Mirror with some correction
Dependencies: mbed FastIO FastPWM USBDevice
VL6180X/VL6180X.h@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?
User | Revision | Line number | New contents of line |
---|---|---|---|
mjr | 82:4f6209cb5c33 | 1 | // VL6180X Time of Flight sensor interface |
mjr | 82:4f6209cb5c33 | 2 | |
mjr | 82:4f6209cb5c33 | 3 | #ifndef _VL6180X_H_ |
mjr | 82:4f6209cb5c33 | 4 | #define _VL6180X_H_ |
mjr | 82:4f6209cb5c33 | 5 | |
mjr | 82:4f6209cb5c33 | 6 | #include "mbed.h" |
mjr | 82:4f6209cb5c33 | 7 | #include "BitBangI2C.h" |
mjr | 82:4f6209cb5c33 | 8 | |
mjr | 82:4f6209cb5c33 | 9 | |
mjr | 82:4f6209cb5c33 | 10 | class MyI2C: public I2C |
mjr | 82:4f6209cb5c33 | 11 | { |
mjr | 82:4f6209cb5c33 | 12 | public: |
mjr | 82:4f6209cb5c33 | 13 | MyI2C(PinName sda, PinName scl) : I2C(sda, scl) { } |
mjr | 82:4f6209cb5c33 | 14 | |
mjr | 82:4f6209cb5c33 | 15 | int write(int addr, const uint8_t *data, size_t len, bool repeated = false) |
mjr | 82:4f6209cb5c33 | 16 | { |
mjr | 82:4f6209cb5c33 | 17 | return I2C::write(addr, (const char *)data, len, repeated); |
mjr | 82:4f6209cb5c33 | 18 | } |
mjr | 82:4f6209cb5c33 | 19 | int read(int addr, uint8_t *data, size_t len, bool repeated = false) |
mjr | 82:4f6209cb5c33 | 20 | { |
mjr | 82:4f6209cb5c33 | 21 | return I2C::read(addr, (char *)data, len, repeated); |
mjr | 82:4f6209cb5c33 | 22 | } |
mjr | 82:4f6209cb5c33 | 23 | |
mjr | 82:4f6209cb5c33 | 24 | void reset() { } |
mjr | 82:4f6209cb5c33 | 25 | }; |
mjr | 82:4f6209cb5c33 | 26 | |
mjr | 82:4f6209cb5c33 | 27 | #define VL6180X_IDENTIFICATION_MODEL_ID 0x0000 |
mjr | 82:4f6209cb5c33 | 28 | #define VL6180X_IDENTIFICATION_MODEL_REV_MAJOR 0x0001 |
mjr | 82:4f6209cb5c33 | 29 | #define VL6180X_IDENTIFICATION_MODEL_REV_MINOR 0x0002 |
mjr | 82:4f6209cb5c33 | 30 | #define VL6180X_IDENTIFICATION_MODULE_REV_MAJOR 0x0003 |
mjr | 82:4f6209cb5c33 | 31 | #define VL6180X_IDENTIFICATION_MODULE_REV_MINOR 0x0004 |
mjr | 82:4f6209cb5c33 | 32 | #define VL6180X_IDENTIFICATION_DATE 0x0006 // NB - 16-bit value |
mjr | 82:4f6209cb5c33 | 33 | #define VL6180X_IDENTIFICATION_TIME 0x0008 // NB - 16-bit value |
mjr | 82:4f6209cb5c33 | 34 | |
mjr | 82:4f6209cb5c33 | 35 | #define VL6180X_SYSTEM_MODE_GPIO0 0x0010 |
mjr | 82:4f6209cb5c33 | 36 | #define VL6180X_SYSTEM_MODE_GPIO1 0x0011 |
mjr | 82:4f6209cb5c33 | 37 | #define VL6180X_SYSTEM_HISTORY_CTRL 0x0012 |
mjr | 82:4f6209cb5c33 | 38 | #define VL6180X_SYSTEM_INTERRUPT_CONFIG_GPIO 0x0014 |
mjr | 82:4f6209cb5c33 | 39 | #define VL6180X_SYSTEM_INTERRUPT_CLEAR 0x0015 |
mjr | 82:4f6209cb5c33 | 40 | #define VL6180X_SYSTEM_FRESH_OUT_OF_RESET 0x0016 |
mjr | 82:4f6209cb5c33 | 41 | #define VL6180X_SYSTEM_GROUPED_PARAMETER_HOLD 0x0017 |
mjr | 82:4f6209cb5c33 | 42 | |
mjr | 82:4f6209cb5c33 | 43 | #define VL6180X_SYSRANGE_START 0x0018 |
mjr | 82:4f6209cb5c33 | 44 | #define VL6180X_SYSRANGE_THRESH_HIGH 0x0019 |
mjr | 82:4f6209cb5c33 | 45 | #define VL6180X_SYSRANGE_THRESH_LOW 0x001A |
mjr | 82:4f6209cb5c33 | 46 | #define VL6180X_SYSRANGE_INTERMEASUREMENT_PERIOD 0x001B |
mjr | 82:4f6209cb5c33 | 47 | #define VL6180X_SYSRANGE_MAX_CONVERGENCE_TIME 0x001C |
mjr | 82:4f6209cb5c33 | 48 | #define VL6180X_SYSRANGE_CROSSTALK_COMPENSATION_RATE 0x001E |
mjr | 82:4f6209cb5c33 | 49 | #define VL6180X_SYSRANGE_CROSSTALK_VALID_HEIGHT 0x0021 |
mjr | 82:4f6209cb5c33 | 50 | #define VL6180X_SYSRANGE_EARLY_CONVERGENCE_ESTIMATE 0x0022 |
mjr | 82:4f6209cb5c33 | 51 | #define VL6180X_SYSRANGE_PART_TO_PART_RANGE_OFFSET 0x0024 |
mjr | 82:4f6209cb5c33 | 52 | #define VL6180X_SYSRANGE_RANGE_IGNORE_VALID_HEIGHT 0x0025 |
mjr | 82:4f6209cb5c33 | 53 | #define VL6180X_SYSRANGE_RANGE_IGNORE_THRESHOLD 0x0026 |
mjr | 82:4f6209cb5c33 | 54 | #define VL6180X_SYSRANGE_MAX_AMBIENT_LEVEL_MULT 0x002C |
mjr | 82:4f6209cb5c33 | 55 | #define VL6180X_SYSRANGE_RANGE_CHECK_ENABLES 0x002D |
mjr | 82:4f6209cb5c33 | 56 | #define VL6180X_SYSRANGE_VHV_RECALIBRATE 0x002E |
mjr | 82:4f6209cb5c33 | 57 | #define VL6180X_SYSRANGE_VHV_REPEAT_RATE 0x0031 |
mjr | 82:4f6209cb5c33 | 58 | |
mjr | 82:4f6209cb5c33 | 59 | #define VL6180X_SYSALS_START 0x0038 |
mjr | 82:4f6209cb5c33 | 60 | #define VL6180X_SYSALS_THRESH_HIGH 0x003A |
mjr | 82:4f6209cb5c33 | 61 | #define VL6180X_SYSALS_THRESH_LOW 0x003C |
mjr | 82:4f6209cb5c33 | 62 | #define VL6180X_SYSALS_INTERMEASUREMENT_PERIOD 0x003E |
mjr | 82:4f6209cb5c33 | 63 | #define VL6180X_SYSALS_ANALOGUE_GAIN 0x003F |
mjr | 82:4f6209cb5c33 | 64 | #define VL6180X_SYSALS_INTEGRATION_PERIOD 0x0040 |
mjr | 82:4f6209cb5c33 | 65 | |
mjr | 82:4f6209cb5c33 | 66 | #define VL6180X_RESULT_RANGE_STATUS 0x004D |
mjr | 82:4f6209cb5c33 | 67 | #define VL6180X_RESULT_ALS_STATUS 0x004E |
mjr | 82:4f6209cb5c33 | 68 | #define VL6180X_RESULT_INTERRUPT_STATUS_GPIO 0x004F |
mjr | 82:4f6209cb5c33 | 69 | #define VL6180X_RESULT_ALS_VAL 0x0050 |
mjr | 82:4f6209cb5c33 | 70 | #define VL6180X_RESULT_HISTORY_BUFFER 0x0052 |
mjr | 82:4f6209cb5c33 | 71 | #define VL6180X_RESULT_RANGE_VAL 0x0062 |
mjr | 82:4f6209cb5c33 | 72 | #define VL6180X_RESULT_RANGE_RAW 0x0064 |
mjr | 82:4f6209cb5c33 | 73 | #define VL6180X_RESULT_RANGE_RETURN_RATE 0x0066 |
mjr | 82:4f6209cb5c33 | 74 | #define VL6180X_RESULT_RANGE_REFERENCE_RATE 0x0068 |
mjr | 82:4f6209cb5c33 | 75 | #define VL6180X_RESULT_RANGE_RETURN_SIGNAL_COUNT 0x006C |
mjr | 82:4f6209cb5c33 | 76 | #define VL6180X_RESULT_RANGE_REFERENCE_SIGNAL_COUNT 0x0070 |
mjr | 82:4f6209cb5c33 | 77 | #define VL6180X_RESULT_RANGE_RETURN_AMB_COUNT 0x0074 |
mjr | 82:4f6209cb5c33 | 78 | #define VL6180X_RESULT_RANGE_REFERENCE_AMB_COUNT 0x0078 |
mjr | 82:4f6209cb5c33 | 79 | #define VL6180X_RESULT_RANGE_RETURN_CONV_TIME 0x007C |
mjr | 82:4f6209cb5c33 | 80 | #define VL6180X_RESULT_RANGE_REFERENCE_CONV_TIME 0x0080 |
mjr | 82:4f6209cb5c33 | 81 | |
mjr | 82:4f6209cb5c33 | 82 | #define VL6180X_READOUT_AVERAGING_SAMPLE_PERIOD 0x010A |
mjr | 82:4f6209cb5c33 | 83 | #define VL6180X_FIRMWARE_BOOTUP 0x0119 |
mjr | 82:4f6209cb5c33 | 84 | #define VL6180X_FIRMWARE_RESULT_SCALER 0x0120 |
mjr | 82:4f6209cb5c33 | 85 | #define VL6180X_I2C_SLAVE_DEVICE_ADDRESS 0x0212 |
mjr | 82:4f6209cb5c33 | 86 | #define VL6180X_INTERLEAVED_MODE_ENABLE 0x02A3 |
mjr | 82:4f6209cb5c33 | 87 | |
mjr | 82:4f6209cb5c33 | 88 | // gain settings |
mjr | 82:4f6209cb5c33 | 89 | enum VL6180X_ALS_Gain |
mjr | 82:4f6209cb5c33 | 90 | { |
mjr | 82:4f6209cb5c33 | 91 | GAIN_20 = 0, // 20 |
mjr | 82:4f6209cb5c33 | 92 | GAIN_10, // 10.32 |
mjr | 82:4f6209cb5c33 | 93 | GAIN_5, // 5.21 |
mjr | 82:4f6209cb5c33 | 94 | GAIN_2_5, // 2.60 |
mjr | 82:4f6209cb5c33 | 95 | GAIN_1_67, // 1.72 |
mjr | 82:4f6209cb5c33 | 96 | GAIN_1_25, // 1.28 |
mjr | 82:4f6209cb5c33 | 97 | GAIN_1, // 1.01 |
mjr | 82:4f6209cb5c33 | 98 | GAIN_40, // 40 |
mjr | 82:4f6209cb5c33 | 99 | }; |
mjr | 82:4f6209cb5c33 | 100 | |
mjr | 82:4f6209cb5c33 | 101 | // identification |
mjr | 82:4f6209cb5c33 | 102 | struct VL6180X_ID |
mjr | 82:4f6209cb5c33 | 103 | { |
mjr | 82:4f6209cb5c33 | 104 | uint8_t model; // model number |
mjr | 82:4f6209cb5c33 | 105 | uint8_t modelRevMajor; // model revision number major... |
mjr | 82:4f6209cb5c33 | 106 | uint8_t modelRevMinor; // ...and minor |
mjr | 82:4f6209cb5c33 | 107 | uint8_t moduleRevMajor; // module revision number major... |
mjr | 82:4f6209cb5c33 | 108 | uint8_t moduleRevMinor; // ... and minior |
mjr | 82:4f6209cb5c33 | 109 | struct |
mjr | 82:4f6209cb5c33 | 110 | { |
mjr | 82:4f6209cb5c33 | 111 | uint8_t month; // month 1..12 |
mjr | 82:4f6209cb5c33 | 112 | uint8_t day; // day of month 1..31 |
mjr | 82:4f6209cb5c33 | 113 | uint16_t year; // calendar year, 4-digit (e.g., 2016) |
mjr | 82:4f6209cb5c33 | 114 | uint8_t phase; // manufacturing phase, 0..7 |
mjr | 82:4f6209cb5c33 | 115 | uint8_t hh; // hour, 0..23 |
mjr | 82:4f6209cb5c33 | 116 | uint8_t mm; // minute, 0..59 |
mjr | 82:4f6209cb5c33 | 117 | uint8_t ss; // second, 0..59 |
mjr | 82:4f6209cb5c33 | 118 | } manufDate; // manufacturing date and time |
mjr | 82:4f6209cb5c33 | 119 | }; |
mjr | 82:4f6209cb5c33 | 120 | |
mjr | 82:4f6209cb5c33 | 121 | // range statistics |
mjr | 82:4f6209cb5c33 | 122 | struct VL6180X_RangeStats |
mjr | 82:4f6209cb5c33 | 123 | { |
mjr | 82:4f6209cb5c33 | 124 | uint16_t returnRate; // return signal rate |
mjr | 82:4f6209cb5c33 | 125 | uint16_t refReturnRate; // reference return rate |
mjr | 82:4f6209cb5c33 | 126 | uint32_t returnCnt; // return signal count |
mjr | 82:4f6209cb5c33 | 127 | uint32_t refReturnCnt; // reference return count |
mjr | 82:4f6209cb5c33 | 128 | uint32_t ambCnt; // ambient count |
mjr | 82:4f6209cb5c33 | 129 | uint32_t refAmbCnt; // reference ambient count |
mjr | 82:4f6209cb5c33 | 130 | uint32_t convTime; // convergence time |
mjr | 82:4f6209cb5c33 | 131 | uint32_t refConvTime; // reference convergence time |
mjr | 82:4f6209cb5c33 | 132 | }; |
mjr | 82:4f6209cb5c33 | 133 | |
mjr | 82:4f6209cb5c33 | 134 | class VL6180X |
mjr | 82:4f6209cb5c33 | 135 | { |
mjr | 82:4f6209cb5c33 | 136 | public: |
mjr | 82:4f6209cb5c33 | 137 | // Set up the interface with the given I2C pins, I2C address, and |
mjr | 82:4f6209cb5c33 | 138 | // the GPIO0 pin (for resetting the sensor at startup). |
mjr | 82:4f6209cb5c33 | 139 | // |
mjr | 82:4f6209cb5c33 | 140 | // Note that the power-on default I2C address is always 0x29. The |
mjr | 82:4f6209cb5c33 | 141 | // address can be changed during a session, but it's not saved |
mjr | 82:4f6209cb5c33 | 142 | // persistently; it always resets to 0x29 on the next power cycle. |
mjr | 82:4f6209cb5c33 | 143 | VL6180X(PinName sda, PinName scl, uint8_t addr, PinName gpio0); |
mjr | 82:4f6209cb5c33 | 144 | |
mjr | 82:4f6209cb5c33 | 145 | // destruction |
mjr | 82:4f6209cb5c33 | 146 | ~VL6180X(); |
mjr | 82:4f6209cb5c33 | 147 | |
mjr | 82:4f6209cb5c33 | 148 | // Send the required initialization sequence. Returns true on |
mjr | 82:4f6209cb5c33 | 149 | // success, false on failure. |
mjr | 82:4f6209cb5c33 | 150 | bool init(); |
mjr | 82:4f6209cb5c33 | 151 | |
mjr | 82:4f6209cb5c33 | 152 | // set up default settings |
mjr | 82:4f6209cb5c33 | 153 | void setDefaults(); |
mjr | 82:4f6209cb5c33 | 154 | |
mjr | 82:4f6209cb5c33 | 155 | // Start a distance reading, returning immediately without waiting |
mjr | 82:4f6209cb5c33 | 156 | // for the reading to finish. The caller can poll for the finished |
mjr | 82:4f6209cb5c33 | 157 | // reading via distanceReady(). |
mjr | 82:4f6209cb5c33 | 158 | void startRangeReading(); |
mjr | 82:4f6209cb5c33 | 159 | |
mjr | 82:4f6209cb5c33 | 160 | // Get TOF range distance in mm. Returns 0 on success, a device |
mjr | 82:4f6209cb5c33 | 161 | // "range error code" (>0) on failure, or -1 on timeout. |
mjr | 82:4f6209cb5c33 | 162 | int getRange(uint8_t &distance, uint32_t timeout_us); |
mjr | 82:4f6209cb5c33 | 163 | |
mjr | 82:4f6209cb5c33 | 164 | // get range statistics |
mjr | 82:4f6209cb5c33 | 165 | void getRangeStats(VL6180X_RangeStats &stats); |
mjr | 82:4f6209cb5c33 | 166 | |
mjr | 82:4f6209cb5c33 | 167 | // set continuous distance mode |
mjr | 82:4f6209cb5c33 | 168 | void continuousDistanceMode(bool on); |
mjr | 82:4f6209cb5c33 | 169 | |
mjr | 82:4f6209cb5c33 | 170 | // is a sample ready? |
mjr | 82:4f6209cb5c33 | 171 | bool rangeReady(); |
mjr | 82:4f6209cb5c33 | 172 | |
mjr | 82:4f6209cb5c33 | 173 | // get ambient light level in lux |
mjr | 82:4f6209cb5c33 | 174 | float getAmbientLight(VL6180X_ALS_Gain gain); |
mjr | 82:4f6209cb5c33 | 175 | |
mjr | 82:4f6209cb5c33 | 176 | // get identification data |
mjr | 82:4f6209cb5c33 | 177 | void getID(VL6180X_ID &id); |
mjr | 82:4f6209cb5c33 | 178 | |
mjr | 82:4f6209cb5c33 | 179 | // Change the address of the device. Returns the new address. |
mjr | 82:4f6209cb5c33 | 180 | uint8_t changeAddress(uint8_t newAddress); |
mjr | 82:4f6209cb5c33 | 181 | |
mjr | 82:4f6209cb5c33 | 182 | |
mjr | 82:4f6209cb5c33 | 183 | protected: |
mjr | 82:4f6209cb5c33 | 184 | // I2C interface to device |
mjr | 82:4f6209cb5c33 | 185 | BitBangI2C i2c; |
mjr | 82:4f6209cb5c33 | 186 | |
mjr | 82:4f6209cb5c33 | 187 | // GPIO0 pin for hard reset |
mjr | 82:4f6209cb5c33 | 188 | DigitalOut gpio0Pin; |
mjr | 82:4f6209cb5c33 | 189 | |
mjr | 82:4f6209cb5c33 | 190 | // device address |
mjr | 82:4f6209cb5c33 | 191 | uint8_t addr; |
mjr | 82:4f6209cb5c33 | 192 | |
mjr | 82:4f6209cb5c33 | 193 | // current distance mode: 0=single shot, 1=continuous |
mjr | 82:4f6209cb5c33 | 194 | bool distMode; |
mjr | 82:4f6209cb5c33 | 195 | |
mjr | 82:4f6209cb5c33 | 196 | // read registers |
mjr | 82:4f6209cb5c33 | 197 | uint8_t readReg8(uint16_t regAddr); |
mjr | 82:4f6209cb5c33 | 198 | uint16_t readReg16(uint16_t regAddr); |
mjr | 82:4f6209cb5c33 | 199 | uint32_t readReg32(uint16_t regAddr); |
mjr | 82:4f6209cb5c33 | 200 | |
mjr | 82:4f6209cb5c33 | 201 | // write registers |
mjr | 82:4f6209cb5c33 | 202 | void writeReg8(uint16_t regAddr, uint8_t data); |
mjr | 82:4f6209cb5c33 | 203 | void writeReg16(uint16_t regAddr, uint16_t data); |
mjr | 82:4f6209cb5c33 | 204 | }; |
mjr | 82:4f6209cb5c33 | 205 | |
mjr | 82:4f6209cb5c33 | 206 | #endif |