Sille Van Landschoot / VL6180x

i2c driver for VL6180x distance sensor

Dependents:   m3Dpi

vl6180x.cpp@2:2e0406672e67, 2015-12-19 (annotated)

Committer:
sillevl
Date:
Sat Dec 19 13:27:01 2015 +0000
Revision:
2:2e0406672e67
Parent:
1:6a00afc8dc84 
add registernames and continuous mode

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sillevl 0:84c73bed7d92 1 #include "vl6180x.h"
sillevl 0:84c73bed7d92 2 #include "mbed.h"
sillevl 0:84c73bed7d92 3
sillevl 1:6a00afc8dc84 4 VL6180x::VL6180x(I2C &_i2c, char _address): i2c(_i2c), address(_address)
sillevl 1:6a00afc8dc84 5 {
sillevl 1:6a00afc8dc84 6 address = I2C_SLAVE_DEFAULT_ADDRESS;
sillevl 1:6a00afc8dc84 7 }
sillevl 1:6a00afc8dc84 8
sillevl 1:6a00afc8dc84 9 VL6180x::VL6180x(PinName sda, PinName scl, char _address): i2c(sda, scl), address(_address)
sillevl 0:84c73bed7d92 10 {
sillevl 0:84c73bed7d92 11 i2c.frequency(400000);
sillevl 0:84c73bed7d92 12 address = I2C_SLAVE_DEFAULT_ADDRESS;
sillevl 0:84c73bed7d92 13 }
sillevl 0:84c73bed7d92 14
sillevl 0:84c73bed7d92 15 void VL6180x::initialize()
sillevl 0:84c73bed7d92 16 {
sillevl 0:84c73bed7d92 17
sillevl 0:84c73bed7d92 18 // Mandatory : private registers
sillevl 0:84c73bed7d92 19 setRegister(0x0207, 0x01);
sillevl 0:84c73bed7d92 20 setRegister(0x0208, 0x01);
sillevl 0:84c73bed7d92 21 setRegister(0x0096, 0x00);
sillevl 0:84c73bed7d92 22 setRegister(0x0097, 0xfd);
sillevl 0:84c73bed7d92 23 setRegister(0x00e3, 0x00);
sillevl 0:84c73bed7d92 24 setRegister(0x00e4, 0x04);
sillevl 0:84c73bed7d92 25 setRegister(0x00e5, 0x02);
sillevl 0:84c73bed7d92 26 setRegister(0x00e6, 0x01);
sillevl 0:84c73bed7d92 27 setRegister(0x00e7, 0x03);
sillevl 0:84c73bed7d92 28 setRegister(0x00f5, 0x02);
sillevl 0:84c73bed7d92 29 setRegister(0x00d9, 0x05);
sillevl 0:84c73bed7d92 30 setRegister(0x00db, 0xce);
sillevl 0:84c73bed7d92 31 setRegister(0x00dc, 0x03);
sillevl 0:84c73bed7d92 32 setRegister(0x00dd, 0xf8);
sillevl 0:84c73bed7d92 33 setRegister(0x009f, 0x00);
sillevl 0:84c73bed7d92 34 setRegister(0x00a3, 0x3c);
sillevl 0:84c73bed7d92 35 setRegister(0x00b7, 0x00);
sillevl 0:84c73bed7d92 36 setRegister(0x00bb, 0x3c);
sillevl 0:84c73bed7d92 37 setRegister(0x00b2, 0x09);
sillevl 0:84c73bed7d92 38 setRegister(0x00ca, 0x09);
sillevl 0:84c73bed7d92 39 setRegister(0x0198, 0x01);
sillevl 0:84c73bed7d92 40 setRegister(0x01b0, 0x17);
sillevl 0:84c73bed7d92 41 setRegister(0x01ad, 0x00);
sillevl 0:84c73bed7d92 42 setRegister(0x00ff, 0x05);
sillevl 0:84c73bed7d92 43 setRegister(0x0100, 0x05);
sillevl 0:84c73bed7d92 44 setRegister(0x0199, 0x05);
sillevl 0:84c73bed7d92 45 setRegister(0x01a6, 0x1b);
sillevl 0:84c73bed7d92 46 setRegister(0x01ac, 0x3e);
sillevl 0:84c73bed7d92 47 setRegister(0x01a7, 0x1f);
sillevl 0:84c73bed7d92 48 setRegister(0x0030, 0x00);
sillevl 0:84c73bed7d92 49
sillevl 0:84c73bed7d92 50 // Recommended : Public registers - See data sheet for more detail
sillevl 2:2e0406672e67 51 setRegister(SYSTEM_MODE_GPIO1, 0x10); // Enables polling for ‘New Sample ready’
sillevl 0:84c73bed7d92 52 // when measurement completes
sillevl 2:2e0406672e67 53 setRegister(READOUT_AVERAGING_SAMPLE_PERIOD, 0x30); // Set the averaging sample period
sillevl 0:84c73bed7d92 54 // (compromise between lower noise and
sillevl 0:84c73bed7d92 55 // increased execution time)
sillevl 2:2e0406672e67 56 setRegister(SYSALS_ANALOGUE_GAIN, 0x46); // Sets the light and dark gain (upper
sillevl 0:84c73bed7d92 57 // nibble). Dark gain should not be
sillevl 0:84c73bed7d92 58 // changed.
sillevl 2:2e0406672e67 59 setRegister(SYSRANGE_VHV_REPEAT_RATE, 0xFF); // sets the # of range measurements after
sillevl 0:84c73bed7d92 60 // which auto calibration of system is
sillevl 0:84c73bed7d92 61 // performed
sillevl 2:2e0406672e67 62 setRegister(SYSALS_INTEGRATION_PERIOD, 0x63); // Set ALS integration time to 100ms
sillevl 2:2e0406672e67 63 setRegister(SYSRANGE_VHV_RECALIBRATE, 0x01); // perform a single temperature calibration
sillevl 0:84c73bed7d92 64 // of the ranging sensor
sillevl 0:84c73bed7d92 65
sillevl 0:84c73bed7d92 66
sillevl 2:2e0406672e67 67 setRegister(SYSRANGE_INTERMEASUREMENT_PERIOD, 0x09); // Set default ranging inter-measurement
sillevl 0:84c73bed7d92 68 // period to 100ms
sillevl 2:2e0406672e67 69 setRegister(SYSALS_INTERMEASUREMENT_PERIOD, 0x31); // Set default ALS inter-measurement period
sillevl 0:84c73bed7d92 70 // to 500ms
sillevl 2:2e0406672e67 71 setRegister(SYSTEM_INTERRUPT_CONFIG_GPIO, 0x24); // Configures interrupt on ‘New Sample
sillevl 0:84c73bed7d92 72 // Ready threshold event’
sillevl 0:84c73bed7d92 73 }
sillevl 0:84c73bed7d92 74
sillevl 2:2e0406672e67 75 void VL6180x::startContinuousOperation()
sillevl 2:2e0406672e67 76 {
sillevl 2:2e0406672e67 77 setRegister(SYSRANGE_START, 0x03);
sillevl 2:2e0406672e67 78
sillevl 2:2e0406672e67 79 }
sillevl 2:2e0406672e67 80
sillevl 0:84c73bed7d92 81 int VL6180x::getDistance()
sillevl 0:84c73bed7d92 82 {
sillevl 0:84c73bed7d92 83 int distance = 0;
sillevl 2:2e0406672e67 84 // should test bit 2 of RESULT_INTERRUPT_STATUS_GPIO ?
sillevl 2:2e0406672e67 85 distance = getRegister(RESULT_RANGE_VAL);
sillevl 2:2e0406672e67 86 // should clear interrupt ?
sillevl 2:2e0406672e67 87 return distance;
sillevl 2:2e0406672e67 88 }
sillevl 2:2e0406672e67 89
sillevl 2:2e0406672e67 90 int VL6180x::getSingleDistance()
sillevl 2:2e0406672e67 91 {
sillevl 2:2e0406672e67 92 int distance = 0;
sillevl 2:2e0406672e67 93 while(getRegister(RESULT_RANGE_STATUS) & 0x01 != 0x01);
sillevl 2:2e0406672e67 94 setRegister(SYSRANGE_START, 0x01); // start measurement
sillevl 2:2e0406672e67 95 while(getRegister(RESULT_INTERRUPT_STATUS_GPIO) & 0x04 != 0x04);
sillevl 2:2e0406672e67 96 distance = getRegister(RESULT_RANGE_VAL);
sillevl 2:2e0406672e67 97 setRegister(SYSTEM_INTERRUPT_CLEAR, 0x07);
sillevl 0:84c73bed7d92 98 return distance;
sillevl 0:84c73bed7d92 99 }
sillevl 0:84c73bed7d92 100
sillevl 0:84c73bed7d92 101 float VL6180x::getAmbientLight()
sillevl 0:84c73bed7d92 102 {
sillevl 0:84c73bed7d92 103 return 0.0f;
sillevl 0:84c73bed7d92 104 }
sillevl 0:84c73bed7d92 105
sillevl 0:84c73bed7d92 106 void VL6180x::setRegister(int reg, int value)
sillevl 0:84c73bed7d92 107 {
sillevl 0:84c73bed7d92 108 char data_write[3];
sillevl 0:84c73bed7d92 109 data_write[0] = ((reg &0xff00 ) >> 8);
sillevl 0:84c73bed7d92 110 data_write[1] = (reg &0x00ff );
sillevl 0:84c73bed7d92 111 data_write[2] = value;
sillevl 0:84c73bed7d92 112 i2c.write(address, data_write, 3);
sillevl 0:84c73bed7d92 113 }
sillevl 0:84c73bed7d92 114
sillevl 0:84c73bed7d92 115 int VL6180x::getRegister(int reg)
sillevl 0:84c73bed7d92 116 {
sillevl 0:84c73bed7d92 117 char data_write[2];
sillevl 0:84c73bed7d92 118 char data_read[1];
sillevl 0:84c73bed7d92 119 data_write[0] = ((reg &0xff00 ) >> 8);
sillevl 0:84c73bed7d92 120 data_write[1] = (reg &0x00ff ) ;
sillevl 0:84c73bed7d92 121
sillevl 0:84c73bed7d92 122 i2c.write(address, data_write, 2, 1); //no stop
sillevl 0:84c73bed7d92 123 i2c.read(address, data_read, 1, 0);
sillevl 0:84c73bed7d92 124
sillevl 0:84c73bed7d92 125 return data_read[0];
sillevl 0:84c73bed7d92 126 }
sillevl 0:84c73bed7d92 127
sillevl 0:84c73bed7d92 128 VL6180x::Identification VL6180x::getIdentification()
sillevl 0:84c73bed7d92 129 {
sillevl 0:84c73bed7d92 130
sillevl 0:84c73bed7d92 131 char data_write[2];
sillevl 0:84c73bed7d92 132 char data_read[10];
sillevl 0:84c73bed7d92 133 data_write[0] = ( (0x00 &0xff00 ) >> 8);
sillevl 0:84c73bed7d92 134 data_write[1] = (0x00 &0x00ff ) ;
sillevl 0:84c73bed7d92 135
sillevl 0:84c73bed7d92 136 i2c.write(address, data_write, 2, 1); //no stop
sillevl 0:84c73bed7d92 137 i2c.read(address, data_read, 10, 0);
sillevl 0:84c73bed7d92 138
sillevl 0:84c73bed7d92 139 Identification id;
sillevl 0:84c73bed7d92 140 id.model = data_read[0];
sillevl 0:84c73bed7d92 141 id.modelRevMajor = data_read[1];
sillevl 0:84c73bed7d92 142 id.modelRevMinor = data_read[2];
sillevl 0:84c73bed7d92 143 id.moduleRevMajor = data_read[3];
sillevl 0:84c73bed7d92 144 id.moduleRevMinor = data_read[4];
sillevl 0:84c73bed7d92 145 id.date = data_read[6] << 8 | data_read[7];
sillevl 0:84c73bed7d92 146 id.time = data_read[8] << 8 | data_read[9];
sillevl 0:84c73bed7d92 147 return id;
sillevl 0:84c73bed7d92 148 }
sillevl 0:84c73bed7d92 149
sillevl 0:84c73bed7d92 150 void VL6180x::printIdentification(VL6180x::Identification id)
sillevl 0:84c73bed7d92 151 {
sillevl 0:84c73bed7d92 152 printf("VL6180x Identification:\r\n");
sillevl 0:84c73bed7d92 153 printf("Model id: 0x%02X\r\n", id.model);
sillevl 0:84c73bed7d92 154 printf("Model rev: %d.%d\r\n", id.modelRevMajor, id.modelRevMinor);
sillevl 0:84c73bed7d92 155 printf("Module rev: %d.%d\r\n", id.moduleRevMajor, id.modelRevMajor);
sillevl 0:84c73bed7d92 156 printf("Date: %04d-%02d-%02d (%d)\r\n", ((id.date >> 12) & 0x0F) + 2010, (id.date >> 8) & 0x0F, (id.date >> 3) & 0x1F, id.date & 0x07);
sillevl 0:84c73bed7d92 157 printf("Time: %02d:%02d:%02d\r\n", (id.time / 60*60) % 24, (id.time / 60) % 60, id.time % 60);
sillevl 0:84c73bed7d92 158 }
sillevl 0:84c73bed7d92 159
sillevl 0:84c73bed7d92 160 void VL6180x::setAddress(int address)
sillevl 0:84c73bed7d92 161 {
sillevl 0:84c73bed7d92 162 char data[3];
sillevl 0:84c73bed7d92 163 data[0] = I2C_SLAVE_DEVICE_ADDRESS / 256;
sillevl 0:84c73bed7d92 164 data[1] = I2C_SLAVE_DEVICE_ADDRESS % 256;
sillevl 0:84c73bed7d92 165 data[2] = address >> 1;
sillevl 0:84c73bed7d92 166 i2c.write(address, data, 3); //no stop
sillevl 0:84c73bed7d92 167 }