Ported from sparkfun library
Dependents: tc_agent Line_Trace_No_collision_Light_control_longer_dis
Diff: VL6180X.h
- Revision:
- 0:8aca38272614
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/VL6180X.h Tue Jul 19 03:49:54 2016 +0000 @@ -0,0 +1,194 @@ +/****************************************************************************** + * SparkFun_VL6180X.h + * Library for VL6180x time of flight range finder. + * Casey Kuhns @ SparkFun Electronics + * 10/29/2014 + * https://github.com/sparkfun/SparkFun_ToF_Range_Finder-VL6180_Arduino_Library + * + * The VL6180x 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 VL6180x 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 + * VL6180x Breakout Version: 1.0 + + **Updated for Arduino 1.6.4 5/2015** + * + * Some settings and initial values come from code written by Kris Winer + * VL6180X_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 SparkFun_VL6180X_h +#define SparkFun_VL6180X_h + +#include "mbed.h" + +#define VL6180x_FAILURE_RESET -1 + +#define VL6180X_IDENTIFICATION_MODEL_ID 0x0000 +#define VL6180X_IDENTIFICATION_MODEL_REV_MAJOR 0x0001 +#define VL6180X_IDENTIFICATION_MODEL_REV_MINOR 0x0002 +#define VL6180X_IDENTIFICATION_MODULE_REV_MAJOR 0x0003 +#define VL6180X_IDENTIFICATION_MODULE_REV_MINOR 0x0004 +#define VL6180X_IDENTIFICATION_DATE 0x0006 //16bit value +#define VL6180X_IDENTIFICATION_TIME 0x0008 //16bit value + +#define VL6180X_SYSTEM_MODE_GPIO0 0x0010 +#define VL6180X_SYSTEM_MODE_GPIO1 0x0011 +#define VL6180X_SYSTEM_HISTORY_CTRL 0x0012 +#define VL6180X_SYSTEM_INTERRUPT_CONFIG_GPIO 0x0014 +#define VL6180X_SYSTEM_INTERRUPT_CLEAR 0x0015 +#define VL6180X_SYSTEM_FRESH_OUT_OF_RESET 0x0016 +#define VL6180X_SYSTEM_GROUPED_PARAMETER_HOLD 0x0017 + +#define VL6180X_SYSRANGE_START 0x0018 +#define VL6180X_SYSRANGE_THRESH_HIGH 0x0019 +#define VL6180X_SYSRANGE_THRESH_LOW 0x001A +#define VL6180X_SYSRANGE_INTERMEASUREMENT_PERIOD 0x001B +#define VL6180X_SYSRANGE_MAX_CONVERGENCE_TIME 0x001C +#define VL6180X_SYSRANGE_CROSSTALK_COMPENSATION_RATE 0x001E +#define VL6180X_SYSRANGE_CROSSTALK_VALID_HEIGHT 0x0021 +#define VL6180X_SYSRANGE_EARLY_CONVERGENCE_ESTIMATE 0x0022 +#define VL6180X_SYSRANGE_PART_TO_PART_RANGE_OFFSET 0x0024 +#define VL6180X_SYSRANGE_RANGE_IGNORE_VALID_HEIGHT 0x0025 +#define VL6180X_SYSRANGE_RANGE_IGNORE_THRESHOLD 0x0026 +#define VL6180X_SYSRANGE_MAX_AMBIENT_LEVEL_MULT 0x002C +#define VL6180X_SYSRANGE_RANGE_CHECK_ENABLES 0x002D +#define VL6180X_SYSRANGE_VHV_RECALIBRATE 0x002E +#define VL6180X_SYSRANGE_VHV_REPEAT_RATE 0x0031 + +#define VL6180X_SYSALS_START 0x0038 +#define VL6180X_SYSALS_THRESH_HIGH 0x003A +#define VL6180X_SYSALS_THRESH_LOW 0x003C +#define VL6180X_SYSALS_INTERMEASUREMENT_PERIOD 0x003E +#define VL6180X_SYSALS_ANALOGUE_GAIN 0x003F +#define VL6180X_SYSALS_INTEGRATION_PERIOD 0x0040 + +#define VL6180X_RESULT_RANGE_STATUS 0x004D +#define VL6180X_RESULT_ALS_STATUS 0x004E +#define VL6180X_RESULT_INTERRUPT_STATUS_GPIO 0x004F +#define VL6180X_RESULT_ALS_VAL 0x0050 +#define VL6180X_RESULT_HISTORY_BUFFER 0x0052 +#define VL6180X_RESULT_RANGE_VAL 0x0062 +#define VL6180X_RESULT_RANGE_RAW 0x0064 +#define VL6180X_RESULT_RANGE_RETURN_RATE 0x0066 +#define VL6180X_RESULT_RANGE_REFERENCE_RATE 0x0068 +#define VL6180X_RESULT_RANGE_RETURN_SIGNAL_COUNT 0x006C +#define VL6180X_RESULT_RANGE_REFERENCE_SIGNAL_COUNT 0x0070 +#define VL6180X_RESULT_RANGE_RETURN_AMB_COUNT 0x0074 +#define VL6180X_RESULT_RANGE_REFERENCE_AMB_COUNT 0x0078 +#define VL6180X_RESULT_RANGE_RETURN_CONV_TIME 0x007C +#define VL6180X_RESULT_RANGE_REFERENCE_CONV_TIME 0x0080 + +#define VL6180X_READOUT_AVERAGING_SAMPLE_PERIOD 0x010A +#define VL6180X_FIRMWARE_BOOTUP 0x0119 +#define VL6180X_FIRMWARE_RESULT_SCALER 0x0120 +#define VL6180X_I2C_SLAVE_DEVICE_ADDRESS 0x0212 +#define VL6180X_INTERLEAVED_MODE_ENABLE 0x02A3 + + +enum vl6180x_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 VL6180xIdentification +{ + uint8_t idModel; + uint8_t idModelRevMajor; + uint8_t idModelRevMinor; + uint8_t idModuleRevMajor; + uint8_t idModuleRevMinor; + uint16_t idDate; + uint16_t idTime; +}; + + +class VL6180x +{ +public: + /** Create a VL6180 object at I2C address 0x29 (7 bit). + * + * @param sda I2C sda pin number + * @param scl I2C scl pin number + */ + VL6180x(PinName sda, PinName scl); + + //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) + uint8_t VL6180xInit(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 VL6180xDefautSettings(void); + + // Trigger sensor to measure range distance + void triggerDistance(); + // Wait sensor to be ready and get range distance in (mm) + uint8_t pollDistance(); + + // Get Range distance in (mm) + uint8_t getDistance(); + // Get ALS level in Lux + float getAmbientLight(vl6180x_als_gain VL6180X_ALS_GAIN); + + //Load structure provided by the user with identification info + //Structure example: + // struct VL6180xIdentification + // { + // uint8_t idModel; + // uint8_t idModelRevMajor; + // uint8_t idModelRevMinor; + // uint8_t idModuleRevMajor; + // uint8_t idModuleRevMinor; + // uint16_t idDate; + // uint16_t idTime; + // }; + void getIdentification(struct VL6180xIdentification *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); + + +private: + //Store address given when the class is initialized. + //This value can be changed by the changeAddress() function + I2C _i2c; + int _res; + static const int _addr = 0x52; + + uint8_t VL6180x_getRegister(uint16_t registerAddr); + uint16_t VL6180x_getRegister16bit(uint16_t registerAddr); + + void VL6180x_setRegister(uint16_t registerAddr, uint8_t data); + void VL6180x_setRegister16bit(uint16_t registerAddr, uint16_t data); + + +}; + +#endif