i2c driver for VL6180x distance sensor
vl6180x.cpp@1:6a00afc8dc84, 2015-12-19 (annotated)
- Committer:
- sillevl
- Date:
- Sat Dec 19 10:42:18 2015 +0000
- Revision:
- 1:6a00afc8dc84
- Parent:
- 0:84c73bed7d92
- Child:
- 2:2e0406672e67
add constructor that accepts I2C object
Who changed what in which revision?
User | Revision | Line number | New 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 | 0:84c73bed7d92 | 51 | setRegister(0x0011, 0x10); // Enables polling for ‘New Sample ready’ |
sillevl | 0:84c73bed7d92 | 52 | // when measurement completes |
sillevl | 0:84c73bed7d92 | 53 | setRegister(0x010a, 0x30); // Set the averaging sample period |
sillevl | 0:84c73bed7d92 | 54 | // (compromise between lower noise and |
sillevl | 0:84c73bed7d92 | 55 | // increased execution time) |
sillevl | 0:84c73bed7d92 | 56 | setRegister(0x003f, 0x46); // Sets the light and dark gain (upper |
sillevl | 0:84c73bed7d92 | 57 | // nibble). Dark gain should not be |
sillevl | 0:84c73bed7d92 | 58 | // changed. |
sillevl | 0:84c73bed7d92 | 59 | setRegister(0x0031, 0xFF); // sets the # of range measurements after |
sillevl | 0:84c73bed7d92 | 60 | // which auto calibration of system is |
sillevl | 0:84c73bed7d92 | 61 | // performed |
sillevl | 0:84c73bed7d92 | 62 | setRegister(0x0040, 0x63); // Set ALS integration time to 100ms |
sillevl | 0:84c73bed7d92 | 63 | setRegister(0x002e, 0x01); // perform a single temperature calibration |
sillevl | 0:84c73bed7d92 | 64 | // of the ranging sensor |
sillevl | 0:84c73bed7d92 | 65 | |
sillevl | 0:84c73bed7d92 | 66 | |
sillevl | 0:84c73bed7d92 | 67 | setRegister(0x001b, 0x09); // Set default ranging inter-measurement |
sillevl | 0:84c73bed7d92 | 68 | // period to 100ms |
sillevl | 0:84c73bed7d92 | 69 | setRegister(0x003e, 0x31); // Set default ALS inter-measurement period |
sillevl | 0:84c73bed7d92 | 70 | // to 500ms |
sillevl | 0:84c73bed7d92 | 71 | setRegister(0x0014, 0x24); // Configures interrupt on ‘New Sample |
sillevl | 0:84c73bed7d92 | 72 | // Ready threshold event’ |
sillevl | 0:84c73bed7d92 | 73 | } |
sillevl | 0:84c73bed7d92 | 74 | |
sillevl | 0:84c73bed7d92 | 75 | int VL6180x::getDistance() |
sillevl | 0:84c73bed7d92 | 76 | { |
sillevl | 0:84c73bed7d92 | 77 | int distance = 0; |
sillevl | 0:84c73bed7d92 | 78 | while(getRegister(0x4D) & 0x01 != 0x01); |
sillevl | 0:84c73bed7d92 | 79 | setRegister(0x018, 0x01); // start measurement |
sillevl | 0:84c73bed7d92 | 80 | while(getRegister(0x4F) & 0x04 != 0x04); |
sillevl | 0:84c73bed7d92 | 81 | distance = getRegister(0x62); |
sillevl | 0:84c73bed7d92 | 82 | setRegister(0x15, 0x07); |
sillevl | 0:84c73bed7d92 | 83 | return distance; |
sillevl | 0:84c73bed7d92 | 84 | } |
sillevl | 0:84c73bed7d92 | 85 | |
sillevl | 0:84c73bed7d92 | 86 | float VL6180x::getAmbientLight() |
sillevl | 0:84c73bed7d92 | 87 | { |
sillevl | 0:84c73bed7d92 | 88 | return 0.0f; |
sillevl | 0:84c73bed7d92 | 89 | } |
sillevl | 0:84c73bed7d92 | 90 | |
sillevl | 0:84c73bed7d92 | 91 | void VL6180x::setRegister(int reg, int value) |
sillevl | 0:84c73bed7d92 | 92 | { |
sillevl | 0:84c73bed7d92 | 93 | //INTERLEAVED_MODE_ENABLE |
sillevl | 0:84c73bed7d92 | 94 | char data_write[3]; |
sillevl | 0:84c73bed7d92 | 95 | data_write[0] = ((reg &0xff00 ) >> 8); |
sillevl | 0:84c73bed7d92 | 96 | data_write[1] = (reg &0x00ff ); |
sillevl | 0:84c73bed7d92 | 97 | data_write[2] = value; |
sillevl | 0:84c73bed7d92 | 98 | i2c.write(address, data_write, 3); |
sillevl | 0:84c73bed7d92 | 99 | } |
sillevl | 0:84c73bed7d92 | 100 | |
sillevl | 0:84c73bed7d92 | 101 | int VL6180x::getRegister(int reg) |
sillevl | 0:84c73bed7d92 | 102 | { |
sillevl | 0:84c73bed7d92 | 103 | char data_write[2]; |
sillevl | 0:84c73bed7d92 | 104 | char data_read[1]; |
sillevl | 0:84c73bed7d92 | 105 | data_write[0] = ((reg &0xff00 ) >> 8); |
sillevl | 0:84c73bed7d92 | 106 | data_write[1] = (reg &0x00ff ) ; |
sillevl | 0:84c73bed7d92 | 107 | |
sillevl | 0:84c73bed7d92 | 108 | i2c.write(address, data_write, 2, 1); //no stop |
sillevl | 0:84c73bed7d92 | 109 | i2c.read(address, data_read, 1, 0); |
sillevl | 0:84c73bed7d92 | 110 | |
sillevl | 0:84c73bed7d92 | 111 | return data_read[0]; |
sillevl | 0:84c73bed7d92 | 112 | } |
sillevl | 0:84c73bed7d92 | 113 | |
sillevl | 0:84c73bed7d92 | 114 | VL6180x::Identification VL6180x::getIdentification() |
sillevl | 0:84c73bed7d92 | 115 | { |
sillevl | 0:84c73bed7d92 | 116 | |
sillevl | 0:84c73bed7d92 | 117 | char data_write[2]; |
sillevl | 0:84c73bed7d92 | 118 | char data_read[10]; |
sillevl | 0:84c73bed7d92 | 119 | data_write[0] = ( (0x00 &0xff00 ) >> 8); |
sillevl | 0:84c73bed7d92 | 120 | data_write[1] = (0x00 &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, 10, 0); |
sillevl | 0:84c73bed7d92 | 124 | |
sillevl | 0:84c73bed7d92 | 125 | Identification id; |
sillevl | 0:84c73bed7d92 | 126 | id.model = data_read[0]; |
sillevl | 0:84c73bed7d92 | 127 | id.modelRevMajor = data_read[1]; |
sillevl | 0:84c73bed7d92 | 128 | id.modelRevMinor = data_read[2]; |
sillevl | 0:84c73bed7d92 | 129 | id.moduleRevMajor = data_read[3]; |
sillevl | 0:84c73bed7d92 | 130 | id.moduleRevMinor = data_read[4]; |
sillevl | 0:84c73bed7d92 | 131 | id.date = data_read[6] << 8 | data_read[7]; |
sillevl | 0:84c73bed7d92 | 132 | id.time = data_read[8] << 8 | data_read[9]; |
sillevl | 0:84c73bed7d92 | 133 | return id; |
sillevl | 0:84c73bed7d92 | 134 | } |
sillevl | 0:84c73bed7d92 | 135 | |
sillevl | 0:84c73bed7d92 | 136 | void VL6180x::printIdentification(VL6180x::Identification id) |
sillevl | 0:84c73bed7d92 | 137 | { |
sillevl | 0:84c73bed7d92 | 138 | printf("VL6180x Identification:\r\n"); |
sillevl | 0:84c73bed7d92 | 139 | printf("Model id: 0x%02X\r\n", id.model); |
sillevl | 0:84c73bed7d92 | 140 | printf("Model rev: %d.%d\r\n", id.modelRevMajor, id.modelRevMinor); |
sillevl | 0:84c73bed7d92 | 141 | printf("Module rev: %d.%d\r\n", id.moduleRevMajor, id.modelRevMajor); |
sillevl | 0:84c73bed7d92 | 142 | 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 | 143 | printf("Time: %02d:%02d:%02d\r\n", (id.time / 60*60) % 24, (id.time / 60) % 60, id.time % 60); |
sillevl | 0:84c73bed7d92 | 144 | } |
sillevl | 0:84c73bed7d92 | 145 | |
sillevl | 0:84c73bed7d92 | 146 | void VL6180x::setAddress(int address) |
sillevl | 0:84c73bed7d92 | 147 | { |
sillevl | 0:84c73bed7d92 | 148 | char data[3]; |
sillevl | 0:84c73bed7d92 | 149 | data[0] = I2C_SLAVE_DEVICE_ADDRESS / 256; |
sillevl | 0:84c73bed7d92 | 150 | data[1] = I2C_SLAVE_DEVICE_ADDRESS % 256; |
sillevl | 0:84c73bed7d92 | 151 | data[2] = address >> 1; |
sillevl | 0:84c73bed7d92 | 152 | i2c.write(address, data, 3); //no stop |
sillevl | 0:84c73bed7d92 | 153 | } |