Ian Kilburn / VL6180x

Simple VL6180x demo for VL6180x Explorer shield with Nucleo F401 adapted from SparkFun example.

Dependents:   VL6180X VL6180X_Explorer VL6180X_Explorer VL6180X ... more

VL6180x.h@0:4a5d4b4a40c4, 2015-05-10 (annotated)

Committer:
highroads
Date:
Sun May 10 07:43:39 2015 +0000
Revision:
0:4a5d4b4a40c4
Child:
1:3ebf8893b7e0
First version that works

Who changed what in which revision?

UserRevisionLine numberNew contents of line
highroads 0:4a5d4b4a40c4 1 /******************************************************************************
highroads 0:4a5d4b4a40c4 2 * SFE_VL6180X.h
highroads 0:4a5d4b4a40c4 3 * Library for VL6180x time of flight range finder.
highroads 0:4a5d4b4a40c4 4 * Casey Kuhns @ SparkFun Electronics
highroads 0:4a5d4b4a40c4 5 * 10/29/2014
highroads 0:4a5d4b4a40c4 6 * https://github.com/sparkfun/
highroads 0:4a5d4b4a40c4 7 *
highroads 0:4a5d4b4a40c4 8 * The VL6180x by ST micro is a time of flight range finder that
highroads 0:4a5d4b4a40c4 9 * uses pulsed IR light to determine distances from object at close
highroads 0:4a5d4b4a40c4 10 * range. The average range of a sensor is between 0-200mm
highroads 0:4a5d4b4a40c4 11 *
highroads 0:4a5d4b4a40c4 12 * In this file are the function prototypes in the VL6180x class
highroads 0:4a5d4b4a40c4 13 *
highroads 0:4a5d4b4a40c4 14 * Resources:
highroads 0:4a5d4b4a40c4 15 * This library uses the Arduino Wire.h to complete I2C transactions.
highroads 0:4a5d4b4a40c4 16 *
highroads 0:4a5d4b4a40c4 17 * Development environment specifics:
highroads 0:4a5d4b4a40c4 18 * IDE: Arduino 1.0.5
highroads 0:4a5d4b4a40c4 19 * Hardware Platform: Arduino Pro 3.3V/8MHz
highroads 0:4a5d4b4a40c4 20 * VL6180x Breakout Version: 1.0
highroads 0:4a5d4b4a40c4 21 *
highroads 0:4a5d4b4a40c4 22 * Some settings and initial values come from code written by Kris Winer
highroads 0:4a5d4b4a40c4 23 * VL6180X_t3 Basic Example Code
highroads 0:4a5d4b4a40c4 24 * by: Kris Winer
highroads 0:4a5d4b4a40c4 25 * date: September 1, 2014
highroads 0:4a5d4b4a40c4 26 * license: Beerware - Use this code however you'd like. If you
highroads 0:4a5d4b4a40c4 27 * find it useful you can buy me a beer some time.
highroads 0:4a5d4b4a40c4 28 *
highroads 0:4a5d4b4a40c4 29 * This code is beerware. If you see me (or any other SparkFun employee) at the
highroads 0:4a5d4b4a40c4 30 * local pub, and you've found our code helpful, please buy us a round!
highroads 0:4a5d4b4a40c4 31 *
highroads 0:4a5d4b4a40c4 32 * Distributed as-is; no warranty is given.
highroads 0:4a5d4b4a40c4 33 ******************************************************************************/
highroads 0:4a5d4b4a40c4 34 #include "mbed.h"
highroads 0:4a5d4b4a40c4 35 #ifndef VL6180x_h
highroads 0:4a5d4b4a40c4 36 #define VL6180x_h
highroads 0:4a5d4b4a40c4 37
highroads 0:4a5d4b4a40c4 38 #define VL6180x_FAILURE_RESET -1
highroads 0:4a5d4b4a40c4 39
highroads 0:4a5d4b4a40c4 40 #define VL6180X_IDENTIFICATION_MODEL_ID 0x0000
highroads 0:4a5d4b4a40c4 41 #define VL6180X_IDENTIFICATION_MODEL_REV_MAJOR 0x0001
highroads 0:4a5d4b4a40c4 42 #define VL6180X_IDENTIFICATION_MODEL_REV_MINOR 0x0002
highroads 0:4a5d4b4a40c4 43 #define VL6180X_IDENTIFICATION_MODULE_REV_MAJOR 0x0003
highroads 0:4a5d4b4a40c4 44 #define VL6180X_IDENTIFICATION_MODULE_REV_MINOR 0x0004
highroads 0:4a5d4b4a40c4 45 #define VL6180X_IDENTIFICATION_DATE 0x0006 //16bit value
highroads 0:4a5d4b4a40c4 46 #define VL6180X_IDENTIFICATION_TIME 0x0008 //16bit value
highroads 0:4a5d4b4a40c4 47
highroads 0:4a5d4b4a40c4 48 #define VL6180X_SYSTEM_MODE_GPIO0 0x0010
highroads 0:4a5d4b4a40c4 49 #define VL6180X_SYSTEM_MODE_GPIO1 0x0011
highroads 0:4a5d4b4a40c4 50 #define VL6180X_SYSTEM_HISTORY_CTRL 0x0012
highroads 0:4a5d4b4a40c4 51 #define VL6180X_SYSTEM_INTERRUPT_CONFIG_GPIO 0x0014
highroads 0:4a5d4b4a40c4 52 #define VL6180X_SYSTEM_INTERRUPT_CLEAR 0x0015
highroads 0:4a5d4b4a40c4 53 #define VL6180X_SYSTEM_FRESH_OUT_OF_RESET 0x0016
highroads 0:4a5d4b4a40c4 54 #define VL6180X_SYSTEM_GROUPED_PARAMETER_HOLD 0x0017
highroads 0:4a5d4b4a40c4 55
highroads 0:4a5d4b4a40c4 56 #define VL6180X_SYSRANGE_START 0x0018
highroads 0:4a5d4b4a40c4 57 #define VL6180X_SYSRANGE_THRESH_HIGH 0x0019
highroads 0:4a5d4b4a40c4 58 #define VL6180X_SYSRANGE_THRESH_LOW 0x001A
highroads 0:4a5d4b4a40c4 59 #define VL6180X_SYSRANGE_INTERMEASUREMENT_PERIOD 0x001B
highroads 0:4a5d4b4a40c4 60 #define VL6180X_SYSRANGE_MAX_CONVERGENCE_TIME 0x001C
highroads 0:4a5d4b4a40c4 61 #define VL6180X_SYSRANGE_CROSSTALK_COMPENSATION_RATE 0x001E
highroads 0:4a5d4b4a40c4 62 #define VL6180X_SYSRANGE_CROSSTALK_VALID_HEIGHT 0x0021
highroads 0:4a5d4b4a40c4 63 #define VL6180X_SYSRANGE_EARLY_CONVERGENCE_ESTIMATE 0x0022
highroads 0:4a5d4b4a40c4 64 #define VL6180X_SYSRANGE_PART_TO_PART_RANGE_OFFSET 0x0024
highroads 0:4a5d4b4a40c4 65 #define VL6180X_SYSRANGE_RANGE_IGNORE_VALID_HEIGHT 0x0025
highroads 0:4a5d4b4a40c4 66 #define VL6180X_SYSRANGE_RANGE_IGNORE_THRESHOLD 0x0026
highroads 0:4a5d4b4a40c4 67 #define VL6180X_SYSRANGE_MAX_AMBIENT_LEVEL_MULT 0x002C
highroads 0:4a5d4b4a40c4 68 #define VL6180X_SYSRANGE_RANGE_CHECK_ENABLES 0x002D
highroads 0:4a5d4b4a40c4 69 #define VL6180X_SYSRANGE_VHV_RECALIBRATE 0x002E
highroads 0:4a5d4b4a40c4 70 #define VL6180X_SYSRANGE_VHV_REPEAT_RATE 0x0031
highroads 0:4a5d4b4a40c4 71
highroads 0:4a5d4b4a40c4 72 #define VL6180X_SYSALS_START 0x0038
highroads 0:4a5d4b4a40c4 73 #define VL6180X_SYSALS_THRESH_HIGH 0x003A
highroads 0:4a5d4b4a40c4 74 #define VL6180X_SYSALS_THRESH_LOW 0x003C
highroads 0:4a5d4b4a40c4 75 #define VL6180X_SYSALS_INTERMEASUREMENT_PERIOD 0x003E
highroads 0:4a5d4b4a40c4 76 #define VL6180X_SYSALS_ANALOGUE_GAIN 0x003F
highroads 0:4a5d4b4a40c4 77 #define VL6180X_SYSALS_INTEGRATION_PERIOD 0x0040
highroads 0:4a5d4b4a40c4 78
highroads 0:4a5d4b4a40c4 79 #define VL6180X_RESULT_RANGE_STATUS 0x004D
highroads 0:4a5d4b4a40c4 80 #define VL6180X_RESULT_ALS_STATUS 0x004E
highroads 0:4a5d4b4a40c4 81 #define VL6180X_RESULT_INTERRUPT_STATUS_GPIO 0x004F
highroads 0:4a5d4b4a40c4 82 #define VL6180X_RESULT_ALS_VAL 0x0050
highroads 0:4a5d4b4a40c4 83 #define VL6180X_RESULT_HISTORY_BUFFER 0x0052
highroads 0:4a5d4b4a40c4 84 #define VL6180X_RESULT_RANGE_VAL 0x0062
highroads 0:4a5d4b4a40c4 85 #define VL6180X_RESULT_RANGE_RAW 0x0064
highroads 0:4a5d4b4a40c4 86 #define VL6180X_RESULT_RANGE_RETURN_RATE 0x0066
highroads 0:4a5d4b4a40c4 87 #define VL6180X_RESULT_RANGE_REFERENCE_RATE 0x0068
highroads 0:4a5d4b4a40c4 88 #define VL6180X_RESULT_RANGE_RETURN_SIGNAL_COUNT 0x006C
highroads 0:4a5d4b4a40c4 89 #define VL6180X_RESULT_RANGE_REFERENCE_SIGNAL_COUNT 0x0070
highroads 0:4a5d4b4a40c4 90 #define VL6180X_RESULT_RANGE_RETURN_AMB_COUNT 0x0074
highroads 0:4a5d4b4a40c4 91 #define VL6180X_RESULT_RANGE_REFERENCE_AMB_COUNT 0x0078
highroads 0:4a5d4b4a40c4 92 #define VL6180X_RESULT_RANGE_RETURN_CONV_TIME 0x007C
highroads 0:4a5d4b4a40c4 93 #define VL6180X_RESULT_RANGE_REFERENCE_CONV_TIME 0x0080
highroads 0:4a5d4b4a40c4 94
highroads 0:4a5d4b4a40c4 95 #define VL6180X_READOUT_AVERAGING_SAMPLE_PERIOD 0x010A
highroads 0:4a5d4b4a40c4 96 #define VL6180X_FIRMWARE_BOOTUP 0x0119
highroads 0:4a5d4b4a40c4 97 #define VL6180X_FIRMWARE_RESULT_SCALER 0x0120
highroads 0:4a5d4b4a40c4 98 #define VL6180X_I2C_SLAVE_DEVICE_ADDRESS 0x0212
highroads 0:4a5d4b4a40c4 99 #define VL6180X_INTERLEAVED_MODE_ENABLE 0x02A3
highroads 0:4a5d4b4a40c4 100
highroads 0:4a5d4b4a40c4 101
highroads 0:4a5d4b4a40c4 102 enum vl6180x_als_gain { //Data sheet shows gain values as binary list
highroads 0:4a5d4b4a40c4 103
highroads 0:4a5d4b4a40c4 104 GAIN_20 = 0, // Actual ALS Gain of 20
highroads 0:4a5d4b4a40c4 105 GAIN_10, // Actual ALS Gain of 10.32
highroads 0:4a5d4b4a40c4 106 GAIN_5, // Actual ALS Gain of 5.21
highroads 0:4a5d4b4a40c4 107 GAIN_2_5, // Actual ALS Gain of 2.60
highroads 0:4a5d4b4a40c4 108 GAIN_1_67, // Actual ALS Gain of 1.72
highroads 0:4a5d4b4a40c4 109 GAIN_1_25, // Actual ALS Gain of 1.28
highroads 0:4a5d4b4a40c4 110 GAIN_1 , // Actual ALS Gain of 1.01
highroads 0:4a5d4b4a40c4 111 GAIN_40, // Actual ALS Gain of 40
highroads 0:4a5d4b4a40c4 112
highroads 0:4a5d4b4a40c4 113 };
highroads 0:4a5d4b4a40c4 114
highroads 0:4a5d4b4a40c4 115 struct VL6180xIdentification
highroads 0:4a5d4b4a40c4 116 {
highroads 0:4a5d4b4a40c4 117 uint8_t idModel;
highroads 0:4a5d4b4a40c4 118 uint8_t idModelRevMajor;
highroads 0:4a5d4b4a40c4 119 uint8_t idModelRevMinor;
highroads 0:4a5d4b4a40c4 120 uint8_t idModuleRevMajor;
highroads 0:4a5d4b4a40c4 121 uint8_t idModuleRevMinor;
highroads 0:4a5d4b4a40c4 122 uint16_t idDate;
highroads 0:4a5d4b4a40c4 123 uint16_t idTime;
highroads 0:4a5d4b4a40c4 124 };
highroads 0:4a5d4b4a40c4 125
highroads 0:4a5d4b4a40c4 126 class VL6180x
highroads 0:4a5d4b4a40c4 127 {
highroads 0:4a5d4b4a40c4 128 public:
highroads 0:4a5d4b4a40c4 129 //Initalize library with default address
highroads 0:4a5d4b4a40c4 130 /**
highroads 0:4a5d4b4a40c4 131 * VL6180x constructor
highroads 0:4a5d4b4a40c4 132 *
highroads 0:4a5d4b4a40c4 133 * @param sda SDA pin
highroads 0:4a5d4b4a40c4 134 * @param sdl SCL pin
highroads 0:4a5d4b4a40c4 135 * @param addr addr of the I2C peripheral
highroads 0:4a5d4b4a40c4 136 */
highroads 0:4a5d4b4a40c4 137 VL6180x(PinName sda, PinName scl, uint8_t addr);
highroads 0:4a5d4b4a40c4 138 /**
highroads 0:4a5d4b4a40c4 139 * VL6180x destructor
highroads 0:4a5d4b4a40c4 140 */
highroads 0:4a5d4b4a40c4 141 ~VL6180x();
highroads 0:4a5d4b4a40c4 142 //Send mandatory settings as stated in ST datasheet.
highroads 0:4a5d4b4a40c4 143 // http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf (Section 1.3)
highroads 0:4a5d4b4a40c4 144 uint8_t VL6180xInit(void);
highroads 0:4a5d4b4a40c4 145 // Use default settings from ST data sheet section 9.
highroads 0:4a5d4b4a40c4 146 // http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf
highroads 0:4a5d4b4a40c4 147 void VL6180xDefautSettings(void);
highroads 0:4a5d4b4a40c4 148
highroads 0:4a5d4b4a40c4 149 // Get Range distance in (mm)
highroads 0:4a5d4b4a40c4 150 uint8_t getDistance();
highroads 0:4a5d4b4a40c4 151 // Get ALS level in Lux
highroads 0:4a5d4b4a40c4 152 float getAmbientLight(vl6180x_als_gain VL6180X_ALS_GAIN);
highroads 0:4a5d4b4a40c4 153
highroads 0:4a5d4b4a40c4 154 //Load structure provided by the user with identification info
highroads 0:4a5d4b4a40c4 155 //Structure example:
highroads 0:4a5d4b4a40c4 156 // struct VL6180xIdentification
highroads 0:4a5d4b4a40c4 157 // {
highroads 0:4a5d4b4a40c4 158 // uint8_t idModel;
highroads 0:4a5d4b4a40c4 159 // uint8_t idModelRevMajor;
highroads 0:4a5d4b4a40c4 160 // uint8_t idModelRevMinor;
highroads 0:4a5d4b4a40c4 161 // uint8_t idModuleRevMajor;
highroads 0:4a5d4b4a40c4 162 // uint8_t idModuleRevMinor;
highroads 0:4a5d4b4a40c4 163 // uint16_t idDate;
highroads 0:4a5d4b4a40c4 164 // uint16_t idTime;
highroads 0:4a5d4b4a40c4 165 // };
highroads 0:4a5d4b4a40c4 166 void getIdentification(struct VL6180xIdentification *temp);
highroads 0:4a5d4b4a40c4 167
highroads 0:4a5d4b4a40c4 168 //Change the default address of the device to allow multiple
highroads 0:4a5d4b4a40c4 169 //sensors on the bus. Can use up to 127 sensors. New address
highroads 0:4a5d4b4a40c4 170 //is saved in non-volatile device memory.
highroads 0:4a5d4b4a40c4 171 uint8_t changeAddress(uint8_t old_address, uint8_t new_address);
highroads 0:4a5d4b4a40c4 172
highroads 0:4a5d4b4a40c4 173
highroads 0:4a5d4b4a40c4 174 private:
highroads 0:4a5d4b4a40c4 175 //Store address given when the class is initialized.
highroads 0:4a5d4b4a40c4 176 //This value can be changed by the changeAddress() function
highroads 0:4a5d4b4a40c4 177 I2C m_i2c;
highroads 0:4a5d4b4a40c4 178 int m_addr;
highroads 0:4a5d4b4a40c4 179 uint8_t VL6180x_getRegister(uint16_t registerAddr);
highroads 0:4a5d4b4a40c4 180 uint16_t VL6180x_getRegister16bit(uint16_t registerAddr);
highroads 0:4a5d4b4a40c4 181
highroads 0:4a5d4b4a40c4 182 void VL6180x_setRegister(uint16_t registerAddr, uint8_t data);
highroads 0:4a5d4b4a40c4 183 void VL6180x_setRegister16bit(uint16_t registerAddr, uint16_t data);
highroads 0:4a5d4b4a40c4 184
highroads 0:4a5d4b4a40c4 185
highroads 0:4a5d4b4a40c4 186 };
highroads 0:4a5d4b4a40c4 187
highroads 0:4a5d4b4a40c4 188 #endif