Mirror with some correction
Dependencies: mbed FastIO FastPWM USBDevice
Diff: VL6180X/VL6180X.cpp
- Revision:
- 82:4f6209cb5c33
- Child:
- 85:3c28aee81cde
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/VL6180X/VL6180X.cpp Thu Apr 13 23:20:28 2017 +0000 @@ -0,0 +1,348 @@ +// VL6180X Time of Flight sensor interface + +#include "mbed.h" +#include "VL6180X.h" + +VL6180X::VL6180X(PinName sda, PinName scl, uint8_t addr, PinName gpio0) + : i2c(sda, scl), gpio0Pin(gpio0) +{ + // remember the address + this->addr = addr; + + // start in single-shot distance mode + distMode = 0; + + // initially reset the sensor + gpio0Pin.write(0); +} + +VL6180X::~VL6180X() +{ +} + +bool VL6180X::init() +{ + // hold reset low for 10ms + gpio0Pin.write(0); + wait_us(10000); + + // release reset to allow the sensor to reboot + gpio0Pin.write(1); + wait_us(10000); + + // reset the I2C bus + i2c.reset(); + + // check that the sensor's reset register reads as '1' + Timer t; + t.start(); + while (readReg8(VL6180X_SYSTEM_FRESH_OUT_OF_RESET) != 1) + { + if (t.read_us() > 10000000) + return false; + } + + // clear reset flag + writeReg8(VL6180X_SYSTEM_FRESH_OUT_OF_RESET, 0); + + // give the device 50ms before sending the startup sequence + wait_ms(50); + + // Send the mandatory initial register assignments, per the manufacturer's app notes: + // http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf + writeReg8(0x0207, 0x01); + writeReg8(0x0208, 0x01); + writeReg8(0x0096, 0x00); + writeReg8(0x0097, 0xfd); + writeReg8(0x00e3, 0x00); + writeReg8(0x00e4, 0x04); + writeReg8(0x00e5, 0x02); + writeReg8(0x00e6, 0x01); + writeReg8(0x00e7, 0x03); + writeReg8(0x00f5, 0x02); + writeReg8(0x00d9, 0x05); + writeReg8(0x00db, 0xce); + writeReg8(0x00dc, 0x03); + writeReg8(0x00dd, 0xf8); + writeReg8(0x009f, 0x00); + writeReg8(0x00a3, 0x3c); + writeReg8(0x00b7, 0x00); + writeReg8(0x00bb, 0x3c); + writeReg8(0x00b2, 0x09); + writeReg8(0x00ca, 0x09); + writeReg8(0x0198, 0x01); + writeReg8(0x01b0, 0x17); + writeReg8(0x01ad, 0x00); + writeReg8(0x00ff, 0x05); + writeReg8(0x0100, 0x05); + writeReg8(0x0199, 0x05); + writeReg8(0x01a6, 0x1b); + writeReg8(0x01ac, 0x3e); + writeReg8(0x01a7, 0x1f); + writeReg8(0x0030, 0x00); + + // allow time to settle + wait_us(1000); + + // success + return true; +} + +void VL6180X::setDefaults() +{ + writeReg8(VL6180X_SYSTEM_GROUPED_PARAMETER_HOLD, 0x01); // set parameter hold while updating settings + + writeReg8(VL6180X_SYSTEM_INTERRUPT_CONFIG_GPIO, (4<<3) | 4); // Enable interrupts from range and ambient integrator + writeReg8(VL6180X_SYSTEM_MODE_GPIO1, 0x10); // Set GPIO1 low when sample complete + writeReg8(VL6180X_SYSRANGE_VHV_REPEAT_RATE, 0xFF); // Set auto calibration period (Max = 255)/(OFF = 0) + writeReg8(VL6180X_SYSRANGE_INTERMEASUREMENT_PERIOD, 0x09); // Set default ranging inter-measurement period to 100ms + writeReg8(VL6180X_SYSRANGE_MAX_CONVERGENCE_TIME, 0x32); // Max range convergence time 48ms + writeReg8(VL6180X_SYSRANGE_RANGE_CHECK_ENABLES, 0x11); // S/N enable, ignore disable, early convergence test enable + writeReg16(VL6180X_SYSRANGE_EARLY_CONVERGENCE_ESTIMATE, 0x7B); // abort range measurement if convergence rate below this value + + writeReg8(VL6180X_SYSALS_INTERMEASUREMENT_PERIOD, 0x0A); // Set default ALS inter-measurement period to 100ms + writeReg8(VL6180X_SYSALS_ANALOGUE_GAIN, 0x46); // Set the ALS gain + writeReg16(VL6180X_SYSALS_INTEGRATION_PERIOD, 0x63); // ALS integration time 100ms + + writeReg8(VL6180X_READOUT_AVERAGING_SAMPLE_PERIOD, 0x30); // Sample averaging period (1.3ms + N*64.5us) + writeReg8(VL6180X_FIRMWARE_RESULT_SCALER, 0x01); + + writeReg8(VL6180X_SYSTEM_GROUPED_PARAMETER_HOLD, 0x00); // end parameter hold + + // perform a single calibration; wait until it's done (within reason) + Timer t; + t.start(); + writeReg8(VL6180X_SYSRANGE_VHV_RECALIBRATE, 0x01); + while (readReg8(VL6180X_SYSRANGE_VHV_RECALIBRATE) != 0) + { + // if we've been waiting too long, abort + if (t.read_us() > 1000000) + break; + } +} + +void VL6180X::getID(struct VL6180X_ID &id) +{ + id.model = readReg8(VL6180X_IDENTIFICATION_MODEL_ID); + id.modelRevMajor = readReg8(VL6180X_IDENTIFICATION_MODEL_REV_MAJOR) & 0x07; + id.modelRevMinor = readReg8(VL6180X_IDENTIFICATION_MODEL_REV_MINOR) & 0x07; + id.moduleRevMajor = readReg8(VL6180X_IDENTIFICATION_MODULE_REV_MAJOR) & 0x07; + id.moduleRevMinor = readReg8(VL6180X_IDENTIFICATION_MODULE_REV_MINOR) & 0x07; + + uint16_t date = readReg16(VL6180X_IDENTIFICATION_DATE); + uint16_t time = readReg16(VL6180X_IDENTIFICATION_TIME) * 2; + id.manufDate.year = 2010 + ((date >> 12) & 0x0f); + id.manufDate.month = (date >> 8) & 0x0f; + id.manufDate.day = (date >> 3) & 0x1f; + id.manufDate.phase = uint8_t(date & 0x07); + id.manufDate.hh = time/3600; + id.manufDate.mm = (time % 3600) / 60; + id.manufDate.ss = time % 60; +} + + +uint8_t VL6180X::changeAddress(uint8_t newAddress) +{ + // do nothing if the address is the same or it's out of range + if (newAddress == addr || newAddress > 127) + return addr; + + // set the new address + writeReg8(VL6180X_I2C_SLAVE_DEVICE_ADDRESS, newAddress); + + // read it back and store it + addr = readReg8(VL6180X_I2C_SLAVE_DEVICE_ADDRESS); + + // return the new address + return addr; +} + + +void VL6180X::continuousDistanceMode(bool on) +{ + if (distMode != on) + { + // remember the new mode + distMode = on; + + // Set continuous or single-shot mode. If starting continuous + // mode, set bits 0x01 (range mode = continuous) + 0x02 (start + // collecting samples now). If ending the mode, set all bits + // to zero to select single-shot mode without starting a reading. + if (on) + { + writeReg8(VL6180X_SYSTEM_INTERRUPT_CONFIG_GPIO, 4); // Enable interrupts for ranging only + writeReg8(VL6180X_SYSALS_INTERMEASUREMENT_PERIOD, 0); // minimum measurement interval (10ms) + writeReg8(VL6180X_SYSRANGE_START, 0x03); + } + else + writeReg8(VL6180X_SYSRANGE_START, 0x00); + } +} + +bool VL6180X::rangeReady() +{ + return (readReg8(VL6180X_RESULT_INTERRUPT_STATUS_GPIO) & 0x07) == 4; +} + +void VL6180X::startRangeReading() +{ + writeReg8(VL6180X_SYSRANGE_START, 0x01); +} + +int VL6180X::getRange(uint8_t &distance, uint32_t timeout_us) +{ + if (!rangeReady()) + writeReg8(VL6180X_SYSRANGE_START, 0x01); + + // wait for the sample + Timer t; + t.start(); + for (;;) + { + // if the GPIO pin is high, the sample is ready + if (rangeReady()) + break; + + // if we've exceeded the timeout, return failure + if (t.read_us() > timeout_us) + return -1; + } + + // check for errors + uint8_t err = (readReg8(VL6180X_RESULT_RANGE_STATUS) >> 4) & 0x0F; + + // read the distance + distance = readReg8(VL6180X_RESULT_RANGE_VAL); + + // clear the data-ready interrupt + writeReg8(VL6180X_SYSTEM_INTERRUPT_CLEAR, 0x07); + + // return the error code + return err; +} + +void VL6180X::getRangeStats(VL6180X_RangeStats &stats) +{ + stats.returnRate = readReg16(VL6180X_RESULT_RANGE_RETURN_RATE); + stats.refReturnRate = readReg16(VL6180X_RESULT_RANGE_REFERENCE_RATE); + stats.returnCnt = readReg32(VL6180X_RESULT_RANGE_RETURN_SIGNAL_COUNT); + stats.refReturnCnt = readReg32(VL6180X_RESULT_RANGE_REFERENCE_SIGNAL_COUNT); + stats.ambCnt = readReg32(VL6180X_RESULT_RANGE_RETURN_AMB_COUNT); + stats.refAmbCnt = readReg32(VL6180X_RESULT_RANGE_REFERENCE_AMB_COUNT); + stats.convTime = readReg32(VL6180X_RESULT_RANGE_RETURN_CONV_TIME); + stats.refConvTime = readReg32(VL6180X_RESULT_RANGE_REFERENCE_CONV_TIME); +} + +float VL6180X::getAmbientLight(VL6180X_ALS_Gain gain) +{ + // set the desired gain + writeReg8(VL6180X_SYSALS_ANALOGUE_GAIN, (0x40 | gain)); + + // start the integration + writeReg8(VL6180X_SYSALS_START, 0x01); + + // give it time to integrate + wait_ms(100); + + // clear the data-ready interrupt + writeReg8(VL6180X_SYSTEM_INTERRUPT_CLEAR, 0x07); + + // retrieve the raw sensor reading om the sensoe + unsigned int alsRaw = readReg16(VL6180X_RESULT_ALS_VAL); + + // get the integration period + unsigned int tIntRaw = readReg16(VL6180X_SYSALS_INTEGRATION_PERIOD); + float alsIntegrationPeriod = 100.0 / tIntRaw ; + + // get the actual gain at the user's gain setting + float trueGain = 0.0; + switch (gain) + { + case GAIN_20: trueGain = 20.0; break; + case GAIN_10: trueGain = 10.32; break; + case GAIN_5: trueGain = 5.21; break; + case GAIN_2_5: trueGain = 2.60; break; + case GAIN_1_67: trueGain = 1.72; break; + case GAIN_1_25: trueGain = 1.28; break; + case GAIN_1: trueGain = 1.01; break; + case GAIN_40: trueGain = 40.0; break; + default: trueGain = 1.0; break; + } + + // calculate the lux (see the manufacturer's app notes) + return alsRaw * 0.32f / trueGain * alsIntegrationPeriod; +} + +uint8_t VL6180X::readReg8(uint16_t registerAddr) +{ + // write the request - MSB+LSB of register address + uint8_t data_write[2]; + data_write[0] = (registerAddr >> 8) & 0xFF; + data_write[1] = registerAddr & 0xFF; + if (i2c.write(addr << 1, data_write, 2, true)) + return 0x00; + + // read the result + uint8_t data_read[1]; + if (i2c.read(addr << 1, data_read, 1)) + return 0x00; + + // return the result + return data_read[0]; +} + +uint16_t VL6180X::readReg16(uint16_t registerAddr) +{ + // write the request - MSB+LSB of register address + uint8_t data_write[2]; + data_write[0] = (registerAddr >> 8) & 0xFF; + data_write[1] = registerAddr & 0xFF; + if (i2c.write(addr << 1, data_write, 2, true)) + return 0; + + // read the result + uint8_t data_read[2]; + if (i2c.read(addr << 1, data_read, 2)) + return 00; + + // return the result + return (data_read[0] << 8) | data_read[1]; +} + +uint32_t VL6180X::readReg32(uint16_t registerAddr) +{ + // write the request - MSB+LSB of register address + uint8_t data_write[2]; + data_write[0] = (registerAddr >> 8) & 0xFF; + data_write[1] = registerAddr & 0xFF; + if (i2c.write(addr << 1, data_write, 2, false)) + return 0; + + // read the result + uint8_t data_read[4]; + if (i2c.read(addr << 1, data_read, 4)) + return 0; + + // return the result + return (data_read[0] << 24) | (data_read[1] << 16) | (data_read[2] << 8) | data_read[1]; +} + +void VL6180X::writeReg8(uint16_t registerAddr, uint8_t data) +{ + uint8_t data_write[3]; + data_write[0] = (registerAddr >> 8) & 0xFF; + data_write[1] = registerAddr & 0xFF; + data_write[2] = data & 0xFF; + i2c.write(addr << 1, data_write, 3); +} + +void VL6180X::writeReg16(uint16_t registerAddr, uint16_t data) +{ + uint8_t data_write[4]; + data_write[0] = (registerAddr >> 8) & 0xFF; + data_write[1] = registerAddr & 0xFF; + data_write[2] = (data >> 8) & 0xFF; + data_write[3] = data & 0xFF; + i2c.write(addr << 1, data_write, 4); +}