VL6180x library
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Diff: VL6180x.h
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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/VL6180x.h Tue Jul 07 20:36:43 2015 +0000 @@ -0,0 +1,319 @@ +/** +* @file VL6180x.h + * @brief Library for VL6180x time of flight range finder. + * Casey Kuhns @ SparkFun Electronics + * 10/29/2014 + * https://github.com/sparkfun/ + * + * The VL6180x by ST micro is a time of flight range finder that + * uses pulsed IR light to determine distances from object at close + * range. The average range of a sensor is between 0-200mm + * + * In this file are the function prototypes in the VL6180x class + * + * Resources: + * This library uses the Arduino Wire.h to complete I2C transactions. + * + * Development environment specifics: + * IDE: Arduino 1.0.5 + * Hardware Platform: Arduino Pro 3.3V/8MHz + * VL6180x Breakout Version: 1.0 + * + * Some settings and initial values come from code written by Kris Winer + * VL6180X_t3 Basic Example Code + * by: Kris Winer + * date: September 1, 2014 + * license: Beerware - Use this code however you'd like. If you + * find it useful you can buy me a beer some time. + * + * This code is beerware. If you see me (or any other SparkFun employee) at the + * local pub, and you've found our code helpful, please buy us a round! + * + * Distributed as-is; no warranty is given. +*/ +#include "mbed.h" +#ifndef VL6180x_h +#define VL6180x_h + +#define VL6180x_FAILURE_RESET -1 + +#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 //16bit value +#define VL6180X_IDENTIFICATION_TIME 0x0008 //16bit 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 for ALS +*Data sheet shows gain values as binary list +*/ +enum vl6180x_als_gain { + +GAIN_20 = 0, // Actual ALS Gain of 20 +GAIN_10, // Actual ALS Gain of 10.32 +GAIN_5, // Actual ALS Gain of 5.21 +GAIN_2_5, // Actual ALS Gain of 2.60 +GAIN_1_67, // Actual ALS Gain of 1.72 +GAIN_1_25, // Actual ALS Gain of 1.28 +GAIN_1 , // Actual ALS Gain of 1.01 +GAIN_40, // Actual ALS Gain of 40 + +}; +/** +* VL6180xIdentification +* @brief structure to hold module identification +* +* @param idModel Model number +* @param idModelRevMajor Major revision +* @param idModelRevMinor Minor revision +* @param idModuleRevMajor Module Major revision +* @param idModuleRevMinor Module Minor revision +* @param idDate Date of manufacture +* @param idTime Seconds after midnight manufacture +*/ +struct VL6180xIdentification { + uint8_t idModel; + uint8_t idModelRevMajor; + uint8_t idModelRevMinor; + uint8_t idModuleRevMajor; + uint8_t idModuleRevMinor; + uint16_t idDate; + uint16_t idTime; +}; +/** +* VL6180x tof/als sensor example +* +* @code +#include "mbed.h" +#include <VL6180x.h> + +const float GAIN_1 = 1.01; // Actual ALS Gain of 1.01 +const float GAIN_1_25 = 1.28; // Actual ALS Gain of 1.28 +const float GAIN_1_67 = 1.72; // Actual ALS Gain of 1.72 +const float GAIN_2_5 = 2.6; // Actual ALS Gain of 2.60 +const float GAIN_5 = 5.21; // Actual ALS Gain of 5.21 +const float GAIN_10 = 10.32; // Actual ALS Gain of 10.32 +const float GAIN_20 = 20; // Actual ALS Gain of 20 +const float GAIN_40 = 40; // Actual ALS Gain of 40 + + +#define VL6180X_ADDRESS 0x29 + +VL6180xIdentification identification; +// mbed uses 8bit addresses shift address by 1 bit left +VL6180x sensor(D14, D15, VL6180X_ADDRESS<<1); + +void printIdentification(struct VL6180xIdentification *temp){ + printf("Model ID = "); + printf("%d\n",temp->idModel); + + printf("Model Rev = "); + printf("%d",temp->idModelRevMajor); + printf("."); + printf("%d\n",temp->idModelRevMinor); + + printf("Module Rev = "); + printf("%d",temp->idModuleRevMajor); + printf("."); + printf("%d\n",temp->idModuleRevMinor); + + printf("Manufacture Date = "); + printf("%d",((temp->idDate >> 3) & 0x001F)); + printf("/"); + printf("%d",((temp->idDate >> 8) & 0x000F)); + printf("/1"); + printf("%d\n",((temp->idDate >> 12) & 0x000F)); + printf(" Phase: "); + printf("%d\n",(temp->idDate & 0x0007)); + + printf("Manufacture Time (s)= "); + printf("%d\n",(temp->idTime * 2)); + printf("\n\n"); +} +int main() { + + wait_ms(100); // delay .1s + + sensor.getIdentification(&identification); // Retrieve manufacture info from device memory + printIdentification(&identification); // Helper function to print all the Module information + + if(sensor.VL6180xInit() != 0){ + printf("FAILED TO INITALIZE\n"); //Initialize device and check for errors + }; + + sensor.VL6180xDefautSettings(); //Load default settings to get started. + + wait_ms(1000); // delay 1s + + + + while(1) { + //Get Ambient Light level and report in LUX + printf("Ambient Light Level (Lux) = "); + + //Input GAIN for light levels, + // GAIN_20 // Actual ALS Gain of 20 + // GAIN_10 // Actual ALS Gain of 10.32 + // GAIN_5 // Actual ALS Gain of 5.21 + // GAIN_2_5 // Actual ALS Gain of 2.60 + // GAIN_1_67 // Actual ALS Gain of 1.72 + // GAIN_1_25 // Actual ALS Gain of 1.28 + // GAIN_1 // Actual ALS Gain of 1.01 + // GAIN_40 // Actual ALS Gain of 40 + + printf("%f\n",sensor.getAmbientLight(GAIN_1) ); + + //Get Distance and report in mm + printf("Distance measured (mm) = "); + printf("%d\n", sensor.getDistance() ); + + wait_ms(500); + } +} +* @endcode +*/ +class VL6180x +{ +public: +/** +* VL6180x constructor +* +* @param sda SDA pin +* @param sdl SCL pin +* @param addr addr of the I2C peripheral +*/ + VL6180x(PinName sda, PinName scl, uint8_t addr); +/** +* VL6180x destructor +*/ + ~VL6180x(); +/** +* Send mandatory settings as stated in ST datasheet. +* http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf (Section 1.3) +* @returns 0 if ok +* @returns -1 on error*/ + int VL6180xInit(void); +/** +* Use default settings from ST data sheet section 9. +* +* http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf +*/ + void VL6180xDefautSettings(void); +/** +* Get Range distance in (mm) +* @returns TOF distance in mm +*/ + uint8_t getDistance(); +/** +* Get ALS level in Lux +* @param vl6180x_als_gain gain setting for sensor +* @param sdl SCL pin +* @param addr addr of the I2C peripheral +* @returns light level in Lux +*/ + float getAmbientLight(vl6180x_als_gain VL6180X_ALS_GAIN); +/** +* Load structure provided by the user with identification info +* Structure example: +* struct VL6180xIdentification +*/ + void getIdentification(struct VL6180xIdentification *temp); + +/** +* Change the default address of the device to allow multiple +* sensors on the bus. Can use up to 127 sensors. New address +* is saved in non-volatile device memory. +* @param old_address current address +* @param new_address desired new address +* @returns new address +*/ + uint8_t changeAddress(uint8_t old_address, uint8_t new_address); + + +private: + //Store address given when the class is initialized. + //This value can be changed by the changeAddress() function + I2C m_i2c; + int m_addr; +/** +* read 8 bit register +* @param registerAddr address for register +* @returns contents of register +*/ + uint8_t VL6180x_getRegister(uint16_t registerAddr); +/** +* read 16 bit register +* @param registerAddr address for register +* @param returns contents of register +*/ +uint16_t VL6180x_getRegister16bit(uint16_t registerAddr); +/** +* write 8 bit register +* @param registerAddr address for register +* @returns ERROR +*/ + void VL6180x_setRegister(uint16_t registerAddr, uint8_t data); +/** +* write 16 bit register +* @param registerAddr address for register +* @returns ERROR +*/ + void VL6180x_setRegister16bit(uint16_t registerAddr, uint16_t data); +}; + +#endif