Maaz Shaikh
sdsd
Diff: VL6180.h
- Revision:
- 4:aab6582c7456
- Parent:
- 2:595673e4c505
--- a/VL6180.h Mon Oct 19 21:58:52 2015 +0000
+++ b/VL6180.h Fri Apr 03 15:38:03 2020 +0000
@@ -1,52 +1,202 @@
-#ifndef MBED_VL6180_H
-#define MBED_VL6180_H
+/******************************************************************************
+ * SFE_VL6180.h
+ * 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 function prototypes 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
+ *
+ * Some settings and initial values come from code written by Kris Winer
+ * VL6180_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.
+ ******************************************************************************/
+
+#ifndef SFE_VL6180_h
+#define SFE_VL6180_h
#include "mbed.h"
-/** VL6180 control class.
- *
- * Example:
- * @code
- * //Update pc terminal every half second with range reading
- * #include "VL6180.h"
- * #include "mbed.h"
- *
- * VL6180 rf(p9, p10); //I2C sda and scl
- * Serial pc(USBTX, USBRX); //USB serial
- *
- * int main() {
- * float reading;
- * while(1) {
- * reading = rf;
- * pc.printf("Read %4.1f cm\n", reading);
- * wait(0.5);
- * }
- * }
- * @endcode
- */
-class VL6180 {
+#include "stdint.h"
+
+#define VL6180_DEF_ADDR 0x52
+
+#define VL6180_FAILURE_RESET -1
+
+#define VL6180_IDENTIFICATION_MODEL_ID 0x0000
+#define VL6180_IDENTIFICATION_MODEL_REV_MAJOR 0x0001
+#define VL6180_IDENTIFICATION_MODEL_REV_MINOR 0x0002
+#define VL6180_IDENTIFICATION_MODULE_REV_MAJOR 0x0003
+#define VL6180_IDENTIFICATION_MODULE_REV_MINOR 0x0004
+#define VL6180_IDENTIFICATION_DATE 0x0006 //16bit value
+#define VL6180_IDENTIFICATION_TIME 0x0008 //16bit value
+
+#define VL6180_SYSTEM_MODE_GPIO0 0x0010
+#define VL6180_SYSTEM_MODE_GPIO1 0x0011
+#define VL6180_SYSTEM_HISTORY_CTRL 0x0012
+#define VL6180_SYSTEM_INTERRUPT_CONFIG_GPIO 0x0014
+#define VL6180_SYSTEM_INTERRUPT_CLEAR 0x0015
+#define VL6180_SYSTEM_FRESH_OUT_OF_RESET 0x0016
+#define VL6180_SYSTEM_GROUPED_PARAMETER_HOLD 0x0017
+
+#define VL6180_SYSRANGE_START 0x0018
+#define VL6180_SYSRANGE_THRESH_HIGH 0x0019
+#define VL6180_SYSRANGE_THRESH_LOW 0x001A
+#define VL6180_SYSRANGE_INTERMEASUREMENT_PERIOD 0x001B
+#define VL6180_SYSRANGE_MAX_CONVERGENCE_TIME 0x001C
+#define VL6180_SYSRANGE_CROSSTALK_COMPENSATION_RATE 0x001E
+#define VL6180_SYSRANGE_CROSSTALK_VALID_HEIGHT 0x0021
+#define VL6180_SYSRANGE_EARLY_CONVERGENCE_ESTIMATE 0x0022
+#define VL6180_SYSRANGE_PART_TO_PART_RANGE_OFFSET 0x0024
+#define VL6180_SYSRANGE_RANGE_IGNORE_VALID_HEIGHT 0x0025
+#define VL6180_SYSRANGE_RANGE_IGNORE_THRESHOLD 0x0026
+#define VL6180_SYSRANGE_MAX_AMBIENT_LEVEL_MULT 0x002C
+#define VL6180_SYSRANGE_RANGE_CHECK_ENABLES 0x002D
+#define VL6180_SYSRANGE_VHV_RECALIBRATE 0x002E
+#define VL6180_SYSRANGE_VHV_REPEAT_RATE 0x0031
+
+#define VL6180_SYSALS_START 0x0038
+#define VL6180_SYSALS_THRESH_HIGH 0x003A
+#define VL6180_SYSALS_THRESH_LOW 0x003C
+#define VL6180_SYSALS_INTERMEASUREMENT_PERIOD 0x003E
+#define VL6180_SYSALS_ANALOGUE_GAIN 0x003F
+#define VL6180_SYSALS_INTEGRATION_PERIOD 0x0040
+
+#define VL6180_RESULT_RANGE_STATUS 0x004D
+#define VL6180_RESULT_ALS_STATUS 0x004E
+#define VL6180_RESULT_INTERRUPT_STATUS_GPIO 0x004F
+#define VL6180_RESULT_ALS_VAL 0x0050
+#define VL6180_RESULT_HISTORY_BUFFER 0x0052
+#define VL6180_RESULT_RANGE_VAL 0x0062
+#define VL6180_RESULT_RANGE_RAW 0x0064
+#define VL6180_RESULT_RANGE_RETURN_RATE 0x0066
+#define VL6180_RESULT_RANGE_REFERENCE_RATE 0x0068
+#define VL6180_RESULT_RANGE_RETURN_SIGNAL_COUNT 0x006C
+#define VL6180_RESULT_RANGE_REFERENCE_SIGNAL_COUNT 0x0070
+#define VL6180_RESULT_RANGE_RETURN_AMB_COUNT 0x0074
+#define VL6180_RESULT_RANGE_REFERENCE_AMB_COUNT 0x0078
+#define VL6180_RESULT_RANGE_RETURN_CONV_TIME 0x007C
+#define VL6180_RESULT_RANGE_REFERENCE_CONV_TIME 0x0080
+
+#define VL6180_READOUT_AVERAGING_SAMPLE_PERIOD 0x010A
+#define VL6180_FIRMWARE_BOOTUP 0x0119
+#define VL6180_FIRMWARE_RESULT_SCALER 0x0120
+#define VL6180_I2C_SLAVE_DEVICE_ADDRESS 0x0212
+#define VL6180_INTERLEAVED_MODE_ENABLE 0x02A3
+
+
+enum VL6180_als_gain { //Data sheet shows gain values as binary list
+
+ 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
+
+};
+
+struct VL6180Identification {
+ uint8_t idModel;
+ uint8_t idModelRevMajor;
+ uint8_t idModelRevMinor;
+ uint8_t idModuleRevMajor;
+ uint8_t idModuleRevMinor;
+ uint16_t idDate;
+ uint16_t idTime;
+};
+
+
+class VL6180
+{
public:
- /** Create a VL6180 object at I2C address 0x29 (7 bit).
- *
- * @param sda I2C sda pin number
- * @param scl I2C scl pin number
+ /** Create VL6180 instance
+ *
+ * @param sda sda pin for I2C
+ * @param scl scl pin for I2C
*/
- VL6180(PinName sda, PinName scl);
+ VL6180( PinName sda, PinName scl );
+ VL6180( PinName sda, PinName scl , int i2c_address);
- /** Make a range reading.
- *
- * @param return Distance to target in cm. Approx 0.0 cm to 20.0 cm.
+ /** Destructor
+ */
+ ~VL6180();
+
+ /** Read red, green, blue and clear values into array
+ *
+ * @param readings Array of four integers to store the read data
*/
- float read();
+ //Initalize library with default address
+// VL6180(uint8_t address);
+ //Send manditory 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)
+ int8_t VL6180_Init(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 VL6180_DefautSettings(void);
+
+ // Get Range distance in (mm)
+ uint8_t getDistance();
+ // Get ALS level in Lux
+ float getAmbientLight(VL6180_als_gain VL6180_ALS_GAIN);
+
+ //Load structure provided by the user with identification info
+ //Structure example:
+ // struct VL6180Identification
+ // {
+ // uint8_t idModel;
+ // uint8_t idModelRevMajor;
+ // uint8_t idModelRevMinor;
+ // uint8_t idModuleRevMajor;
+ // uint8_t idModuleRevMinor;
+ // uint16_t idDate;
+ // uint16_t idTime;
+ // };
+ void getIdentification(struct VL6180Identification *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.
+ uint8_t changeAddress(uint8_t old_address, uint8_t new_address);
- /** Float cast is shorthand for read() */
- operator float();
-
+ int writeSingleRegister( uint16_t reg_address, uint8_t data );
+
+
private:
- void writeI2C(int reg, char data);
- char readI2C(int reg);
- I2C _i2c;
- int _res;
- static const int _addr = 0x52;
+ //Store address given when the class is initialized.
+ //This value can be changed by the changeAddress() function
+ I2C i2c;
+ int VL6180_i2cAddress;
+ uint8_t VL6180_error_no;
+
+ uint8_t VL6180_getRegister(uint16_t registerAddr);
+ uint16_t VL6180_getRegister16bit(uint16_t registerAddr);
+
+ void VL6180_setRegister(uint16_t registerAddr, uint8_t value);
+ void VL6180_setRegister16bit(uint16_t registerAddr, uint16_t value);
+
+
};
#endif
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