Diff: VL6180X/VL6180X.h

Revision:

82:4f6209cb5c33

Child:

85:3c28aee81cde

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/VL6180X/VL6180X.h	Thu Apr 13 23:20:28 2017 +0000
@@ -0,0 +1,206 @@
+// VL6180X Time of Flight sensor interface
+
+#ifndef _VL6180X_H_
+#define _VL6180X_H_
+
+#include "mbed.h"
+#include "BitBangI2C.h"
+
+
+class MyI2C: public I2C
+{
+public:
+    MyI2C(PinName sda, PinName scl) : I2C(sda, scl) { }
+    
+    int write(int addr, const uint8_t *data, size_t len, bool repeated = false)
+    {
+        return I2C::write(addr, (const char *)data, len, repeated);
+    }
+    int read(int addr, uint8_t *data, size_t len, bool repeated = false)
+    {
+        return I2C::read(addr, (char *)data, len, repeated);
+    }
+    
+    void reset() { }
+};
+
+#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  // NB - 16-bit value
+#define VL6180X_IDENTIFICATION_TIME                  0x0008  // NB - 16-bit 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
+enum VL6180X_ALS_Gain 
+{
+    GAIN_20 = 0,    // 20
+    GAIN_10,        // 10.32
+    GAIN_5,         // 5.21
+    GAIN_2_5,       // 2.60
+    GAIN_1_67,      // 1.72
+    GAIN_1_25,      // 1.28
+    GAIN_1,         // 1.01
+    GAIN_40,        // 40 
+};
+
+// identification
+struct VL6180X_ID 
+{
+    uint8_t model;              // model number
+    uint8_t modelRevMajor;      // model revision number major...
+    uint8_t modelRevMinor;      // ...and minor
+    uint8_t moduleRevMajor;     // module revision number major...
+    uint8_t moduleRevMinor;     // ... and minior
+    struct
+    {
+        uint8_t month;          // month 1..12
+        uint8_t day;            // day of month 1..31
+        uint16_t year;          // calendar year, 4-digit (e.g., 2016)
+        uint8_t phase;          // manufacturing phase, 0..7
+        uint8_t hh;             // hour, 0..23
+        uint8_t mm;             // minute, 0..59
+        uint8_t ss;             // second, 0..59
+    } manufDate;                // manufacturing date and time
+};
+
+// range statistics
+struct VL6180X_RangeStats
+{
+    uint16_t returnRate;        // return signal rate
+    uint16_t refReturnRate;     // reference return rate
+    uint32_t returnCnt;         // return signal count
+    uint32_t refReturnCnt;      // reference return count
+    uint32_t ambCnt;            // ambient count
+    uint32_t refAmbCnt;         // reference ambient count
+    uint32_t convTime;          // convergence time
+    uint32_t refConvTime;       // reference convergence time
+};
+
+class VL6180X
+{
+public:
+    // Set up the interface with the given I2C pins, I2C address, and
+    // the GPIO0 pin (for resetting the sensor at startup).
+    //
+    // Note that the power-on default I2C address is always 0x29.  The
+    // address can be changed during a session, but it's not saved 
+    // persistently; it always resets to 0x29 on the next power cycle.
+    VL6180X(PinName sda, PinName scl, uint8_t addr, PinName gpio0);
+    
+    // destruction
+    ~VL6180X();
+
+    // Send the required initialization sequence.  Returns true on
+    // success, false on failure.
+    bool init();
+
+    // set up default settings
+    void setDefaults();
+    
+    // Start a distance reading, returning immediately without waiting
+    // for the reading to finish.  The caller can poll for the finished
+    // reading via distanceReady().
+    void startRangeReading();
+
+    // Get TOF range distance in mm.  Returns 0 on success, a device
+    // "range error code" (>0) on failure, or -1 on timeout.
+    int getRange(uint8_t &distance, uint32_t timeout_us);
+    
+    // get range statistics
+    void getRangeStats(VL6180X_RangeStats &stats);
+
+    // set continuous distance mode
+    void continuousDistanceMode(bool on);
+    
+    // is a sample ready?
+    bool rangeReady();
+
+    // get ambient light level in lux
+    float getAmbientLight(VL6180X_ALS_Gain gain);
+
+    // get identification data
+    void getID(VL6180X_ID &id);
+
+    // Change the address of the device.  Returns the new address.
+    uint8_t changeAddress(uint8_t newAddress);
+ 
+
+protected:
+    // I2C interface to device
+    BitBangI2C i2c;
+    
+    // GPIO0 pin for hard reset
+    DigitalOut gpio0Pin;
+    
+    // device address
+    uint8_t addr;
+    
+    // current distance mode: 0=single shot, 1=continuous
+    bool distMode;
+
+    // read registers
+    uint8_t readReg8(uint16_t regAddr);
+    uint16_t readReg16(uint16_t regAddr);
+    uint32_t readReg32(uint16_t regAddr);
+
+    // write registers
+    void writeReg8(uint16_t regAddr, uint8_t data);
+    void writeReg16(uint16_t regAddr, uint16_t data);
+};
+ 
+#endif