cb5c33 127 id.modelRevMajor = readReg8(VL6180X_IDENTIFICATION_MODEL_REV_MAJOR) & 0x07;
mjr 82:4f6209cb5c33 128 id.modelRevMinor = readReg8(VL6180X_IDENTIFICATION_MODEL_REV_MINOR) & 0x07;
mjr 82:4f6209cb5c33 129 id.moduleRevMajor = readReg8(VL6180X_IDENTIFICATION_MODULE_REV_MAJOR) & 0x07;
mjr 82:4f6209cb5c33 130 id.moduleRevMinor = readReg8(VL6180X_IDENTIFICATION_MODULE_REV_MINOR) & 0x07;
mjr 82:4f6209cb5c33 131
mjr 82:4f6209cb5c33 132 uint16_t date = readReg16(VL6180X_IDENTIFICATION_DATE);
mjr 82:4f6209cb5c33 133 uint16_t time = readReg16(VL6180X_IDENTIFICATION_TIME) * 2;
mjr 82:4f6209cb5c33 134 id.manufDate.year = 2010 + ((date >> 12) & 0x0f);
mjr 82:4f6209cb5c33 135 id.manufDate.month = (date >> 8) & 0x0f;
mjr 82:4f6209cb5c33 136 id.manufDate.day = (date >> 3) & 0x1f;
mjr 82:4f6209cb5c33 137 id.manufDate.phase = uint8_t(date & 0x07);
mjr 82:4f6209cb5c33 138 id.manufDate.hh = time/3600;
mjr 82:4f6209cb5c33 139 id.manufDate.mm = (time % 3600) / 60;
mjr 82:4f6209cb5c33 140 id.manufDate.ss = time % 60;
mjr 82:4f6209cb5c33 141 }
mjr 82:4f6209cb5c33 142
mjr 82:4f6209cb5c33 143
mjr 82:4f6209cb5c33 144 uint8_t VL6180X::changeAddress(uint8_t newAddress)
mjr 82:4f6209cb5c33 145 {
mjr 82:4f6209cb5c33 146 // do nothing if the address is the same or it's out of range
mjr 82:4f6209cb5c33 147 if (newAddress == addr || newAddress > 127)
mjr 82:4f6209cb5c33 148 return addr;
mjr 82:4f6209cb5c33 149
mjr 82:4f6209cb5c33 150 // set the new address
mjr 82:4f6209cb5c33 151 writeReg8(VL6180X_I2C_SLAVE_DEVICE_ADDRESS, newAddress);
mjr 82:4f6209cb5c33 152
mjr 82:4f6209cb5c33 153 // read it back and store it
mjr 82:4f6209cb5c33 154 addr = readReg8(VL6180X_I2C_SLAVE_DEVICE_ADDRESS);
mjr 82:4f6209cb5c33 155
mjr 82:4f6209cb5c33 156 // return the new address
mjr 82:4f6209cb5c33 157 return addr;
mjr 82:4f6209cb5c33 158 }
mjr 82:4f6209cb5c33 159
mjr 82:4f6209cb5c33 160
mjr 82:4f6209cb5c33 161 void VL6180X::continuousDistanceMode(bool on)
mjr 82:4f6209cb5c33 162 {
mjr 82:4f6209cb5c33 163 if (distMode != on)
mjr 82:4f6209cb5c33 164 {
mjr 82:4f6209cb5c33 165 // remember the new mode
mjr 82:4f6209cb5c33 166 distMode = on;
mjr 82:4f6209cb5c33 167
mjr 82:4f6209cb5c33 168 // Set continuous or single-shot mode. If starting continuous
mjr 82:4f6209cb5c33 169 // mode, set bits 0x01 (range mode = continuous) + 0x02 (start
mjr 82:4f6209cb5c33 170 // collecting samples now). If ending the mode, set all bits
mjr 82:4f6209cb5c33 171 // to zero to select single-shot mode without starting a reading.
mjr 82:4f6209cb5c33 172 if (on)
mjr 82:4f6209cb5c33 173 {
mjr 82:4f6209cb5c33 174 writeReg8(VL6180X_SYSTEM_INTERRUPT_CONFIG_GPIO, 4); // Enable interrupts for ranging only
mjr 82:4f6209cb5c33 175 writeReg8(VL6180X_SYSALS_INTERMEASUREMENT_PERIOD, 0); // minimum measurement interval (10ms)
mjr 82:4f6209cb5c33 176 writeReg8(VL6180X_SYSRANGE_START, 0x03);
mjr 82:4f6209cb5c33 177 }
mjr 82:4f6209cb5c33 178 else
mjr 82:4f6209cb5c33 179 writeReg8(VL6180X_SYSRANGE_START, 0x00);
mjr 82:4f6209cb5c33 180 }
mjr 82:4f6209cb5c33 181 }
mjr 82:4f6209cb5c33 182
mjr 82:4f6209cb5c33 183 bool VL6180X::rangeReady()
mjr 82:4f6209cb5c33 184 {
mjr 82:4f6209cb5c33 185 return (readReg8(VL6180X_RESULT_INTERRUPT_STATUS_GPIO) & 0x07) == 4;
mjr 82:4f6209cb5c33 186 }
mjr 82:4f6209cb5c33 187
mjr 82:4f6209cb5c33 188 void VL6180X::startRangeReading()
mjr 82:4f6209cb5c33 189 {
mjr 82:4f6209cb5c33 190 writeReg8(VL6180X_SYSRANGE_START, 0x01);
mjr 82:4f6209cb5c33 191 }
mjr 82:4f6209cb5c33 192
mjr 82:4f6209cb5c33 193 int VL6180X::getRange(uint8_t &distance, uint32_t timeout_us)
mjr 82:4f6209cb5c33 194 {
mjr 82:4f6209cb5c33 195 if (!rangeReady())
mjr 82:4f6209cb5c33 196 writeReg8(VL6180X_SYSRANGE_START, 0x01);
mjr 82:4f6209cb5c33 197
mjr 82:4f6209cb5c33 198 // wait for the sample
mjr 82:4f6209cb5c33 199 Timer t;
mjr 82:4f6209cb5c33 200 t.start();
mjr 82:4f6209cb5c33 201 for (;;)
mjr 82:4f6209cb5c33 202 {
mjr 82:4f6209cb5c33 203 // if the GPIO pin is high, the sample is ready
mjr 82:4f6209cb5c33 204 if (rangeReady())
mjr 82:4f6209cb5c33 205 break;
mjr 82:4f6209cb5c33 206
mjr 82:4f6209cb5c33 207 // if we've exceeded the timeout, return failure
mjr 82:4f6209cb5c33 208 if (t.read_us() > timeout_us)
mjr 82:4f6209cb5c33 209 return -1;
mjr 82:4f6209cb5c33 210 }
mjr 82:4f6209cb5c33 211
mjr 82:4f6209cb5c33 212 // check for errors
mjr 82:4f6209cb5c33 213 uint8_t err = (readReg8(VL6180X_RESULT_RANGE_STATUS) >> 4) & 0x0F;
mjr 82:4f6209cb5c33 214
mjr 82:4f6209cb5c33 215 // read the distance
mjr 82:4f6209cb5c33 216 distance = readReg8(VL6180X_RESULT_RANGE_VAL);
mjr 82:4f6209cb5c33 217
mjr 82:4f6209cb5c33 218 // clear the data-ready interrupt
mjr 82:4f6209cb5c33 219 writeReg8(VL6180X_SYSTEM_INTERRUPT_CLEAR, 0x07);
mjr 82:4f6209cb5c33 220
mjr 82:4f6209cb5c33 221 // return the error code
mjr 82:4f6209cb5c33 222 return err;
mjr 82:4f6209cb5c33 223 }
mjr 82:4f6209cb5c33 224
mjr 82:4f6209cb5c33 225 void VL6180X::getRangeStats(VL6180X_RangeStats &stats)
mjr 82:4f6209cb5c33 226 {
mjr 82:4f6209cb5c33 227 stats.returnRate = readReg16(VL6180X_RESULT_RANGE_RETURN_RATE);
mjr 82:4f6209cb5c33 228 stats.refReturnRate = readReg16(VL6180X_RESULT_RANGE_REFERENCE_RATE);
mjr 82:4f6209cb5c33 229 stats.returnCnt = readReg32(VL6180X_RESULT_RANGE_RETURN_SIGNAL_COUNT);
mjr 82:4f6209cb5c33 230 stats.refReturnCnt = readReg32(VL6180X_RESULT_RANGE_REFERENCE_SIGNAL_COUNT);
mjr 82:4f6209cb5c33 231 stats.ambCnt = readReg32(VL6180X_RESULT_RANGE_RETURN_AMB_COUNT);
mjr 82:4f6209cb5c33 232 stats.refAmbCnt = readReg32(VL6180X_RESULT_RANGE_REFERENCE_AMB_COUNT);
mjr 82:4f6209cb5c33 233 stats.convTime = readReg32(VL6180X_RESULT_RANGE_RETURN_CONV_TIME);
mjr 82:4f6209cb5c33 234 stats.refConvTime = readReg32(VL6180X_RESULT_RANGE_REFERENCE_CONV_TIME);
mjr 82:4f6209cb5c33 235 }
mjr 82:4f6209cb5c33 236
mjr 82:4f6209cb5c33 237 float VL6180X::getAmbientLight(VL6180X_ALS_Gain gain)
mjr 82:4f6209cb5c33 238 {
mjr 82:4f6209cb5c33 239 // set the desired gain
mjr 82:4f6209cb5c33 240 writeReg8(VL6180X_SYSALS_ANALOGUE_GAIN, (0x40 | gain));
mjr 82:4f6209cb5c33 241
mjr 82:4f6209cb5c33 242 // start the integration
mjr 82:4f6209cb5c33 243 writeReg8(VL6180X_SYSALS_START, 0x01);
mjr 82:4f6209cb5c33 244
mjr 82:4f6209cb5c33 245 // give it time to integrate
mjr 82:4f6209cb5c33 246 wait_ms(100);
mjr 82:4f6209cb5c33 247
mjr 82:4f6209cb5c33 248 // clear the data-ready interrupt
mjr 82:4f6209cb5c33 249 writeReg8(VL6180X_SYSTEM_INTERRUPT_CLEAR, 0x07);
mjr 82:4f6209cb5c33 250
mjr 82:4f6209cb5c33 251 // retrieve the raw sensor reading om the sensoe
mjr 82:4f6209cb5c33 252 unsigned int alsRaw = readReg16(VL6180X_RESULT_ALS_VAL);
mjr 82:4f6209cb5c33 253
mjr 82:4f6209cb5c33 254 // get the integration period
mjr 82:4f6209cb5c33 255 unsigned int tIntRaw = readReg16(VL6180X_SYSALS_INTEGRATION_PERIOD);
mjr 82:4f6209cb5c33 256 float alsIntegrationPeriod = 100.0 / tIntRaw ;
mjr 82:4f6209cb5c33 257
mjr 82:4f6209cb5c33 258 // get the actual gain at the user's gain setting
mjr 82:4f6209cb5c33 259 float trueGain = 0.0;
mjr 82:4f6209cb5c33 260 switch (gain)
mjr 82:4f6209cb5c33 261 {
mjr 82:4f6209cb5c33 262 case GAIN_20: trueGain = 20.0; break;
mjr 82:4f6209cb5c33 263 case GAIN_10: trueGain = 10.32; break;
mjr 82:4f6209cb5c33 264 case GAIN_5: trueGain = 5.21; break;
mjr 82:4f6209cb5c33 265 case GAIN_2_5: trueGain = 2.60; break;
mjr 82:4f6209cb5c33 266 case GAIN_1_67: trueGain = 1.72; break;
mjr 82:4f6209cb5c33 267 case GAIN_1_25: trueGain = 1.28; break;
mjr 82:4f6209cb5c33 268 case GAIN_1: trueGain = 1.01; break;
mjr 82:4f6209cb5c33 269 case GAIN_40: trueGain = 40.0; break;
mjr 82:4f6209cb5c33 270 default: trueGain = 1.0; break;
mjr 82:4f6209cb5c33 271 }
mjr 82:4f6209cb5c33 272
mjr 82:4f6209cb5c33 273 // calculate the lux (see the manufacturer's app notes)
mjr 82:4f6209cb5c33 274 return alsRaw * 0.32f / trueGain * alsIntegrationPeriod;
mjr 82:4f6209cb5c33 275 }
mjr 82:4f6209cb5c33 276
mjr 82:4f6209cb5c33 277 uint8_t VL6180X::readReg8(uint16_t registerAddr)
mjr 82:4f6209cb5c33 278 {
mjr 82:4f6209cb5c33 279 // write the request - MSB+LSB of register address
mjr 82:4f6209cb5c33 280 uint8_t data_write[2];
mjr 82:4f6209cb5c33 281 data_write[0] = (registerAddr >> 8) & 0xFF;
mjr 82:4f6209cb5c33 282 data_write[1] = registerAddr & 0xFF;
mjr 82:4f6209cb5c33 283 if (i2c.write(addr << 1, data_write, 2, true))
mjr 82:4f6209cb5c33 284 return 0x00;
mjr 82:4f6209cb5c33 285
mjr 82:4f6209cb5c33 286 // read the result
mjr 82:4f6209cb5c33 287 uint8_t data_read[1];
mjr 82:4f6209cb5c33 288 if (i2c.read(addr << 1, data_read, 1))
mjr 82:4f6209cb5c33 289 return 0x00;
mjr 82:4f6209cb5c33 290
mjr 82:4f6209cb5c33 291 // return the result
mjr 82:4f6209cb5c33 292 return data_read[0];
mjr 82:4f6209cb5c33 293 }
mjr 82:4f6209cb5c33 294
mjr 82:4f6209cb5c33 295 uint16_t VL6180X::readReg16(uint16_t registerAddr)
mjr 82:4f6209cb5c33 296 {
mjr 82:4f6209cb5c33 297 // write the request - MSB+LSB of register address
mjr 82:4f6209cb5c33 298 uint8_t data_write[2];
mjr 82:4f6209cb5c33 299 data_write[0] = (registerAddr >> 8) & 0xFF;
mjr 82:4f6209cb5c33 300 data_write[1] = registerAddr & 0xFF;
mjr 82:4f6209cb5c33 301 if (i2c.write(addr << 1, data_write, 2, true))
mjr 82:4f6209cb5c33 302 return 0;
mjr 82:4f6209cb5c33 303
mjr 82:4f6209cb5c33 304 // read the result
mjr 82:4f6209cb5c33 305 uint8_t data_read[2];
mjr 82:4f6209cb5c33 306 if (i2c.read(addr << 1, data_read, 2))
mjr 82:4f6209cb5c33 307 return 00;
mjr 82:4f6209cb5c33 308
mjr 82:4f6209cb5c33 309 // return the result
mjr 82:4f6209cb5c33 310 return (data_read[0] << 8) | data_read[1];
mjr 82:4f6209cb5c33 311 }
mjr 82:4f6209cb5c33 312
mjr 82:4f6209cb5c33 313 uint32_t VL6180X::readReg32(uint16_t registerAddr)
mjr 82:4f6209cb5c33 314 {
mjr 82:4f6209cb5c33 315 // write the request - MSB+LSB of register address
mjr 82:4f6209cb5c33 316 uint8_t data_write[2];
mjr 82:4f6209cb5c33 317 data_write[0] = (registerAddr >> 8) & 0xFF;
mjr 82:4f6209cb5c33 318 data_write[1] = registerAddr & 0xFF;
mjr 82:4f6209cb5c33 319 if (i2c.write(addr << 1, data_write, 2, false))
mjr 82:4f6209cb5c33 320 return 0;
mjr 82:4f6209cb5c33 321
mjr 82:4f6209cb5c33 322 // read the result
mjr 82:4f6209cb5c33 323 uint8_t data_read[4];
mjr 82:4f6209cb5c33 324 if (i2c.read(addr << 1, data_read, 4))
mjr 82:4f6209cb5c33 325 return 0;
mjr 82:4f6209cb5c33 326
mjr 82:4f6209cb5c33 327 // return the result
mjr 82:4f6209cb5c33 328 return (data_read[0] << 24) | (data_read[1] << 16) | (data_read[2] << 8) | data_read[1];
mjr 82:4f6209cb5c33 329 }
mjr 82:4f6209cb5c33 330
mjr 82:4f6209cb5c33 331 void VL6180X::writeReg8(uint16_t registerAddr, uint8_t data)
mjr 82:4f6209cb5c33 332 {
mjr 82:4f6209cb5c33 333 uint8_t data_write[3];
mjr 82:4f6209cb5c33 334 data_write[0] = (registerAddr >> 8) & 0xFF;
mjr 82:4f6209cb5c33 335 data_write[1] = registerAddr & 0xFF;
mjr 82:4f6209cb5c33 336 data_write[2] = data & 0xFF;
mjr 82:4f6209cb5c33 337 i2c.write(addr << 1, data_write, 3);
mjr 82:4f6209cb5c33 338 }
mjr 82:4f6209cb5c33 339
mjr 82:4f6209cb5c33 340 void VL6180X::writeReg16(uint16_t registerAddr, uint16_t data)
mjr 82:4f6209cb5c33 341 {
mjr 82:4f6209cb5c33 342 uint8_t data_write[4];
mjr 82:4f6209cb5c33 343 data_write[0] = (registerAddr >> 8) & 0xFF;
mjr 82:4f6209cb5c33 344 data_write[1] = registerAddr & 0xFF;
mjr 82:4f6209cb5c33 345 data_write[2] = (data >> 8) & 0xFF;
mjr 82:4f6209cb5c33 346 data_write[3] = data & 0xFF;
mjr 82:4f6209cb5c33 347 i2c.write(addr << 1, data_write, 4);
mjr 82:4f6209cb5c33 348 }