VL6180.h

00001 /******************************************************************************
00002  * SFE_VL6180.h
00003  * Library for VL6180 time of flight range finder.
00004  * Casey Kuhns @ SparkFun Electronics
00005  * 10/29/2014
00006  * https://github.com/sparkfun/
00007  *
00008  * The VL6180 by ST micro is a time of flight range finder that
00009  * uses pulsed IR light to determine distances from object at close
00010  * range.  The average range of a sensor is between 0-200mm
00011  *
00012  * In this file are the function prototypes in the VL6180 class
00013  *
00014  * Resources:
00015  * This library uses the Arduino Wire.h to complete I2C transactions.
00016  *
00017  * Development environment specifics:
00018  *  IDE: Arduino 1.0.5
00019  *  Hardware Platform: Arduino Pro 3.3V/8MHz
00020  *  VL6180 Breakout Version: 1.0
00021  *
00022  * Some settings and initial values come from code written by Kris Winer
00023  * VL6180_t3 Basic Example Code
00024  * by: Kris Winer
00025  * date: September 1, 2014
00026  * license: Beerware - Use this code however you'd like. If you
00027  * find it useful you can buy me a beer some time.
00028  *
00029  * This code is beerware. If you see me (or any other SparkFun employee) at the
00030  * local pub, and you've found our code helpful, please buy us a round!
00031  *
00032  * Distributed as-is; no warranty is given.
00033  ******************************************************************************/
00034 
00035 #ifndef SFE_VL6180_h
00036 #define SFE_VL6180_h
00037 
00038 #include "mbed.h"
00039 #include "stdint.h"
00040 
00041 #define VL6180_DEF_ADDR 0x52
00042 
00043 #define VL6180_FAILURE_RESET  -1
00044 
00045 #define VL6180_IDENTIFICATION_MODEL_ID              0x0000
00046 #define VL6180_IDENTIFICATION_MODEL_REV_MAJOR       0x0001
00047 #define VL6180_IDENTIFICATION_MODEL_REV_MINOR       0x0002
00048 #define VL6180_IDENTIFICATION_MODULE_REV_MAJOR      0x0003
00049 #define VL6180_IDENTIFICATION_MODULE_REV_MINOR      0x0004
00050 #define VL6180_IDENTIFICATION_DATE                  0x0006 //16bit value
00051 #define VL6180_IDENTIFICATION_TIME                  0x0008 //16bit value
00052 
00053 #define VL6180_SYSTEM_MODE_GPIO0                    0x0010
00054 #define VL6180_SYSTEM_MODE_GPIO1                    0x0011
00055 #define VL6180_SYSTEM_HISTORY_CTRL                  0x0012
00056 #define VL6180_SYSTEM_INTERRUPT_CONFIG_GPIO         0x0014
00057 #define VL6180_SYSTEM_INTERRUPT_CLEAR               0x0015
00058 #define VL6180_SYSTEM_FRESH_OUT_OF_RESET            0x0016
00059 #define VL6180_SYSTEM_GROUPED_PARAMETER_HOLD        0x0017
00060 
00061 #define VL6180_SYSRANGE_START                       0x0018
00062 #define VL6180_SYSRANGE_THRESH_HIGH                 0x0019
00063 #define VL6180_SYSRANGE_THRESH_LOW                  0x001A
00064 #define VL6180_SYSRANGE_INTERMEASUREMENT_PERIOD     0x001B
00065 #define VL6180_SYSRANGE_MAX_CONVERGENCE_TIME        0x001C
00066 #define VL6180_SYSRANGE_CROSSTALK_COMPENSATION_RATE 0x001E
00067 #define VL6180_SYSRANGE_CROSSTALK_VALID_HEIGHT      0x0021
00068 #define VL6180_SYSRANGE_EARLY_CONVERGENCE_ESTIMATE  0x0022
00069 #define VL6180_SYSRANGE_PART_TO_PART_RANGE_OFFSET   0x0024
00070 #define VL6180_SYSRANGE_RANGE_IGNORE_VALID_HEIGHT   0x0025
00071 #define VL6180_SYSRANGE_RANGE_IGNORE_THRESHOLD      0x0026
00072 #define VL6180_SYSRANGE_MAX_AMBIENT_LEVEL_MULT      0x002C
00073 #define VL6180_SYSRANGE_RANGE_CHECK_ENABLES         0x002D
00074 #define VL6180_SYSRANGE_VHV_RECALIBRATE             0x002E
00075 #define VL6180_SYSRANGE_VHV_REPEAT_RATE             0x0031
00076 
00077 #define VL6180_SYSALS_START                         0x0038
00078 #define VL6180_SYSALS_THRESH_HIGH                   0x003A
00079 #define VL6180_SYSALS_THRESH_LOW                    0x003C
00080 #define VL6180_SYSALS_INTERMEASUREMENT_PERIOD       0x003E
00081 #define VL6180_SYSALS_ANALOGUE_GAIN                 0x003F
00082 #define VL6180_SYSALS_INTEGRATION_PERIOD            0x0040
00083 
00084 #define VL6180_RESULT_RANGE_STATUS                  0x004D
00085 #define VL6180_RESULT_ALS_STATUS                    0x004E
00086 #define VL6180_RESULT_INTERRUPT_STATUS_GPIO         0x004F
00087 #define VL6180_RESULT_ALS_VAL                       0x0050
00088 #define VL6180_RESULT_HISTORY_BUFFER                0x0052
00089 #define VL6180_RESULT_RANGE_VAL                     0x0062
00090 #define VL6180_RESULT_RANGE_RAW                     0x0064
00091 #define VL6180_RESULT_RANGE_RETURN_RATE             0x0066
00092 #define VL6180_RESULT_RANGE_REFERENCE_RATE          0x0068
00093 #define VL6180_RESULT_RANGE_RETURN_SIGNAL_COUNT     0x006C
00094 #define VL6180_RESULT_RANGE_REFERENCE_SIGNAL_COUNT  0x0070
00095 #define VL6180_RESULT_RANGE_RETURN_AMB_COUNT        0x0074
00096 #define VL6180_RESULT_RANGE_REFERENCE_AMB_COUNT     0x0078
00097 #define VL6180_RESULT_RANGE_RETURN_CONV_TIME        0x007C
00098 #define VL6180_RESULT_RANGE_REFERENCE_CONV_TIME     0x0080
00099 
00100 #define VL6180_READOUT_AVERAGING_SAMPLE_PERIOD      0x010A
00101 #define VL6180_FIRMWARE_BOOTUP                      0x0119
00102 #define VL6180_FIRMWARE_RESULT_SCALER               0x0120
00103 #define VL6180_I2C_SLAVE_DEVICE_ADDRESS             0x0212
00104 #define VL6180_INTERLEAVED_MODE_ENABLE              0x02A3
00105 
00106 
00107 enum VL6180_als_gain { //Data sheet shows gain values as binary list
00108 
00109     GAIN_20 = 0, // Actual ALS Gain of 20
00110     GAIN_10,     // Actual ALS Gain of 10.32
00111     GAIN_5,      // Actual ALS Gain of 5.21
00112     GAIN_2_5,    // Actual ALS Gain of 2.60
00113     GAIN_1_67,   // Actual ALS Gain of 1.72
00114     GAIN_1_25,   // Actual ALS Gain of 1.28
00115     GAIN_1 ,     // Actual ALS Gain of 1.01
00116     GAIN_40,     // Actual ALS Gain of 40
00117 
00118 };
00119 
00120 struct VL6180Identification {
00121     uint8_t idModel;
00122     uint8_t idModelRevMajor;
00123     uint8_t idModelRevMinor;
00124     uint8_t idModuleRevMajor;
00125     uint8_t idModuleRevMinor;
00126     uint16_t idDate;
00127     uint16_t idTime;
00128 };
00129 
00130 
00131 class VL6180
00132 {
00133 public:
00134     /** Create VL6180 instance
00135      *
00136      * @param sda sda pin for I2C
00137      * @param scl scl pin for I2C
00138      */
00139     VL6180( PinName sda, PinName scl );
00140     VL6180( PinName sda, PinName scl , int i2c_address);
00141     
00142     /** Destructor
00143      */
00144     ~VL6180();
00145     
00146     /** Read red, green, blue and clear values into array
00147      *
00148      * @param readings Array of four integers to store the read data
00149      */
00150     //Initalize library with default address
00151 //    VL6180(uint8_t address);
00152     //Send manditory settings as stated in ST datasheet.
00153     // http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf (Section 1.3)
00154     int8_t VL6180_Init(void);
00155     // Use default settings from ST data sheet section 9.
00156     // http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf
00157     void VL6180_DefautSettings(void);
00158 
00159     // Get Range distance in (mm)
00160     uint8_t getDistance();
00161     // Get ALS level in Lux
00162     float getAmbientLight(VL6180_als_gain VL6180_ALS_GAIN);
00163 
00164     //Load structure provided by the user with identification info
00165     //Structure example:
00166     // struct VL6180Identification
00167     //  {
00168     //   uint8_t idModel;
00169     //   uint8_t idModelRevMajor;
00170     //   uint8_t idModelRevMinor;
00171     //   uint8_t idModuleRevMajor;
00172     //   uint8_t idModuleRevMinor;
00173     //   uint16_t idDate;
00174     //   uint16_t idTime;
00175     //   };
00176     void getIdentification(struct VL6180Identification *temp);
00177 
00178     //Change the default address of the device to allow multiple
00179     //sensors on the bus.  Can use up to 127 sensors. New address
00180     //is saved in non-volatile device memory.
00181     uint8_t changeAddress(uint8_t old_address, uint8_t new_address);
00182     
00183     int writeSingleRegister( uint16_t reg_address, uint8_t data );
00184 
00185 
00186 private:
00187     //Store address given when the class is initialized.
00188     //This value can be changed by the changeAddress() function
00189     I2C i2c;
00190     int VL6180_i2cAddress;
00191     uint8_t VL6180_error_no;
00192 
00193     uint8_t VL6180_getRegister(uint16_t registerAddr);
00194     uint16_t VL6180_getRegister16bit(uint16_t registerAddr);
00195 
00196     void VL6180_setRegister(uint16_t registerAddr, uint8_t value);
00197     void VL6180_setRegister16bit(uint16_t registerAddr, uint16_t value);
00198 
00199 
00200 };
00201 
00202 #endif