Diff: vl6180x.cpp

Revision:

0:375445d76687

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/vl6180x.cpp	Wed Jan 27 20:48:49 2016 +0000
@@ -0,0 +1,167 @@
+#include "vl6180x.h"
+#include "mbed.h"
+ 
+VL6180x::VL6180x(I2C &_i2c, char _address): i2c(_i2c), address(_address)
+{
+    address = I2C_SLAVE_DEFAULT_ADDRESS;
+}
+ 
+VL6180x::VL6180x(PinName sda, PinName scl, char _address): i2c(sda, scl), address(_address)
+{
+    i2c.frequency(400000);   
+    address = I2C_SLAVE_DEFAULT_ADDRESS;
+}
+ 
+void VL6180x::initialize()
+{
+ 
+    // Mandatory : private registers
+    setRegister(0x0207, 0x01);
+    setRegister(0x0208, 0x01);
+    setRegister(0x0096, 0x00);
+    setRegister(0x0097, 0xfd);
+    setRegister(0x00e3, 0x00);
+    setRegister(0x00e4, 0x04);
+    setRegister(0x00e5, 0x02);
+    setRegister(0x00e6, 0x01);
+    setRegister(0x00e7, 0x03);
+    setRegister(0x00f5, 0x02);
+    setRegister(0x00d9, 0x05);
+    setRegister(0x00db, 0xce);
+    setRegister(0x00dc, 0x03);
+    setRegister(0x00dd, 0xf8);
+    setRegister(0x009f, 0x00);
+    setRegister(0x00a3, 0x3c);
+    setRegister(0x00b7, 0x00);
+    setRegister(0x00bb, 0x3c);
+    setRegister(0x00b2, 0x09);
+    setRegister(0x00ca, 0x09);
+    setRegister(0x0198, 0x01);
+    setRegister(0x01b0, 0x17);
+    setRegister(0x01ad, 0x00);
+    setRegister(0x00ff, 0x05);
+    setRegister(0x0100, 0x05);
+    setRegister(0x0199, 0x05);
+    setRegister(0x01a6, 0x1b);
+    setRegister(0x01ac, 0x3e);
+    setRegister(0x01a7, 0x1f);
+    setRegister(0x0030, 0x00);
+ 
+// Recommended : Public registers - See data sheet for more detail
+    setRegister(SYSTEM_MODE_GPIO1, 0x10); // Enables polling for ‘New Sample ready’
+// when measurement completes
+    setRegister(READOUT_AVERAGING_SAMPLE_PERIOD, 0x30); // Set the averaging sample period
+// (compromise between lower noise and
+// increased execution time)
+    setRegister(SYSALS_ANALOGUE_GAIN, 0x46); // Sets the light and dark gain (upper
+// nibble). Dark gain should not be
+// changed.
+    setRegister(SYSRANGE_VHV_REPEAT_RATE, 0xFF); // sets the # of range measurements after
+// which auto calibration of system is
+// performed
+    setRegister(SYSALS_INTEGRATION_PERIOD, 0x63); // Set ALS integration time to 100ms
+    setRegister(SYSRANGE_VHV_RECALIBRATE, 0x01); // perform a single temperature calibration
+// of the ranging sensor
+ 
+ 
+    setRegister(SYSRANGE_INTERMEASUREMENT_PERIOD, 0x09); // Set default ranging inter-measurement
+// period to 100ms
+    setRegister(SYSALS_INTERMEASUREMENT_PERIOD, 0x31); // Set default ALS inter-measurement period
+// to 500ms
+    setRegister(SYSTEM_INTERRUPT_CONFIG_GPIO, 0x24); // Configures interrupt on ‘New Sample
+// Ready threshold event’
+}
+ 
+void VL6180x::startContinuousOperation()
+{
+    setRegister(SYSRANGE_START, 0x03);
+    
+}
+ 
+int VL6180x::getDistance()
+{
+    int distance = 0;
+    // should test bit 2  of RESULT_INTERRUPT_STATUS_GPIO ?
+    distance = getRegister(RESULT_RANGE_VAL);
+    // should clear interrupt ?
+    return distance;   
+}
+ 
+int VL6180x::getSingleDistance()
+{
+    int distance = 0;
+    while(getRegister(RESULT_RANGE_STATUS) & 0x01 != 0x01);
+    setRegister(SYSRANGE_START, 0x01); // start measurement
+    while(getRegister(RESULT_INTERRUPT_STATUS_GPIO) & 0x04 != 0x04);
+    distance = getRegister(RESULT_RANGE_VAL);
+    setRegister(SYSTEM_INTERRUPT_CLEAR, 0x07);
+    return distance;
+}
+ 
+float VL6180x::getAmbientLight()
+{
+    return 0.0f;
+}
+ 
+void VL6180x::setRegister(int reg, int value)
+{
+    char data_write[3];
+    data_write[0] = ((reg &0xff00 ) >> 8);
+    data_write[1] = (reg &0x00ff );
+    data_write[2] = value;
+    i2c.write(address, data_write, 3);
+}
+ 
+int VL6180x::getRegister(int reg)
+{
+    char data_write[2];
+    char data_read[1];
+    data_write[0] = ((reg &0xff00 ) >> 8);
+    data_write[1] = (reg &0x00ff ) ;
+ 
+    i2c.write(address, data_write, 2, 1); //no stop
+    i2c.read(address, data_read, 1, 0);
+ 
+    return data_read[0];
+}
+ 
+VL6180x::Identification VL6180x::getIdentification()
+{
+ 
+    char data_write[2];
+    char data_read[10];
+    data_write[0] = ( (0x00 &0xff00 ) >> 8);
+    data_write[1] = (0x00 &0x00ff ) ;
+ 
+    i2c.write(address, data_write, 2, 1); //no stop
+    i2c.read(address, data_read, 10, 0);
+ 
+    Identification id;
+    id.model = data_read[0];
+    id.modelRevMajor = data_read[1];
+    id.modelRevMinor = data_read[2];
+    id.moduleRevMajor = data_read[3];
+    id.moduleRevMinor = data_read[4];
+    id.date = data_read[6] << 8 | data_read[7];
+    id.time = data_read[8] << 8 | data_read[9];
+    return id;
+}
+ 
+void VL6180x::printIdentification(VL6180x::Identification id)
+{
+    printf("VL6180x Identification:\r\n");
+    printf("Model id:   0x%02X\r\n", id.model);
+    printf("Model rev:  %d.%d\r\n", id.modelRevMajor, id.modelRevMinor);
+    printf("Module rev: %d.%d\r\n", id.moduleRevMajor, id.modelRevMajor);
+    printf("Date:       %04d-%02d-%02d (%d)\r\n", ((id.date >> 12) & 0x0F) + 2010, (id.date >> 8) & 0x0F, (id.date >> 3) & 0x1F, id.date & 0x07);
+    printf("Time:       %02d:%02d:%02d\r\n", (id.time / 60*60) % 24, (id.time / 60) % 60, id.time % 60);
+}
+ 
+void VL6180x::setAddress(int address)
+{
+    char data[3];
+    data[0] = I2C_SLAVE_DEVICE_ADDRESS / 256;
+    data[1] = I2C_SLAVE_DEVICE_ADDRESS % 256;
+    data[2] = address >> 1;
+    i2c.write(address, data, 3); //no stop
+}
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