Maaz Shaikh
sdsd
Diff: VL6180.cpp
- Revision:
- 4:aab6582c7456
- Parent:
- 3:5d61f202b1bd
--- a/VL6180.cpp Mon Oct 19 21:58:52 2015 +0000
+++ b/VL6180.cpp Fri Apr 03 15:38:03 2020 +0000
@@ -1,100 +1,281 @@
-#include "VL6180.h"
-#include "mbed.h"
+/******************************************************************************
+ * SFE_VL6180.cpp
+ * Library for VL6180 time of flight range finder.
+ * Casey Kuhns @ SparkFun Electronics
+ * 10/29/2014
+ * https://github.com/sparkfun/
+ *
+ * The VL6180 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 functions in the VL6180 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
+ * VL6180 Breakout Version: 1.0
+ *
+ *
+ * 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.
+ ******************************************************************************/
-VL6180::VL6180(PinName sda, PinName scl) : _i2c(sda, scl) {
- char poweron;
- poweron = readI2C(0x16);
- if(poweron == 1) {
- //mandatory initialization
- writeI2C(0x0207,0x01);
- writeI2C(0x0208,0x01);
- writeI2C(0x0096,0x00);
- writeI2C(0x0097,0xfd);
- writeI2C(0x00e3,0x00);
- writeI2C(0x00e4,0x04);
- writeI2C(0x00e5,0x02);
- writeI2C(0x00e6,0x01);
- writeI2C(0x00e7,0x03);
- writeI2C(0x00f5,0x02);
- writeI2C(0x00d9,0x05);
- writeI2C(0x00db,0xce);
- writeI2C(0x00dc,0x03);
- writeI2C(0x00dd,0xf8);
- writeI2C(0x009f,0x00);
- writeI2C(0x00a3,0x3c);
- writeI2C(0x00b7,0x00);
- writeI2C(0x00bb,0x3c);
- writeI2C(0x00b2,0x09);
- writeI2C(0x00ca,0x09);
- writeI2C(0x0198,0x01);
- writeI2C(0x01b0,0x17);
- writeI2C(0x01ad,0x00);
- writeI2C(0x00ff,0x05);
- writeI2C(0x0100,0x05);
- writeI2C(0x0199,0x05);
- writeI2C(0x01a6,0x1b);
- writeI2C(0x01ac,0x3e);
- writeI2C(0x01a7,0x1f);
- writeI2C(0x0030,0x00);
- //recommended initialization
- writeI2C(0x0011,0x10);// Enables polling for ‘New Sample ready’ when measurement completes
- writeI2C(0x010a,0x30);// Set the averaging sample period (compromise between lower noise and increased execution time)
- writeI2C(0x003f,0x46);// Sets the light and dark gain (upper nibble). Dark gain should not be changed.
- writeI2C(0x0031,0xFF);// sets the # of range measurements after which auto calibration of system is performed
- writeI2C(0x0040,0x63);// Set ALS integration time to 100ms
- writeI2C(0x002e,0x01);// perform a single temperature calibration of the ranging sensor
- //optional initialization
- writeI2C(0x001b,0x09);// Set default ranging inter-measurement period to 100ms
- writeI2C(0x003e,0x31);// Set default ALS inter-measurement period to 500ms
- writeI2C(0x0014,0x24);// Configures interrupt on ‘New Sample Ready threshold event’
-
- writeI2C(0x016,0x00);//change fresh out of set status to 0
- }
+#include "VL6180.h"
+
+//
+// Constructors
+//
+VL6180::VL6180(PinName sda, PinName scl) : i2c(sda, scl)
+{
+ VL6180_i2cAddress = VL6180_DEF_ADDR;
+}
+
+VL6180::VL6180(PinName sda, PinName scl, int i2cAddress) : i2c(sda, scl)
+{
+ VL6180_i2cAddress = i2cAddress;
+ VL6180_error_no = 0;
+}
+//
+// destructor
+//
+VL6180::~VL6180()
+{
}
-float VL6180::read() {
- char status;
- char retn;
-
- writeI2C(0x18, 0x01);
-
- status = readI2C(0x4F);
- while((status & 0x7) != 4) {
- status = readI2C(0x4F);
- }
-
- retn = readI2C(0x62);
-
- writeI2C(0x15, 0x07);
-
- return (float)retn / 10.0;
+int8_t VL6180::VL6180_Init(void)
+{
+ uint8_t data; //for temp data storage
+
+ data = VL6180_getRegister(VL6180_SYSTEM_FRESH_OUT_OF_RESET);
+
+ if(data != 1) return VL6180_FAILURE_RESET;
+
+ //Required by datasheet
+ //http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf
+ VL6180_setRegister(0x0207, 0x01);
+ VL6180_setRegister(0x0208, 0x01);
+ VL6180_setRegister(0x0096, 0x00);
+ VL6180_setRegister(0x0097, 0xfd);
+ VL6180_setRegister(0x00e3, 0x00);
+ VL6180_setRegister(0x00e4, 0x04);
+ VL6180_setRegister(0x00e5, 0x02);
+ VL6180_setRegister(0x00e6, 0x01);
+ VL6180_setRegister(0x00e7, 0x03);
+ VL6180_setRegister(0x00f5, 0x02);
+ VL6180_setRegister(0x00d9, 0x05);
+ VL6180_setRegister(0x00db, 0xce);
+ VL6180_setRegister(0x00dc, 0x03);
+ VL6180_setRegister(0x00dd, 0xf8);
+ VL6180_setRegister(0x009f, 0x00);
+ VL6180_setRegister(0x00a3, 0x3c);
+ VL6180_setRegister(0x00b7, 0x00);
+ VL6180_setRegister(0x00bb, 0x3c);
+ VL6180_setRegister(0x00b2, 0x09);
+ VL6180_setRegister(0x00ca, 0x09);
+ VL6180_setRegister(0x0198, 0x01);
+ VL6180_setRegister(0x01b0, 0x17);
+ VL6180_setRegister(0x01ad, 0x00);
+ VL6180_setRegister(0x00ff, 0x05);
+ VL6180_setRegister(0x0100, 0x05);
+ VL6180_setRegister(0x0199, 0x05);
+ VL6180_setRegister(0x01a6, 0x1b);
+ VL6180_setRegister(0x01ac, 0x3e);
+ VL6180_setRegister(0x01a7, 0x1f);
+ VL6180_setRegister(0x0030, 0x00);
+
+ return 0;
}
-VL6180::operator float() {
- return read();
+void VL6180::VL6180_DefautSettings(void)
+{
+ //Recommended settings from datasheet
+ //http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf
+
+ //Enable Interrupts on Conversion Complete (any source)
+ VL6180_setRegister(VL6180_SYSTEM_INTERRUPT_CONFIG_GPIO, (4 << 3)|(4) ); // Set GPIO1 high when sample complete
+
+
+ VL6180_setRegister(VL6180_SYSTEM_MODE_GPIO1, 0x10); // Set GPIO1 high when sample complete
+ VL6180_setRegister(VL6180_READOUT_AVERAGING_SAMPLE_PERIOD, 0x30); //Set Avg sample period
+ VL6180_setRegister(VL6180_SYSALS_ANALOGUE_GAIN, 0x46); // Set the ALS gain
+ VL6180_setRegister(VL6180_SYSRANGE_VHV_REPEAT_RATE, 0xFF); // Set auto calibration period (Max = 255)/(OFF = 0)
+ VL6180_setRegister(VL6180_SYSALS_INTEGRATION_PERIOD, 0x63); // Set ALS integration time to 100ms
+ VL6180_setRegister(VL6180_SYSRANGE_VHV_RECALIBRATE, 0x01); // perform a single temperature calibration
+ //Optional settings from datasheet
+ //http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf
+ VL6180_setRegister(VL6180_SYSRANGE_INTERMEASUREMENT_PERIOD, 0x09); // Set default ranging inter-measurement period to 100ms
+ VL6180_setRegister(VL6180_SYSALS_INTERMEASUREMENT_PERIOD, 0x0A); // Set default ALS inter-measurement period to 100ms
+ VL6180_setRegister(VL6180_SYSTEM_INTERRUPT_CONFIG_GPIO, 0x24); // Configures interrupt on ‘New Sample Ready threshold event’
+ //Additional settings defaults from community
+ VL6180_setRegister(VL6180_SYSRANGE_MAX_CONVERGENCE_TIME, 0x32);
+ VL6180_setRegister(VL6180_SYSRANGE_RANGE_CHECK_ENABLES, 0x10 | 0x01);
+ VL6180_setRegister16bit(VL6180_SYSRANGE_EARLY_CONVERGENCE_ESTIMATE, 0x7B );
+ VL6180_setRegister16bit(VL6180_SYSALS_INTEGRATION_PERIOD, 0x64);
+
+ VL6180_setRegister(VL6180_READOUT_AVERAGING_SAMPLE_PERIOD,0x30);
+ VL6180_setRegister(VL6180_SYSALS_ANALOGUE_GAIN,0x40);
+ VL6180_setRegister(VL6180_FIRMWARE_RESULT_SCALER,0x01);
+}
+void VL6180::getIdentification(struct VL6180Identification *temp)
+{
+
+ temp->idModel = VL6180_getRegister(VL6180_IDENTIFICATION_MODEL_ID);
+ temp->idModelRevMajor = VL6180_getRegister(VL6180_IDENTIFICATION_MODEL_REV_MAJOR);
+ temp->idModelRevMinor = VL6180_getRegister(VL6180_IDENTIFICATION_MODEL_REV_MINOR);
+ temp->idModuleRevMajor = VL6180_getRegister(VL6180_IDENTIFICATION_MODULE_REV_MAJOR);
+ temp->idModuleRevMinor = VL6180_getRegister(VL6180_IDENTIFICATION_MODULE_REV_MINOR);
+
+ temp->idDate = VL6180_getRegister16bit(VL6180_IDENTIFICATION_DATE);
+ temp->idTime = VL6180_getRegister16bit(VL6180_IDENTIFICATION_TIME);
}
-void VL6180::writeI2C(int reg, char data) {
- char dataout[3];
-
- dataout[0] = (reg >> 8) & 0xFF;
- dataout[1] = reg & 0xFF;
- dataout[2] = data & 0xFF;
-
- _i2c.write(_addr, dataout, 3);
+uint8_t VL6180::changeAddress(uint8_t old_address, uint8_t new_address)
+{
+
+ //NOTICE: IT APPEARS THAT CHANGING THE ADDRESS IS NOT STORED IN NON-VOLATILE MEMORY
+ // POWER CYCLING THE DEVICE REVERTS ADDRESS BACK TO 0X29
+
+ if( old_address == new_address) return old_address;
+ if( new_address > 127) return old_address;
+
+ VL6180_setRegister(VL6180_I2C_SLAVE_DEVICE_ADDRESS, new_address);
+
+ return VL6180_getRegister(VL6180_I2C_SLAVE_DEVICE_ADDRESS);
+}
+
+
+
+uint8_t VL6180::getDistance()
+{
+ VL6180_setRegister(VL6180_SYSRANGE_START, 0x01); //Start Single shot mode
+ wait(0.01); // 10mS
+ return VL6180_getRegister(VL6180_RESULT_RANGE_VAL);
+// VL6180_setRegister(VL6180_SYSTEM_INTERRUPT_CLEAR, 0x07);
+// return distance;
}
-char VL6180::readI2C(int reg) {
- char dataout[2];
- char datain[1];
-
- dataout[0] = (reg >> 8) & 0xFF;
- dataout[1] = reg & 0xFF;
-
- _i2c.write(_addr, dataout, 2);
- _i2c.read(_addr, datain, 1);
-
- return datain[0];
+float VL6180::getAmbientLight(VL6180_als_gain VL6180_ALS_GAIN)
+{
+ //First load in Gain we are using, do it everytime incase someone changes it on us.
+ //Note: Upper nibble shoudl be set to 0x4 i.e. for ALS gain of 1.0 write 0x46
+ VL6180_setRegister(VL6180_SYSALS_ANALOGUE_GAIN, (0x40 | VL6180_ALS_GAIN)); // Set the ALS gain
+
+ //Start ALS Measurement
+ VL6180_setRegister(VL6180_SYSALS_START, 0x01);
+
+ wait(0.1); //100Ms
+
+ VL6180_setRegister(VL6180_SYSTEM_INTERRUPT_CLEAR, 0x07);
+
+ //Retrieve the Raw ALS value from the sensoe
+ unsigned int alsRaw = VL6180_getRegister16bit(VL6180_RESULT_ALS_VAL);
+
+ //Get Integration Period for calculation, we do this everytime incase someone changes it on us.
+ unsigned int alsIntegrationPeriodRaw = VL6180_getRegister16bit(VL6180_SYSALS_INTEGRATION_PERIOD);
+
+ float alsIntegrationPeriod = 100.0 / alsIntegrationPeriodRaw ;
+
+ //Calculate actual LUX from Appnotes
+
+ float alsGain = 0.0;
+
+ switch (VL6180_ALS_GAIN) {
+ case GAIN_20:
+ alsGain = 20.0;
+ break;
+ case GAIN_10:
+ alsGain = 10.32;
+ break;
+ case GAIN_5:
+ alsGain = 5.21;
+ break;
+ case GAIN_2_5:
+ alsGain = 2.60;
+ break;
+ case GAIN_1_67:
+ alsGain = 1.72;
+ break;
+ case GAIN_1_25:
+ alsGain = 1.28;
+ break;
+ case GAIN_1:
+ alsGain = 1.01;
+ break;
+ case GAIN_40:
+ alsGain = 40.0;
+ break;
+ }
+
+//Calculate LUX from formula in AppNotes
+
+ float alsCalculated = (float)0.32 * ((float)alsRaw / alsGain) * alsIntegrationPeriod;
+
+ return alsCalculated;
+}
+
+// --- Private Functions --- //
+
+uint8_t VL6180::VL6180_getRegister(uint16_t reg_address)
+{
+ char data[2];
+
+ data[0] = (reg_address >> 8) & 0xFF; //MSB of register address
+ data[1] = reg_address & 0xFF; //LSB of register address
+ VL6180_error_no = i2c.write(VL6180_i2cAddress, data, 2);
+ VL6180_error_no = i2c.read(VL6180_i2cAddress, data, 1, false);
+ return data[0];
+}
+
+uint16_t VL6180::VL6180_getRegister16bit(uint16_t reg_address)
+{
+ char data[2];
+
+ data[0] = (reg_address >> 8) & 0xFF; //MSB of register address
+ data[1] = reg_address & 0xFF; //LSB of register address
+ VL6180_error_no = i2c.write(VL6180_i2cAddress, data, 2);
+ VL6180_error_no = i2c.read(VL6180_i2cAddress, data, 2, false);
+ return (data[0] + ((data[1] << 8) & 0xFF00));
+}
+
+void VL6180::VL6180_setRegister(uint16_t reg_address, uint8_t value)
+{
+ char data[3];
+
+ data[0] = (reg_address >> 8) & 0xFF; //MSB of register address
+ data[1] = reg_address & 0xFF; //LSB of register address
+ data[2] = value;
+ VL6180_error_no = VL6180_error_no = i2c.write(VL6180_i2cAddress, data, 3);
+}
+
+void VL6180::VL6180_setRegister16bit(uint16_t reg_address, uint16_t value)
+{
+ char data[4];
+
+ data[0] = (reg_address >> 8) & 0xFF; //MSB of register address
+ data[1] = reg_address & 0xFF; //LSB of register address
+ data[2] = value & 0xFF;
+ data[3] = ((value >> 8) & 0xFF);
+ VL6180_error_no = VL6180_error_no = i2c.write(VL6180_i2cAddress, data, 4);
+}
+
+int VL6180::writeSingleRegister( uint16_t reg_address, uint8_t data )
+{
+
+ char data_write[3];
+ data_write[0] = (reg_address >> 8) & 0xFF; //MSB of register address
+ data_write[1] = reg_address & 0xFF; //LSB of register address
+ data_write[2] = data & 0xFF;
+ return i2c.write(VL6180_DEF_ADDR, data_write, 3);
+
+// char tx[2] = { address | 160, data }; //0d160 = 0b10100000
+// int ack = i2c.write( SLAVE_ADDRESS << 1, tx, 2 );
+// return ack;
}
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