Revision 0:375445d76687, committed 2016-01-27
- Comitter:
- j_j205
- Date:
- Wed Jan 27 20:48:49 2016 +0000
- Commit message:
- 1/27/16 updated JJ
Changed in this revision
diff -r 000000000000 -r 375445d76687 vl6180x.cpp
--- /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
+}
\ No newline at end of file
diff -r 000000000000 -r 375445d76687 vl6180x.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/vl6180x.h Wed Jan 27 20:48:49 2016 +0000
@@ -0,0 +1,104 @@
+#pragma once
+
+#include "mbed.h"
+
+class VL6180x
+{
+
+public:
+ struct Identification {
+ char model;
+ char modelRevMajor;
+ char modelRevMinor;
+ char moduleRevMajor;
+ char moduleRevMinor;
+ int date;
+ int time;
+ };
+
+ VL6180x(PinName sda, PinName scl, char _address = 0xE0);
+ VL6180x(I2C &i2c, char address = 0xE0 );
+ void initialize();
+
+ int getDistance();
+ int getSingleDistance();
+ float getAmbientLight();
+ Identification getIdentification();
+ static void printIdentification(Identification id);
+ void startContinuousOperation();
+
+ void setRegister(int register, int value);
+ int getRegister(int reg);
+
+ void setAddress(int address);
+
+protected:
+ int address;
+ I2C i2c;
+
+ static const int I2C_SLAVE_DEFAULT_ADDRESS = 0x52;
+
+ static const int IDENTIFICATION_MODEL_ID = 0x000;
+ static const int IDENTIFICATION_MODEL_REV_MAJOR = 0x001;
+ static const int IDENTIFICATION_MODEL_REV_MINOR = 0x002;
+ static const int IDENTIFICATION_MODULE_REV_MAJOR = 0x003;
+ static const int IDENTIFICATION_MODULE_REV_MINOR = 0x004;
+ static const int IDENTIFICATION_DATE_HI = 0x006;
+ static const int IDENTIFICATION_DATE_LO = 0x007;
+ static const int IDENTIFICATION_TIME = 0x008;
+ static const int SYSTEM_MODE_GPIO0 = 0x010;
+ static const int SYSTEM_MODE_GPIO1 = 0x011;
+ static const int SYSTEM_HISTORY_CTRL = 0x012;
+ static const int SYSTEM_INTERRUPT_CONFIG_GPIO = 0x014;
+ static const int SYSTEM_INTERRUPT_CLEAR = 0x015;
+ static const int SYSTEM_FRESH_OUT_OF_RESET = 0x016;
+ static const int SYSTEM_GROUPED_PARAMETER_HOLD = 0x017;
+ static const int SYSRANGE_START = 0x018;
+ static const int SYSRANGE_THRESH_HIGH = 0x019;
+ static const int SYSRANGE_THRESH_LOW = 0x01A;
+ static const int SYSRANGE_INTERMEASUREMENT_PERIOD = 0x01B;
+ static const int SYSRANGE_MAX_CONVERGENCE_TIME = 0x01C;
+ static const int SYSRANGE_CROSSTALK_COMPENSATION_RATE = 0x01E;
+ static const int SYSRANGE_CROSSTALK_VALID_HEIGHT = 0x021;
+ static const int SYSRANGE_EARLY_CONVERGENCE_ESTIMATE = 0x022;
+ static const int SYSRANGE_PART_TO_PART_RANGE_OFFSET = 0x024;
+ static const int SYSRANGE_RANGE_IGNORE_VALID_HEIGHT = 0x025;
+ static const int SYSRANGE_RANGE_IGNORE_THRESHOLD = 0x026;
+ static const int SYSRANGE_MAX_AMBIENT_LEVEL_MULT = 0x02C;
+ static const int SYSRANGE_RANGE_CHECK_ENABLES = 0x02D;
+ static const int SYSRANGE_VHV_RECALIBRATE = 0x02E;
+ static const int SYSRANGE_VHV_REPEAT_RATE = 0x031;
+ static const int SYSALS_START = 0x038;
+ static const int SYSALS_THRESH_HIGH = 0x03A;
+ static const int SYSALS_THRESH_LOW = 0x03C;
+ static const int SYSALS_INTERMEASUREMENT_PERIOD = 0x03E;
+ static const int SYSALS_ANALOGUE_GAIN = 0x03F;
+ static const int SYSALS_INTEGRATION_PERIOD = 0x040;
+ static const int RESULT_RANGE_STATUS = 0x04D;
+ static const int RESULT_ALS_STATUS = 0x04E;
+ static const int RESULT_INTERRUPT_STATUS_GPIO = 0x04F;
+ static const int RESULT_ALS_VAL = 0x050;
+ static const int RESULT_HISTORY_BUFFER_0 = 0x052;
+ static const int RESULT_HISTORY_BUFFER_1 = 0x054;
+ static const int RESULT_HISTORY_BUFFER_2 = 0x056;
+ static const int RESULT_HISTORY_BUFFER_3 = 0x058;
+ static const int RESULT_HISTORY_BUFFER_4 = 0x05A;
+ static const int RESULT_HISTORY_BUFFER_5 = 0x05C;
+ static const int RESULT_HISTORY_BUFFER_6 = 0x05E;
+ static const int RESULT_HISTORY_BUFFER_7 = 0x060;
+ static const int RESULT_RANGE_VAL = 0x062;
+ static const int RESULT_RANGE_RAW = 0x064;
+ static const int RESULT_RANGE_RETURN_RATE = 0x066;
+ static const int RESULT_RANGE_REFERENCE_RATE = 0x068;
+ static const int RESULT_RANGE_RETURN_SIGNAL_COUNT = 0x06C;
+ static const int RESULT_RANGE_REFERENCE_SIGNAL_COUNT = 0x070;
+ static const int RESULT_RANGE_RETURN_AMB_COUNT = 0x074;
+ static const int RESULT_RANGE_REFERENCE_AMB_COUNT = 0x078;
+ static const int RESULT_RANGE_RETURN_CONV_TIME = 0x07C;
+ static const int RESULT_RANGE_REFERENCE_CONV_TIME = 0x080;
+ static const int READOUT_AVERAGING_SAMPLE_PERIOD = 0x10A;
+ static const int FIRMWARE_BOOTUP = 0x119;
+ static const int FIRMWARE_RESULT_SCALER = 0x120;
+ static const int I2C_SLAVE_DEVICE_ADDRESS = 0x212;
+ static const int INTERLEAVED_MODE_ENABLE = 0x2A3;
+};
\ No newline at end of file