Maaz Shaikh / VL6180

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Dependents:   tof100

VL6180.h@4:aab6582c7456, 2020-04-03 (annotated)

Committer:
maazshaikh
Date:
Fri Apr 03 15:38:03 2020 +0000
Revision:
4:aab6582c7456
Parent:
2:595673e4c505 
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maazshaikh 4:aab6582c7456 1 /******************************************************************************
maazshaikh 4:aab6582c7456 2 * SFE_VL6180.h
maazshaikh 4:aab6582c7456 3 * Library for VL6180 time of flight range finder.
maazshaikh 4:aab6582c7456 4 * Casey Kuhns @ SparkFun Electronics
maazshaikh 4:aab6582c7456 5 * 10/29/2014
maazshaikh 4:aab6582c7456 6 * https://github.com/sparkfun/
maazshaikh 4:aab6582c7456 7 *
maazshaikh 4:aab6582c7456 8 * The VL6180 by ST micro is a time of flight range finder that
maazshaikh 4:aab6582c7456 9 * uses pulsed IR light to determine distances from object at close
maazshaikh 4:aab6582c7456 10 * range. The average range of a sensor is between 0-200mm
maazshaikh 4:aab6582c7456 11 *
maazshaikh 4:aab6582c7456 12 * In this file are the function prototypes in the VL6180 class
maazshaikh 4:aab6582c7456 13 *
maazshaikh 4:aab6582c7456 14 * Resources:
maazshaikh 4:aab6582c7456 15 * This library uses the Arduino Wire.h to complete I2C transactions.
maazshaikh 4:aab6582c7456 16 *
maazshaikh 4:aab6582c7456 17 * Development environment specifics:
maazshaikh 4:aab6582c7456 18 * IDE: Arduino 1.0.5
maazshaikh 4:aab6582c7456 19 * Hardware Platform: Arduino Pro 3.3V/8MHz
maazshaikh 4:aab6582c7456 20 * VL6180 Breakout Version: 1.0
maazshaikh 4:aab6582c7456 21 *
maazshaikh 4:aab6582c7456 22 * Some settings and initial values come from code written by Kris Winer
maazshaikh 4:aab6582c7456 23 * VL6180_t3 Basic Example Code
maazshaikh 4:aab6582c7456 24 * by: Kris Winer
maazshaikh 4:aab6582c7456 25 * date: September 1, 2014
maazshaikh 4:aab6582c7456 26 * license: Beerware - Use this code however you'd like. If you
maazshaikh 4:aab6582c7456 27 * find it useful you can buy me a beer some time.
maazshaikh 4:aab6582c7456 28 *
maazshaikh 4:aab6582c7456 29 * This code is beerware. If you see me (or any other SparkFun employee) at the
maazshaikh 4:aab6582c7456 30 * local pub, and you've found our code helpful, please buy us a round!
maazshaikh 4:aab6582c7456 31 *
maazshaikh 4:aab6582c7456 32 * Distributed as-is; no warranty is given.
maazshaikh 4:aab6582c7456 33 ******************************************************************************/
maazshaikh 4:aab6582c7456 34
maazshaikh 4:aab6582c7456 35 #ifndef SFE_VL6180_h
maazshaikh 4:aab6582c7456 36 #define SFE_VL6180_h
sburg 0:f23c00f688b2 37
sburg 0:f23c00f688b2 38 #include "mbed.h"
maazshaikh 4:aab6582c7456 39 #include "stdint.h"
maazshaikh 4:aab6582c7456 40
maazshaikh 4:aab6582c7456 41 #define VL6180_DEF_ADDR 0x52
maazshaikh 4:aab6582c7456 42
maazshaikh 4:aab6582c7456 43 #define VL6180_FAILURE_RESET -1
maazshaikh 4:aab6582c7456 44
maazshaikh 4:aab6582c7456 45 #define VL6180_IDENTIFICATION_MODEL_ID 0x0000
maazshaikh 4:aab6582c7456 46 #define VL6180_IDENTIFICATION_MODEL_REV_MAJOR 0x0001
maazshaikh 4:aab6582c7456 47 #define VL6180_IDENTIFICATION_MODEL_REV_MINOR 0x0002
maazshaikh 4:aab6582c7456 48 #define VL6180_IDENTIFICATION_MODULE_REV_MAJOR 0x0003
maazshaikh 4:aab6582c7456 49 #define VL6180_IDENTIFICATION_MODULE_REV_MINOR 0x0004
maazshaikh 4:aab6582c7456 50 #define VL6180_IDENTIFICATION_DATE 0x0006 //16bit value
maazshaikh 4:aab6582c7456 51 #define VL6180_IDENTIFICATION_TIME 0x0008 //16bit value
maazshaikh 4:aab6582c7456 52
maazshaikh 4:aab6582c7456 53 #define VL6180_SYSTEM_MODE_GPIO0 0x0010
maazshaikh 4:aab6582c7456 54 #define VL6180_SYSTEM_MODE_GPIO1 0x0011
maazshaikh 4:aab6582c7456 55 #define VL6180_SYSTEM_HISTORY_CTRL 0x0012
maazshaikh 4:aab6582c7456 56 #define VL6180_SYSTEM_INTERRUPT_CONFIG_GPIO 0x0014
maazshaikh 4:aab6582c7456 57 #define VL6180_SYSTEM_INTERRUPT_CLEAR 0x0015
maazshaikh 4:aab6582c7456 58 #define VL6180_SYSTEM_FRESH_OUT_OF_RESET 0x0016
maazshaikh 4:aab6582c7456 59 #define VL6180_SYSTEM_GROUPED_PARAMETER_HOLD 0x0017
maazshaikh 4:aab6582c7456 60
maazshaikh 4:aab6582c7456 61 #define VL6180_SYSRANGE_START 0x0018
maazshaikh 4:aab6582c7456 62 #define VL6180_SYSRANGE_THRESH_HIGH 0x0019
maazshaikh 4:aab6582c7456 63 #define VL6180_SYSRANGE_THRESH_LOW 0x001A
maazshaikh 4:aab6582c7456 64 #define VL6180_SYSRANGE_INTERMEASUREMENT_PERIOD 0x001B
maazshaikh 4:aab6582c7456 65 #define VL6180_SYSRANGE_MAX_CONVERGENCE_TIME 0x001C
maazshaikh 4:aab6582c7456 66 #define VL6180_SYSRANGE_CROSSTALK_COMPENSATION_RATE 0x001E
maazshaikh 4:aab6582c7456 67 #define VL6180_SYSRANGE_CROSSTALK_VALID_HEIGHT 0x0021
maazshaikh 4:aab6582c7456 68 #define VL6180_SYSRANGE_EARLY_CONVERGENCE_ESTIMATE 0x0022
maazshaikh 4:aab6582c7456 69 #define VL6180_SYSRANGE_PART_TO_PART_RANGE_OFFSET 0x0024
maazshaikh 4:aab6582c7456 70 #define VL6180_SYSRANGE_RANGE_IGNORE_VALID_HEIGHT 0x0025
maazshaikh 4:aab6582c7456 71 #define VL6180_SYSRANGE_RANGE_IGNORE_THRESHOLD 0x0026
maazshaikh 4:aab6582c7456 72 #define VL6180_SYSRANGE_MAX_AMBIENT_LEVEL_MULT 0x002C
maazshaikh 4:aab6582c7456 73 #define VL6180_SYSRANGE_RANGE_CHECK_ENABLES 0x002D
maazshaikh 4:aab6582c7456 74 #define VL6180_SYSRANGE_VHV_RECALIBRATE 0x002E
maazshaikh 4:aab6582c7456 75 #define VL6180_SYSRANGE_VHV_REPEAT_RATE 0x0031
maazshaikh 4:aab6582c7456 76
maazshaikh 4:aab6582c7456 77 #define VL6180_SYSALS_START 0x0038
maazshaikh 4:aab6582c7456 78 #define VL6180_SYSALS_THRESH_HIGH 0x003A
maazshaikh 4:aab6582c7456 79 #define VL6180_SYSALS_THRESH_LOW 0x003C
maazshaikh 4:aab6582c7456 80 #define VL6180_SYSALS_INTERMEASUREMENT_PERIOD 0x003E
maazshaikh 4:aab6582c7456 81 #define VL6180_SYSALS_ANALOGUE_GAIN 0x003F
maazshaikh 4:aab6582c7456 82 #define VL6180_SYSALS_INTEGRATION_PERIOD 0x0040
maazshaikh 4:aab6582c7456 83
maazshaikh 4:aab6582c7456 84 #define VL6180_RESULT_RANGE_STATUS 0x004D
maazshaikh 4:aab6582c7456 85 #define VL6180_RESULT_ALS_STATUS 0x004E
maazshaikh 4:aab6582c7456 86 #define VL6180_RESULT_INTERRUPT_STATUS_GPIO 0x004F
maazshaikh 4:aab6582c7456 87 #define VL6180_RESULT_ALS_VAL 0x0050
maazshaikh 4:aab6582c7456 88 #define VL6180_RESULT_HISTORY_BUFFER 0x0052
maazshaikh 4:aab6582c7456 89 #define VL6180_RESULT_RANGE_VAL 0x0062
maazshaikh 4:aab6582c7456 90 #define VL6180_RESULT_RANGE_RAW 0x0064
maazshaikh 4:aab6582c7456 91 #define VL6180_RESULT_RANGE_RETURN_RATE 0x0066
maazshaikh 4:aab6582c7456 92 #define VL6180_RESULT_RANGE_REFERENCE_RATE 0x0068
maazshaikh 4:aab6582c7456 93 #define VL6180_RESULT_RANGE_RETURN_SIGNAL_COUNT 0x006C
maazshaikh 4:aab6582c7456 94 #define VL6180_RESULT_RANGE_REFERENCE_SIGNAL_COUNT 0x0070
maazshaikh 4:aab6582c7456 95 #define VL6180_RESULT_RANGE_RETURN_AMB_COUNT 0x0074
maazshaikh 4:aab6582c7456 96 #define VL6180_RESULT_RANGE_REFERENCE_AMB_COUNT 0x0078
maazshaikh 4:aab6582c7456 97 #define VL6180_RESULT_RANGE_RETURN_CONV_TIME 0x007C
maazshaikh 4:aab6582c7456 98 #define VL6180_RESULT_RANGE_REFERENCE_CONV_TIME 0x0080
maazshaikh 4:aab6582c7456 99
maazshaikh 4:aab6582c7456 100 #define VL6180_READOUT_AVERAGING_SAMPLE_PERIOD 0x010A
maazshaikh 4:aab6582c7456 101 #define VL6180_FIRMWARE_BOOTUP 0x0119
maazshaikh 4:aab6582c7456 102 #define VL6180_FIRMWARE_RESULT_SCALER 0x0120
maazshaikh 4:aab6582c7456 103 #define VL6180_I2C_SLAVE_DEVICE_ADDRESS 0x0212
maazshaikh 4:aab6582c7456 104 #define VL6180_INTERLEAVED_MODE_ENABLE 0x02A3
maazshaikh 4:aab6582c7456 105
maazshaikh 4:aab6582c7456 106
maazshaikh 4:aab6582c7456 107 enum VL6180_als_gain { //Data sheet shows gain values as binary list
maazshaikh 4:aab6582c7456 108
maazshaikh 4:aab6582c7456 109 GAIN_20 = 0, // Actual ALS Gain of 20
maazshaikh 4:aab6582c7456 110 GAIN_10, // Actual ALS Gain of 10.32
maazshaikh 4:aab6582c7456 111 GAIN_5, // Actual ALS Gain of 5.21
maazshaikh 4:aab6582c7456 112 GAIN_2_5, // Actual ALS Gain of 2.60
maazshaikh 4:aab6582c7456 113 GAIN_1_67, // Actual ALS Gain of 1.72
maazshaikh 4:aab6582c7456 114 GAIN_1_25, // Actual ALS Gain of 1.28
maazshaikh 4:aab6582c7456 115 GAIN_1 , // Actual ALS Gain of 1.01
maazshaikh 4:aab6582c7456 116 GAIN_40, // Actual ALS Gain of 40
maazshaikh 4:aab6582c7456 117
maazshaikh 4:aab6582c7456 118 };
maazshaikh 4:aab6582c7456 119
maazshaikh 4:aab6582c7456 120 struct VL6180Identification {
maazshaikh 4:aab6582c7456 121 uint8_t idModel;
maazshaikh 4:aab6582c7456 122 uint8_t idModelRevMajor;
maazshaikh 4:aab6582c7456 123 uint8_t idModelRevMinor;
maazshaikh 4:aab6582c7456 124 uint8_t idModuleRevMajor;
maazshaikh 4:aab6582c7456 125 uint8_t idModuleRevMinor;
maazshaikh 4:aab6582c7456 126 uint16_t idDate;
maazshaikh 4:aab6582c7456 127 uint16_t idTime;
maazshaikh 4:aab6582c7456 128 };
maazshaikh 4:aab6582c7456 129
maazshaikh 4:aab6582c7456 130
maazshaikh 4:aab6582c7456 131 class VL6180
maazshaikh 4:aab6582c7456 132 {
sburg 0:f23c00f688b2 133 public:
maazshaikh 4:aab6582c7456 134 /** Create VL6180 instance
maazshaikh 4:aab6582c7456 135 *
maazshaikh 4:aab6582c7456 136 * @param sda sda pin for I2C
maazshaikh 4:aab6582c7456 137 * @param scl scl pin for I2C
sburg 0:f23c00f688b2 138 */
maazshaikh 4:aab6582c7456 139 VL6180( PinName sda, PinName scl );
maazshaikh 4:aab6582c7456 140 VL6180( PinName sda, PinName scl , int i2c_address);
sburg 0:f23c00f688b2 141
maazshaikh 4:aab6582c7456 142 /** Destructor
maazshaikh 4:aab6582c7456 143 */
maazshaikh 4:aab6582c7456 144 ~VL6180();
maazshaikh 4:aab6582c7456 145
maazshaikh 4:aab6582c7456 146 /** Read red, green, blue and clear values into array
maazshaikh 4:aab6582c7456 147 *
maazshaikh 4:aab6582c7456 148 * @param readings Array of four integers to store the read data
sburg 0:f23c00f688b2 149 */
maazshaikh 4:aab6582c7456 150 //Initalize library with default address
maazshaikh 4:aab6582c7456 151 // VL6180(uint8_t address);
maazshaikh 4:aab6582c7456 152 //Send manditory settings as stated in ST datasheet.
maazshaikh 4:aab6582c7456 153 // http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf (Section 1.3)
maazshaikh 4:aab6582c7456 154 int8_t VL6180_Init(void);
maazshaikh 4:aab6582c7456 155 // Use default settings from ST data sheet section 9.
maazshaikh 4:aab6582c7456 156 // http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf
maazshaikh 4:aab6582c7456 157 void VL6180_DefautSettings(void);
maazshaikh 4:aab6582c7456 158
maazshaikh 4:aab6582c7456 159 // Get Range distance in (mm)
maazshaikh 4:aab6582c7456 160 uint8_t getDistance();
maazshaikh 4:aab6582c7456 161 // Get ALS level in Lux
maazshaikh 4:aab6582c7456 162 float getAmbientLight(VL6180_als_gain VL6180_ALS_GAIN);
maazshaikh 4:aab6582c7456 163
maazshaikh 4:aab6582c7456 164 //Load structure provided by the user with identification info
maazshaikh 4:aab6582c7456 165 //Structure example:
maazshaikh 4:aab6582c7456 166 // struct VL6180Identification
maazshaikh 4:aab6582c7456 167 // {
maazshaikh 4:aab6582c7456 168 // uint8_t idModel;
maazshaikh 4:aab6582c7456 169 // uint8_t idModelRevMajor;
maazshaikh 4:aab6582c7456 170 // uint8_t idModelRevMinor;
maazshaikh 4:aab6582c7456 171 // uint8_t idModuleRevMajor;
maazshaikh 4:aab6582c7456 172 // uint8_t idModuleRevMinor;
maazshaikh 4:aab6582c7456 173 // uint16_t idDate;
maazshaikh 4:aab6582c7456 174 // uint16_t idTime;
maazshaikh 4:aab6582c7456 175 // };
maazshaikh 4:aab6582c7456 176 void getIdentification(struct VL6180Identification *temp);
maazshaikh 4:aab6582c7456 177
maazshaikh 4:aab6582c7456 178 //Change the default address of the device to allow multiple
maazshaikh 4:aab6582c7456 179 //sensors on the bus. Can use up to 127 sensors. New address
maazshaikh 4:aab6582c7456 180 //is saved in non-volatile device memory.
maazshaikh 4:aab6582c7456 181 uint8_t changeAddress(uint8_t old_address, uint8_t new_address);
sburg 0:f23c00f688b2 182
maazshaikh 4:aab6582c7456 183 int writeSingleRegister( uint16_t reg_address, uint8_t data );
maazshaikh 4:aab6582c7456 184
maazshaikh 4:aab6582c7456 185
sburg 0:f23c00f688b2 186 private:
maazshaikh 4:aab6582c7456 187 //Store address given when the class is initialized.
maazshaikh 4:aab6582c7456 188 //This value can be changed by the changeAddress() function
maazshaikh 4:aab6582c7456 189 I2C i2c;
maazshaikh 4:aab6582c7456 190 int VL6180_i2cAddress;
maazshaikh 4:aab6582c7456 191 uint8_t VL6180_error_no;
maazshaikh 4:aab6582c7456 192
maazshaikh 4:aab6582c7456 193 uint8_t VL6180_getRegister(uint16_t registerAddr);
maazshaikh 4:aab6582c7456 194 uint16_t VL6180_getRegister16bit(uint16_t registerAddr);
maazshaikh 4:aab6582c7456 195
maazshaikh 4:aab6582c7456 196 void VL6180_setRegister(uint16_t registerAddr, uint8_t value);
maazshaikh 4:aab6582c7456 197 void VL6180_setRegister16bit(uint16_t registerAddr, uint16_t value);
maazshaikh 4:aab6582c7456 198
maazshaikh 4:aab6582c7456 199
sburg 0:f23c00f688b2 200 };
sburg 0:f23c00f688b2 201
sburg 0:f23c00f688b2 202 #endif