1/27/16 updated JJ
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
vl6180x.cpp | Show annotated file Show diff for this revision Revisions of this file |
vl6180x.h | Show annotated file Show diff for this revision Revisions of this file |
--- /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
--- /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