Ichiro Maruta / VL6180X

Ported from sparkfun library

Dependents:   tc_agent Line_Trace_No_collision_Light_control_longer_dis

VL6180X.cpp@0:8aca38272614, 2016-07-19 (annotated)

Committer:
maruta
Date:
Tue Jul 19 03:49:54 2016 +0000
Revision:
0:8aca38272614
Ported to mbed;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maruta 0:8aca38272614 1 /******************************************************************************
maruta 0:8aca38272614 2 * SparkFun_VL6180x.cpp
maruta 0:8aca38272614 3 * Library for VL6180x time of flight range finder.
maruta 0:8aca38272614 4 * Casey Kuhns @ SparkFun Electronics
maruta 0:8aca38272614 5 * 10/29/2014
maruta 0:8aca38272614 6 * https://github.com/sparkfun/SparkFun_ToF_Range_Finder-VL6180_Arduino_Library
maruta 0:8aca38272614 7 *
maruta 0:8aca38272614 8 * The VL6180x by ST micro is a time of flight range finder that
maruta 0:8aca38272614 9 * uses pulsed IR light to determine distances from object at close
maruta 0:8aca38272614 10 * range. The average range of a sensor is between 0-200mm
maruta 0:8aca38272614 11 *
maruta 0:8aca38272614 12 * In this file are the functions in the VL6180x class
maruta 0:8aca38272614 13 *
maruta 0:8aca38272614 14 * Resources:
maruta 0:8aca38272614 15 * This library uses the Arduino Wire.h to complete I2C transactions.
maruta 0:8aca38272614 16 *
maruta 0:8aca38272614 17 * Development environment specifics:
maruta 0:8aca38272614 18 * IDE: Arduino 1.0.5
maruta 0:8aca38272614 19 * Hardware Platform: Arduino Pro 3.3V/8MHz
maruta 0:8aca38272614 20 * VL6180x Breakout Version: 1.0
maruta 0:8aca38272614 21 * **Updated for Arduino 1.6.4 5/2015**
maruta 0:8aca38272614 22 *
maruta 0:8aca38272614 23 * This code is beerware. If you see me (or any other SparkFun employee) at the
maruta 0:8aca38272614 24 * local pub, and you've found our code helpful, please buy us a round!
maruta 0:8aca38272614 25 *
maruta 0:8aca38272614 26 * Distributed as-is; no warranty is given.
maruta 0:8aca38272614 27 ******************************************************************************/
maruta 0:8aca38272614 28
maruta 0:8aca38272614 29 #include "VL6180X.h"
maruta 0:8aca38272614 30 #include "mbed.h"
maruta 0:8aca38272614 31
maruta 0:8aca38272614 32 VL6180x::VL6180x(PinName sda, PinName scl) : _i2c(sda, scl) {
maruta 0:8aca38272614 33 }
maruta 0:8aca38272614 34
maruta 0:8aca38272614 35
maruta 0:8aca38272614 36 uint8_t VL6180x::VL6180xInit(void){
maruta 0:8aca38272614 37 uint8_t data; //for temp data storage
maruta 0:8aca38272614 38
maruta 0:8aca38272614 39 data = VL6180x_getRegister(VL6180X_SYSTEM_FRESH_OUT_OF_RESET);
maruta 0:8aca38272614 40
maruta 0:8aca38272614 41 if(data != 1) return VL6180x_FAILURE_RESET;
maruta 0:8aca38272614 42
maruta 0:8aca38272614 43 //Required by datasheet
maruta 0:8aca38272614 44 //http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf
maruta 0:8aca38272614 45 VL6180x_setRegister(0x0207, 0x01);
maruta 0:8aca38272614 46 VL6180x_setRegister(0x0208, 0x01);
maruta 0:8aca38272614 47 VL6180x_setRegister(0x0096, 0x00);
maruta 0:8aca38272614 48 VL6180x_setRegister(0x0097, 0xfd);
maruta 0:8aca38272614 49 VL6180x_setRegister(0x00e3, 0x00);
maruta 0:8aca38272614 50 VL6180x_setRegister(0x00e4, 0x04);
maruta 0:8aca38272614 51 VL6180x_setRegister(0x00e5, 0x02);
maruta 0:8aca38272614 52 VL6180x_setRegister(0x00e6, 0x01);
maruta 0:8aca38272614 53 VL6180x_setRegister(0x00e7, 0x03);
maruta 0:8aca38272614 54 VL6180x_setRegister(0x00f5, 0x02);
maruta 0:8aca38272614 55 VL6180x_setRegister(0x00d9, 0x05);
maruta 0:8aca38272614 56 VL6180x_setRegister(0x00db, 0xce);
maruta 0:8aca38272614 57 VL6180x_setRegister(0x00dc, 0x03);
maruta 0:8aca38272614 58 VL6180x_setRegister(0x00dd, 0xf8);
maruta 0:8aca38272614 59 VL6180x_setRegister(0x009f, 0x00);
maruta 0:8aca38272614 60 VL6180x_setRegister(0x00a3, 0x3c);
maruta 0:8aca38272614 61 VL6180x_setRegister(0x00b7, 0x00);
maruta 0:8aca38272614 62 VL6180x_setRegister(0x00bb, 0x3c);
maruta 0:8aca38272614 63 VL6180x_setRegister(0x00b2, 0x09);
maruta 0:8aca38272614 64 VL6180x_setRegister(0x00ca, 0x09);
maruta 0:8aca38272614 65 VL6180x_setRegister(0x0198, 0x01);
maruta 0:8aca38272614 66 VL6180x_setRegister(0x01b0, 0x17);
maruta 0:8aca38272614 67 VL6180x_setRegister(0x01ad, 0x00);
maruta 0:8aca38272614 68 VL6180x_setRegister(0x00ff, 0x05);
maruta 0:8aca38272614 69 VL6180x_setRegister(0x0100, 0x05);
maruta 0:8aca38272614 70 VL6180x_setRegister(0x0199, 0x05);
maruta 0:8aca38272614 71 VL6180x_setRegister(0x01a6, 0x1b);
maruta 0:8aca38272614 72 VL6180x_setRegister(0x01ac, 0x3e);
maruta 0:8aca38272614 73 VL6180x_setRegister(0x01a7, 0x1f);
maruta 0:8aca38272614 74 VL6180x_setRegister(0x0030, 0x00);
maruta 0:8aca38272614 75
maruta 0:8aca38272614 76 return 0;
maruta 0:8aca38272614 77 }
maruta 0:8aca38272614 78
maruta 0:8aca38272614 79 void VL6180x::VL6180xDefautSettings(void){
maruta 0:8aca38272614 80 //Recommended settings from datasheet
maruta 0:8aca38272614 81 //http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf
maruta 0:8aca38272614 82
maruta 0:8aca38272614 83 //Enable Interrupts on Conversion Complete (any source)
maruta 0:8aca38272614 84 VL6180x_setRegister(VL6180X_SYSTEM_INTERRUPT_CONFIG_GPIO, (4 << 3)|(4) ); // Set GPIO1 high when sample complete
maruta 0:8aca38272614 85
maruta 0:8aca38272614 86
maruta 0:8aca38272614 87 VL6180x_setRegister(VL6180X_SYSTEM_MODE_GPIO1, 0x10); // Set GPIO1 high when sample complete
maruta 0:8aca38272614 88 VL6180x_setRegister(VL6180X_READOUT_AVERAGING_SAMPLE_PERIOD, 0x30); //Set Avg sample period
maruta 0:8aca38272614 89 VL6180x_setRegister(VL6180X_SYSALS_ANALOGUE_GAIN, 0x46); // Set the ALS gain
maruta 0:8aca38272614 90 VL6180x_setRegister(VL6180X_SYSRANGE_VHV_REPEAT_RATE, 0xFF); // Set auto calibration period (Max = 255)/(OFF = 0)
maruta 0:8aca38272614 91 VL6180x_setRegister(VL6180X_SYSALS_INTEGRATION_PERIOD, 0x63); // Set ALS integration time to 100ms
maruta 0:8aca38272614 92 VL6180x_setRegister(VL6180X_SYSRANGE_VHV_RECALIBRATE, 0x01); // perform a single temperature calibration
maruta 0:8aca38272614 93 //Optional settings from datasheet
maruta 0:8aca38272614 94 //http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf
maruta 0:8aca38272614 95 VL6180x_setRegister(VL6180X_SYSRANGE_INTERMEASUREMENT_PERIOD, 0x09); // Set default ranging inter-measurement period to 100ms
maruta 0:8aca38272614 96 VL6180x_setRegister(VL6180X_SYSALS_INTERMEASUREMENT_PERIOD, 0x0A); // Set default ALS inter-measurement period to 100ms
maruta 0:8aca38272614 97 VL6180x_setRegister(VL6180X_SYSTEM_INTERRUPT_CONFIG_GPIO, 0x24); // Configures interrupt on ‘New Sample Ready threshold event’
maruta 0:8aca38272614 98 //Additional settings defaults from community
maruta 0:8aca38272614 99 VL6180x_setRegister(VL6180X_SYSRANGE_MAX_CONVERGENCE_TIME, 0x32);
maruta 0:8aca38272614 100 VL6180x_setRegister(VL6180X_SYSRANGE_RANGE_CHECK_ENABLES, 0x10 | 0x01);
maruta 0:8aca38272614 101 VL6180x_setRegister16bit(VL6180X_SYSRANGE_EARLY_CONVERGENCE_ESTIMATE, 0x7B );
maruta 0:8aca38272614 102 VL6180x_setRegister16bit(VL6180X_SYSALS_INTEGRATION_PERIOD, 0x64);
maruta 0:8aca38272614 103
maruta 0:8aca38272614 104 VL6180x_setRegister(VL6180X_READOUT_AVERAGING_SAMPLE_PERIOD,0x30);
maruta 0:8aca38272614 105 VL6180x_setRegister(VL6180X_SYSALS_ANALOGUE_GAIN,0x40);
maruta 0:8aca38272614 106 VL6180x_setRegister(VL6180X_FIRMWARE_RESULT_SCALER,0x01);
maruta 0:8aca38272614 107 }
maruta 0:8aca38272614 108 void VL6180x::getIdentification(struct VL6180xIdentification *temp){
maruta 0:8aca38272614 109
maruta 0:8aca38272614 110 temp->idModel = VL6180x_getRegister(VL6180X_IDENTIFICATION_MODEL_ID);
maruta 0:8aca38272614 111 temp->idModelRevMajor = VL6180x_getRegister(VL6180X_IDENTIFICATION_MODEL_REV_MAJOR);
maruta 0:8aca38272614 112 temp->idModelRevMinor = VL6180x_getRegister(VL6180X_IDENTIFICATION_MODEL_REV_MINOR);
maruta 0:8aca38272614 113 temp->idModuleRevMajor = VL6180x_getRegister(VL6180X_IDENTIFICATION_MODULE_REV_MAJOR);
maruta 0:8aca38272614 114 temp->idModuleRevMinor = VL6180x_getRegister(VL6180X_IDENTIFICATION_MODULE_REV_MINOR);
maruta 0:8aca38272614 115
maruta 0:8aca38272614 116 temp->idDate = VL6180x_getRegister16bit(VL6180X_IDENTIFICATION_DATE);
maruta 0:8aca38272614 117 temp->idTime = VL6180x_getRegister16bit(VL6180X_IDENTIFICATION_TIME);
maruta 0:8aca38272614 118 }
maruta 0:8aca38272614 119
maruta 0:8aca38272614 120
maruta 0:8aca38272614 121 uint8_t VL6180x::changeAddress(uint8_t old_address, uint8_t new_address){
maruta 0:8aca38272614 122
maruta 0:8aca38272614 123 //NOTICE: IT APPEARS THAT CHANGING THE ADDRESS IS NOT STORED IN NON-VOLATILE MEMORY
maruta 0:8aca38272614 124 // POWER CYCLING THE DEVICE REVERTS ADDRESS BACK TO 0X29
maruta 0:8aca38272614 125
maruta 0:8aca38272614 126 if( old_address == new_address) return old_address;
maruta 0:8aca38272614 127 if( new_address > 127) return old_address;
maruta 0:8aca38272614 128
maruta 0:8aca38272614 129 VL6180x_setRegister(VL6180X_I2C_SLAVE_DEVICE_ADDRESS, new_address);
maruta 0:8aca38272614 130
maruta 0:8aca38272614 131 return VL6180x_getRegister(VL6180X_I2C_SLAVE_DEVICE_ADDRESS);
maruta 0:8aca38272614 132 }
maruta 0:8aca38272614 133
maruta 0:8aca38272614 134
maruta 0:8aca38272614 135
maruta 0:8aca38272614 136 void VL6180x::triggerDistance()
maruta 0:8aca38272614 137 {
maruta 0:8aca38272614 138 VL6180x_setRegister(VL6180X_SYSRANGE_START, 0x01); //Start Single shot mode
maruta 0:8aca38272614 139 }
maruta 0:8aca38272614 140
maruta 0:8aca38272614 141 uint8_t VL6180x::pollDistance()
maruta 0:8aca38272614 142 {
maruta 0:8aca38272614 143 uint8_t status;
maruta 0:8aca38272614 144 do{
maruta 0:8aca38272614 145 status = VL6180x_getRegister(VL6180X_RESULT_INTERRUPT_STATUS_GPIO);
maruta 0:8aca38272614 146 }while((status & 0x7) != 4);
maruta 0:8aca38272614 147 return VL6180x_getRegister(VL6180X_RESULT_RANGE_VAL);
maruta 0:8aca38272614 148 }
maruta 0:8aca38272614 149
maruta 0:8aca38272614 150 uint8_t VL6180x::getDistance()
maruta 0:8aca38272614 151 {
maruta 0:8aca38272614 152 VL6180x_setRegister(VL6180X_SYSRANGE_START, 0x01); //Start Single shot mode
maruta 0:8aca38272614 153 wait_ms(10);
maruta 0:8aca38272614 154 return VL6180x_getRegister(VL6180X_RESULT_RANGE_VAL);
maruta 0:8aca38272614 155 // VL6180x_setRegister(VL6180X_SYSTEM_INTERRUPT_CLEAR, 0x07);
maruta 0:8aca38272614 156 // return distance;
maruta 0:8aca38272614 157 }
maruta 0:8aca38272614 158
maruta 0:8aca38272614 159 float VL6180x::getAmbientLight(vl6180x_als_gain VL6180X_ALS_GAIN)
maruta 0:8aca38272614 160 {
maruta 0:8aca38272614 161 //First load in Gain we are using, do it everytime incase someone changes it on us.
maruta 0:8aca38272614 162 //Note: Upper nibble shoudl be set to 0x4 i.e. for ALS gain of 1.0 write 0x46
maruta 0:8aca38272614 163 VL6180x_setRegister(VL6180X_SYSALS_ANALOGUE_GAIN, (0x40 | VL6180X_ALS_GAIN)); // Set the ALS gain
maruta 0:8aca38272614 164
maruta 0:8aca38272614 165 //Start ALS Measurement
maruta 0:8aca38272614 166 VL6180x_setRegister(VL6180X_SYSALS_START, 0x01);
maruta 0:8aca38272614 167
maruta 0:8aca38272614 168 wait_ms(100); //give it time...
maruta 0:8aca38272614 169
maruta 0:8aca38272614 170 VL6180x_setRegister(VL6180X_SYSTEM_INTERRUPT_CLEAR, 0x07);
maruta 0:8aca38272614 171
maruta 0:8aca38272614 172 //Retrieve the Raw ALS value from the sensoe
maruta 0:8aca38272614 173 unsigned int alsRaw = VL6180x_getRegister16bit(VL6180X_RESULT_ALS_VAL);
maruta 0:8aca38272614 174
maruta 0:8aca38272614 175 //Get Integration Period for calculation, we do this everytime incase someone changes it on us.
maruta 0:8aca38272614 176 unsigned int alsIntegrationPeriodRaw = VL6180x_getRegister16bit(VL6180X_SYSALS_INTEGRATION_PERIOD);
maruta 0:8aca38272614 177
maruta 0:8aca38272614 178 float alsIntegrationPeriod = 100.0 / alsIntegrationPeriodRaw ;
maruta 0:8aca38272614 179
maruta 0:8aca38272614 180 //Calculate actual LUX from Appnotes
maruta 0:8aca38272614 181
maruta 0:8aca38272614 182 float alsGain = 0.0;
maruta 0:8aca38272614 183
maruta 0:8aca38272614 184 switch (VL6180X_ALS_GAIN){
maruta 0:8aca38272614 185 case GAIN_20: alsGain = 20.0; break;
maruta 0:8aca38272614 186 case GAIN_10: alsGain = 10.32; break;
maruta 0:8aca38272614 187 case GAIN_5: alsGain = 5.21; break;
maruta 0:8aca38272614 188 case GAIN_2_5: alsGain = 2.60; break;
maruta 0:8aca38272614 189 case GAIN_1_67: alsGain = 1.72; break;
maruta 0:8aca38272614 190 case GAIN_1_25: alsGain = 1.28; break;
maruta 0:8aca38272614 191 case GAIN_1: alsGain = 1.01; break;
maruta 0:8aca38272614 192 case GAIN_40: alsGain = 40.0; break;
maruta 0:8aca38272614 193 }
maruta 0:8aca38272614 194
maruta 0:8aca38272614 195 //Calculate LUX from formula in AppNotes
maruta 0:8aca38272614 196
maruta 0:8aca38272614 197 float alsCalculated = (float)0.32 * ((float)alsRaw / alsGain) * alsIntegrationPeriod;
maruta 0:8aca38272614 198
maruta 0:8aca38272614 199 return alsCalculated;
maruta 0:8aca38272614 200 }
maruta 0:8aca38272614 201
maruta 0:8aca38272614 202 // --- Private Functions --- //
maruta 0:8aca38272614 203
maruta 0:8aca38272614 204 uint8_t VL6180x::VL6180x_getRegister(uint16_t reg)
maruta 0:8aca38272614 205 {
maruta 0:8aca38272614 206 uint8_t dataout[2];
maruta 0:8aca38272614 207 uint8_t datain[1];
maruta 0:8aca38272614 208
maruta 0:8aca38272614 209 dataout[0] = (reg >> 8) & 0xFF;
maruta 0:8aca38272614 210 dataout[1] = reg & 0xFF;
maruta 0:8aca38272614 211
maruta 0:8aca38272614 212 _i2c.write(_addr, (char *) dataout, 2);
maruta 0:8aca38272614 213 _i2c.read(_addr, (char *) datain, 1);
maruta 0:8aca38272614 214
maruta 0:8aca38272614 215 return datain[0];
maruta 0:8aca38272614 216 }
maruta 0:8aca38272614 217
maruta 0:8aca38272614 218 uint16_t VL6180x::VL6180x_getRegister16bit(uint16_t reg)
maruta 0:8aca38272614 219 {
maruta 0:8aca38272614 220 uint8_t dataout[2],datain[2];
maruta 0:8aca38272614 221
maruta 0:8aca38272614 222 dataout[0] = (reg >> 8) & 0xFF;
maruta 0:8aca38272614 223 dataout[1] = reg & 0xFF;
maruta 0:8aca38272614 224
maruta 0:8aca38272614 225 uint16_t data;
maruta 0:8aca38272614 226
maruta 0:8aca38272614 227 _i2c.write(_addr, (char *) dataout, 2);
maruta 0:8aca38272614 228 _i2c.read(_addr, (char *) datain,2);
maruta 0:8aca38272614 229
maruta 0:8aca38272614 230 data = (datain[0] << 8)|datain[1];
maruta 0:8aca38272614 231
maruta 0:8aca38272614 232 return data;
maruta 0:8aca38272614 233 }
maruta 0:8aca38272614 234
maruta 0:8aca38272614 235 void VL6180x::VL6180x_setRegister(uint16_t reg, uint8_t data)
maruta 0:8aca38272614 236 {
maruta 0:8aca38272614 237 uint8_t dataout[3];
maruta 0:8aca38272614 238
maruta 0:8aca38272614 239 dataout[0] = (reg >> 8) & 0xFF;
maruta 0:8aca38272614 240 dataout[1] = reg & 0xFF;
maruta 0:8aca38272614 241 dataout[2] = data & 0xFF;
maruta 0:8aca38272614 242
maruta 0:8aca38272614 243 _i2c.write(_addr, (char *) dataout, 3);
maruta 0:8aca38272614 244 }
maruta 0:8aca38272614 245
maruta 0:8aca38272614 246 void VL6180x::VL6180x_setRegister16bit(uint16_t reg, uint16_t data)
maruta 0:8aca38272614 247 {
maruta 0:8aca38272614 248 uint8_t dataout[4];
maruta 0:8aca38272614 249 dataout[0] = (reg >> 8) & 0xFF;
maruta 0:8aca38272614 250 dataout[1] = reg & 0xFF;
maruta 0:8aca38272614 251 dataout[2] = (data >> 8) & 0xff;
maruta 0:8aca38272614 252 dataout[3] = data & 0xFF;
maruta 0:8aca38272614 253 _i2c.write(_addr, (char *) dataout, 4);
maruta 0:8aca38272614 254 }