sdsd
VL6180.cpp
- Committer:
- maazshaikh
- Date:
- 2020-04-03
- Revision:
- 4:aab6582c7456
- Parent:
- 3:5d61f202b1bd
File content as of revision 4:aab6582c7456:
/****************************************************************************** * 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. ******************************************************************************/ #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() { } 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; } 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); } 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; } 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; }