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VL6180.h@0:a9b4ee4ed395, 2019-05-08 (annotated)

Committer:
mihaidd
Date:
Wed May 08 03:58:47 2019 +0000
Revision:
0:a9b4ee4ed395
ccc

Who changed what in which revision?

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mihaidd 0:a9b4ee4ed395 1 /******************************************************************************
mihaidd 0:a9b4ee4ed395 2 * SFE_VL6180.h
mihaidd 0:a9b4ee4ed395 3 * Library for VL6180 time of flight range finder.
mihaidd 0:a9b4ee4ed395 4 * Casey Kuhns @ SparkFun Electronics
mihaidd 0:a9b4ee4ed395 5 * 10/29/2014
mihaidd 0:a9b4ee4ed395 6 * https://github.com/sparkfun/
mihaidd 0:a9b4ee4ed395 7 *
mihaidd 0:a9b4ee4ed395 8 * The VL6180 by ST micro is a time of flight range finder that
mihaidd 0:a9b4ee4ed395 9 * uses pulsed IR light to determine distances from object at close
mihaidd 0:a9b4ee4ed395 10 * range. The average range of a sensor is between 0-200mm
mihaidd 0:a9b4ee4ed395 11 *
mihaidd 0:a9b4ee4ed395 12 * In this file are the function prototypes in the VL6180 class
mihaidd 0:a9b4ee4ed395 13 *
mihaidd 0:a9b4ee4ed395 14 * Resources:
mihaidd 0:a9b4ee4ed395 15 * This library uses the Arduino Wire.h to complete I2C transactions.
mihaidd 0:a9b4ee4ed395 16 *
mihaidd 0:a9b4ee4ed395 17 * Development environment specifics:
mihaidd 0:a9b4ee4ed395 18 * IDE: Arduino 1.0.5
mihaidd 0:a9b4ee4ed395 19 * Hardware Platform: Arduino Pro 3.3V/8MHz
mihaidd 0:a9b4ee4ed395 20 * VL6180 Breakout Version: 1.0
mihaidd 0:a9b4ee4ed395 21 *
mihaidd 0:a9b4ee4ed395 22 * Some settings and initial values come from code written by Kris Winer
mihaidd 0:a9b4ee4ed395 23 * VL6180_t3 Basic Example Code
mihaidd 0:a9b4ee4ed395 24 * by: Kris Winer
mihaidd 0:a9b4ee4ed395 25 * date: September 1, 2014
mihaidd 0:a9b4ee4ed395 26 * license: Beerware - Use this code however you'd like. If you
mihaidd 0:a9b4ee4ed395 27 * find it useful you can buy me a beer some time.
mihaidd 0:a9b4ee4ed395 28 *
mihaidd 0:a9b4ee4ed395 29 * This code is beerware. If you see me (or any other SparkFun employee) at the
mihaidd 0:a9b4ee4ed395 30 * local pub, and you've found our code helpful, please buy us a round!
mihaidd 0:a9b4ee4ed395 31 *
mihaidd 0:a9b4ee4ed395 32 * Distributed as-is; no warranty is given.
mihaidd 0:a9b4ee4ed395 33 ******************************************************************************/
mihaidd 0:a9b4ee4ed395 34
mihaidd 0:a9b4ee4ed395 35 #ifndef SFE_VL6180_h
mihaidd 0:a9b4ee4ed395 36 #define SFE_VL6180_h
mihaidd 0:a9b4ee4ed395 37
mihaidd 0:a9b4ee4ed395 38 #include "mbed.h"
mihaidd 0:a9b4ee4ed395 39 #include "stdint.h"
mihaidd 0:a9b4ee4ed395 40
mihaidd 0:a9b4ee4ed395 41 #define VL6180_DEF_ADDR 0x52
mihaidd 0:a9b4ee4ed395 42
mihaidd 0:a9b4ee4ed395 43 #define VL6180_FAILURE_RESET -1
mihaidd 0:a9b4ee4ed395 44
mihaidd 0:a9b4ee4ed395 45 #define VL6180_IDENTIFICATION_MODEL_ID 0x0000
mihaidd 0:a9b4ee4ed395 46 #define VL6180_IDENTIFICATION_MODEL_REV_MAJOR 0x0001
mihaidd 0:a9b4ee4ed395 47 #define VL6180_IDENTIFICATION_MODEL_REV_MINOR 0x0002
mihaidd 0:a9b4ee4ed395 48 #define VL6180_IDENTIFICATION_MODULE_REV_MAJOR 0x0003
mihaidd 0:a9b4ee4ed395 49 #define VL6180_IDENTIFICATION_MODULE_REV_MINOR 0x0004
mihaidd 0:a9b4ee4ed395 50 #define VL6180_IDENTIFICATION_DATE 0x0006 //16bit value
mihaidd 0:a9b4ee4ed395 51 #define VL6180_IDENTIFICATION_TIME 0x0008 //16bit value
mihaidd 0:a9b4ee4ed395 52
mihaidd 0:a9b4ee4ed395 53 #define VL6180_SYSTEM_MODE_GPIO0 0x0010
mihaidd 0:a9b4ee4ed395 54 #define VL6180_SYSTEM_MODE_GPIO1 0x0011
mihaidd 0:a9b4ee4ed395 55 #define VL6180_SYSTEM_HISTORY_CTRL 0x0012
mihaidd 0:a9b4ee4ed395 56 #define VL6180_SYSTEM_INTERRUPT_CONFIG_GPIO 0x0014
mihaidd 0:a9b4ee4ed395 57 #define VL6180_SYSTEM_INTERRUPT_CLEAR 0x0015
mihaidd 0:a9b4ee4ed395 58 #define VL6180_SYSTEM_FRESH_OUT_OF_RESET 0x0016
mihaidd 0:a9b4ee4ed395 59 #define VL6180_SYSTEM_GROUPED_PARAMETER_HOLD 0x0017
mihaidd 0:a9b4ee4ed395 60
mihaidd 0:a9b4ee4ed395 61 #define VL6180_SYSRANGE_START 0x0018
mihaidd 0:a9b4ee4ed395 62 #define VL6180_SYSRANGE_THRESH_HIGH 0x0019
mihaidd 0:a9b4ee4ed395 63 #define VL6180_SYSRANGE_THRESH_LOW 0x001A
mihaidd 0:a9b4ee4ed395 64 #define VL6180_SYSRANGE_INTERMEASUREMENT_PERIOD 0x001B
mihaidd 0:a9b4ee4ed395 65 #define VL6180_SYSRANGE_MAX_CONVERGENCE_TIME 0x001C
mihaidd 0:a9b4ee4ed395 66 #define VL6180_SYSRANGE_CROSSTALK_COMPENSATION_RATE 0x001E
mihaidd 0:a9b4ee4ed395 67 #define VL6180_SYSRANGE_CROSSTALK_VALID_HEIGHT 0x0021
mihaidd 0:a9b4ee4ed395 68 #define VL6180_SYSRANGE_EARLY_CONVERGENCE_ESTIMATE 0x0022
mihaidd 0:a9b4ee4ed395 69 #define VL6180_SYSRANGE_PART_TO_PART_RANGE_OFFSET 0x0024
mihaidd 0:a9b4ee4ed395 70 #define VL6180_SYSRANGE_RANGE_IGNORE_VALID_HEIGHT 0x0025
mihaidd 0:a9b4ee4ed395 71 #define VL6180_SYSRANGE_RANGE_IGNORE_THRESHOLD 0x0026
mihaidd 0:a9b4ee4ed395 72 #define VL6180_SYSRANGE_MAX_AMBIENT_LEVEL_MULT 0x002C
mihaidd 0:a9b4ee4ed395 73 #define VL6180_SYSRANGE_RANGE_CHECK_ENABLES 0x002D
mihaidd 0:a9b4ee4ed395 74 #define VL6180_SYSRANGE_VHV_RECALIBRATE 0x002E
mihaidd 0:a9b4ee4ed395 75 #define VL6180_SYSRANGE_VHV_REPEAT_RATE 0x0031
mihaidd 0:a9b4ee4ed395 76
mihaidd 0:a9b4ee4ed395 77 #define VL6180_SYSALS_START 0x0038
mihaidd 0:a9b4ee4ed395 78 #define VL6180_SYSALS_THRESH_HIGH 0x003A
mihaidd 0:a9b4ee4ed395 79 #define VL6180_SYSALS_THRESH_LOW 0x003C
mihaidd 0:a9b4ee4ed395 80 #define VL6180_SYSALS_INTERMEASUREMENT_PERIOD 0x003E
mihaidd 0:a9b4ee4ed395 81 #define VL6180_SYSALS_ANALOGUE_GAIN 0x003F
mihaidd 0:a9b4ee4ed395 82 #define VL6180_SYSALS_INTEGRATION_PERIOD 0x0040
mihaidd 0:a9b4ee4ed395 83
mihaidd 0:a9b4ee4ed395 84 #define VL6180_RESULT_RANGE_STATUS 0x004D
mihaidd 0:a9b4ee4ed395 85 #define VL6180_RESULT_ALS_STATUS 0x004E
mihaidd 0:a9b4ee4ed395 86 #define VL6180_RESULT_INTERRUPT_STATUS_GPIO 0x004F
mihaidd 0:a9b4ee4ed395 87 #define VL6180_RESULT_ALS_VAL 0x0050
mihaidd 0:a9b4ee4ed395 88 #define VL6180_RESULT_HISTORY_BUFFER 0x0052
mihaidd 0:a9b4ee4ed395 89 #define VL6180_RESULT_RANGE_VAL 0x0062
mihaidd 0:a9b4ee4ed395 90 #define VL6180_RESULT_RANGE_RAW 0x0064
mihaidd 0:a9b4ee4ed395 91 #define VL6180_RESULT_RANGE_RETURN_RATE 0x0066
mihaidd 0:a9b4ee4ed395 92 #define VL6180_RESULT_RANGE_REFERENCE_RATE 0x0068
mihaidd 0:a9b4ee4ed395 93 #define VL6180_RESULT_RANGE_RETURN_SIGNAL_COUNT 0x006C
mihaidd 0:a9b4ee4ed395 94 #define VL6180_RESULT_RANGE_REFERENCE_SIGNAL_COUNT 0x0070
mihaidd 0:a9b4ee4ed395 95 #define VL6180_RESULT_RANGE_RETURN_AMB_COUNT 0x0074
mihaidd 0:a9b4ee4ed395 96 #define VL6180_RESULT_RANGE_REFERENCE_AMB_COUNT 0x0078
mihaidd 0:a9b4ee4ed395 97 #define VL6180_RESULT_RANGE_RETURN_CONV_TIME 0x007C
mihaidd 0:a9b4ee4ed395 98 #define VL6180_RESULT_RANGE_REFERENCE_CONV_TIME 0x0080
mihaidd 0:a9b4ee4ed395 99
mihaidd 0:a9b4ee4ed395 100 #define VL6180_READOUT_AVERAGING_SAMPLE_PERIOD 0x010A
mihaidd 0:a9b4ee4ed395 101 #define VL6180_FIRMWARE_BOOTUP 0x0119
mihaidd 0:a9b4ee4ed395 102 #define VL6180_FIRMWARE_RESULT_SCALER 0x0120
mihaidd 0:a9b4ee4ed395 103 #define VL6180_I2C_SLAVE_DEVICE_ADDRESS 0x0212
mihaidd 0:a9b4ee4ed395 104 #define VL6180_INTERLEAVED_MODE_ENABLE 0x02A3
mihaidd 0:a9b4ee4ed395 105
mihaidd 0:a9b4ee4ed395 106
mihaidd 0:a9b4ee4ed395 107 enum VL6180_als_gain { //Data sheet shows gain values as binary list
mihaidd 0:a9b4ee4ed395 108
mihaidd 0:a9b4ee4ed395 109 GAIN_20 = 0, // Actual ALS Gain of 20
mihaidd 0:a9b4ee4ed395 110 GAIN_10, // Actual ALS Gain of 10.32
mihaidd 0:a9b4ee4ed395 111 GAIN_5, // Actual ALS Gain of 5.21
mihaidd 0:a9b4ee4ed395 112 GAIN_2_5, // Actual ALS Gain of 2.60
mihaidd 0:a9b4ee4ed395 113 GAIN_1_67, // Actual ALS Gain of 1.72
mihaidd 0:a9b4ee4ed395 114 GAIN_1_25, // Actual ALS Gain of 1.28
mihaidd 0:a9b4ee4ed395 115 GAIN_1 , // Actual ALS Gain of 1.01
mihaidd 0:a9b4ee4ed395 116 GAIN_40, // Actual ALS Gain of 40
mihaidd 0:a9b4ee4ed395 117
mihaidd 0:a9b4ee4ed395 118 };
mihaidd 0:a9b4ee4ed395 119
mihaidd 0:a9b4ee4ed395 120 struct VL6180Identification {
mihaidd 0:a9b4ee4ed395 121 uint8_t idModel;
mihaidd 0:a9b4ee4ed395 122 uint8_t idModelRevMajor;
mihaidd 0:a9b4ee4ed395 123 uint8_t idModelRevMinor;
mihaidd 0:a9b4ee4ed395 124 uint8_t idModuleRevMajor;
mihaidd 0:a9b4ee4ed395 125 uint8_t idModuleRevMinor;
mihaidd 0:a9b4ee4ed395 126 uint16_t idDate;
mihaidd 0:a9b4ee4ed395 127 uint16_t idTime;
mihaidd 0:a9b4ee4ed395 128 };
mihaidd 0:a9b4ee4ed395 129
mihaidd 0:a9b4ee4ed395 130
mihaidd 0:a9b4ee4ed395 131 class VL6180
mihaidd 0:a9b4ee4ed395 132 {
mihaidd 0:a9b4ee4ed395 133 public:
mihaidd 0:a9b4ee4ed395 134 /** Create VL6180 instance
mihaidd 0:a9b4ee4ed395 135 *
mihaidd 0:a9b4ee4ed395 136 * @param sda sda pin for I2C
mihaidd 0:a9b4ee4ed395 137 * @param scl scl pin for I2C
mihaidd 0:a9b4ee4ed395 138 */
mihaidd 0:a9b4ee4ed395 139 VL6180( PinName sda, PinName scl );
mihaidd 0:a9b4ee4ed395 140 VL6180( PinName sda, PinName scl , int i2c_address);
mihaidd 0:a9b4ee4ed395 141
mihaidd 0:a9b4ee4ed395 142 /** Destructor
mihaidd 0:a9b4ee4ed395 143 */
mihaidd 0:a9b4ee4ed395 144 ~VL6180();
mihaidd 0:a9b4ee4ed395 145
mihaidd 0:a9b4ee4ed395 146 /** Read red, green, blue and clear values into array
mihaidd 0:a9b4ee4ed395 147 *
mihaidd 0:a9b4ee4ed395 148 * @param readings Array of four integers to store the read data
mihaidd 0:a9b4ee4ed395 149 */
mihaidd 0:a9b4ee4ed395 150 //Initalize library with default address
mihaidd 0:a9b4ee4ed395 151 // VL6180(uint8_t address);
mihaidd 0:a9b4ee4ed395 152 //Send manditory settings as stated in ST datasheet.
mihaidd 0:a9b4ee4ed395 153 // http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf (Section 1.3)
mihaidd 0:a9b4ee4ed395 154 int8_t VL6180_Init(void);
mihaidd 0:a9b4ee4ed395 155 // Use default settings from ST data sheet section 9.
mihaidd 0:a9b4ee4ed395 156 // http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf
mihaidd 0:a9b4ee4ed395 157 void VL6180_DefautSettings(void);
mihaidd 0:a9b4ee4ed395 158
mihaidd 0:a9b4ee4ed395 159 // Get Range distance in (mm)
mihaidd 0:a9b4ee4ed395 160 uint8_t getDistance();
mihaidd 0:a9b4ee4ed395 161 // Get ALS level in Lux
mihaidd 0:a9b4ee4ed395 162 float getAmbientLight(VL6180_als_gain VL6180_ALS_GAIN);
mihaidd 0:a9b4ee4ed395 163
mihaidd 0:a9b4ee4ed395 164 //Load structure provided by the user with identification info
mihaidd 0:a9b4ee4ed395 165 //Structure example:
mihaidd 0:a9b4ee4ed395 166 // struct VL6180Identification
mihaidd 0:a9b4ee4ed395 167 // {
mihaidd 0:a9b4ee4ed395 168 // uint8_t idModel;
mihaidd 0:a9b4ee4ed395 169 // uint8_t idModelRevMajor;
mihaidd 0:a9b4ee4ed395 170 // uint8_t idModelRevMinor;
mihaidd 0:a9b4ee4ed395 171 // uint8_t idModuleRevMajor;
mihaidd 0:a9b4ee4ed395 172 // uint8_t idModuleRevMinor;
mihaidd 0:a9b4ee4ed395 173 // uint16_t idDate;
mihaidd 0:a9b4ee4ed395 174 // uint16_t idTime;
mihaidd 0:a9b4ee4ed395 175 // };
mihaidd 0:a9b4ee4ed395 176 void getIdentification(struct VL6180Identification *temp);
mihaidd 0:a9b4ee4ed395 177
mihaidd 0:a9b4ee4ed395 178 //Change the default address of the device to allow multiple
mihaidd 0:a9b4ee4ed395 179 //sensors on the bus. Can use up to 127 sensors. New address
mihaidd 0:a9b4ee4ed395 180 //is saved in non-volatile device memory.
mihaidd 0:a9b4ee4ed395 181 uint8_t changeAddress(uint8_t old_address, uint8_t new_address);
mihaidd 0:a9b4ee4ed395 182
mihaidd 0:a9b4ee4ed395 183 int writeSingleRegister( uint16_t reg_address, uint8_t data );
mihaidd 0:a9b4ee4ed395 184
mihaidd 0:a9b4ee4ed395 185
mihaidd 0:a9b4ee4ed395 186 private:
mihaidd 0:a9b4ee4ed395 187 //Store address given when the class is initialized.
mihaidd 0:a9b4ee4ed395 188 //This value can be changed by the changeAddress() function
mihaidd 0:a9b4ee4ed395 189 I2C i2c;
mihaidd 0:a9b4ee4ed395 190 int VL6180_i2cAddress;
mihaidd 0:a9b4ee4ed395 191 uint8_t VL6180_error_no;
mihaidd 0:a9b4ee4ed395 192
mihaidd 0:a9b4ee4ed395 193 uint8_t VL6180_getRegister(uint16_t registerAddr);
mihaidd 0:a9b4ee4ed395 194 uint16_t VL6180_getRegister16bit(uint16_t registerAddr);
mihaidd 0:a9b4ee4ed395 195
mihaidd 0:a9b4ee4ed395 196 void VL6180_setRegister(uint16_t registerAddr, uint8_t value);
mihaidd 0:a9b4ee4ed395 197 void VL6180_setRegister16bit(uint16_t registerAddr, uint16_t value);
mihaidd 0:a9b4ee4ed395 198
mihaidd 0:a9b4ee4ed395 199
mihaidd 0:a9b4ee4ed395 200 };
mihaidd 0:a9b4ee4ed395 201
mihaidd 0:a9b4ee4ed395 202 #endif