Sille Van Landschoot / VL6180x

i2c driver for VL6180x distance sensor

Dependents:   m3Dpi

vl6180x.cpp@0:84c73bed7d92, 2015-12-03 (annotated)

Committer:
sillevl
Date:
Thu Dec 03 07:58:19 2015 +0000
Revision:
0:84c73bed7d92
Child:
1:6a00afc8dc84
initial commit

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 0:84c73bed7d92 4 VL6180x::VL6180x(PinName sda, PinName scl, char _address): i2c(sda, scl), address(address)
sillevl 0:84c73bed7d92 5 {
sillevl 0:84c73bed7d92 6 i2c.frequency(400000);
sillevl 0:84c73bed7d92 7 address = I2C_SLAVE_DEFAULT_ADDRESS;
sillevl 0:84c73bed7d92 8 }
sillevl 0:84c73bed7d92 9
sillevl 0:84c73bed7d92 10 void VL6180x::initialize()
sillevl 0:84c73bed7d92 11 {
sillevl 0:84c73bed7d92 12
sillevl 0:84c73bed7d92 13 // Mandatory : private registers
sillevl 0:84c73bed7d92 14 setRegister(0x0207, 0x01);
sillevl 0:84c73bed7d92 15 setRegister(0x0208, 0x01);
sillevl 0:84c73bed7d92 16 setRegister(0x0096, 0x00);
sillevl 0:84c73bed7d92 17 setRegister(0x0097, 0xfd);
sillevl 0:84c73bed7d92 18 setRegister(0x00e3, 0x00);
sillevl 0:84c73bed7d92 19 setRegister(0x00e4, 0x04);
sillevl 0:84c73bed7d92 20 setRegister(0x00e5, 0x02);
sillevl 0:84c73bed7d92 21 setRegister(0x00e6, 0x01);
sillevl 0:84c73bed7d92 22 setRegister(0x00e7, 0x03);
sillevl 0:84c73bed7d92 23 setRegister(0x00f5, 0x02);
sillevl 0:84c73bed7d92 24 setRegister(0x00d9, 0x05);
sillevl 0:84c73bed7d92 25 setRegister(0x00db, 0xce);
sillevl 0:84c73bed7d92 26 setRegister(0x00dc, 0x03);
sillevl 0:84c73bed7d92 27 setRegister(0x00dd, 0xf8);
sillevl 0:84c73bed7d92 28 setRegister(0x009f, 0x00);
sillevl 0:84c73bed7d92 29 setRegister(0x00a3, 0x3c);
sillevl 0:84c73bed7d92 30 setRegister(0x00b7, 0x00);
sillevl 0:84c73bed7d92 31 setRegister(0x00bb, 0x3c);
sillevl 0:84c73bed7d92 32 setRegister(0x00b2, 0x09);
sillevl 0:84c73bed7d92 33 setRegister(0x00ca, 0x09);
sillevl 0:84c73bed7d92 34 setRegister(0x0198, 0x01);
sillevl 0:84c73bed7d92 35 setRegister(0x01b0, 0x17);
sillevl 0:84c73bed7d92 36 setRegister(0x01ad, 0x00);
sillevl 0:84c73bed7d92 37 setRegister(0x00ff, 0x05);
sillevl 0:84c73bed7d92 38 setRegister(0x0100, 0x05);
sillevl 0:84c73bed7d92 39 setRegister(0x0199, 0x05);
sillevl 0:84c73bed7d92 40 setRegister(0x01a6, 0x1b);
sillevl 0:84c73bed7d92 41 setRegister(0x01ac, 0x3e);
sillevl 0:84c73bed7d92 42 setRegister(0x01a7, 0x1f);
sillevl 0:84c73bed7d92 43 setRegister(0x0030, 0x00);
sillevl 0:84c73bed7d92 44
sillevl 0:84c73bed7d92 45 // Recommended : Public registers - See data sheet for more detail
sillevl 0:84c73bed7d92 46 setRegister(0x0011, 0x10); // Enables polling for ‘New Sample ready’
sillevl 0:84c73bed7d92 47 // when measurement completes
sillevl 0:84c73bed7d92 48 setRegister(0x010a, 0x30); // Set the averaging sample period
sillevl 0:84c73bed7d92 49 // (compromise between lower noise and
sillevl 0:84c73bed7d92 50 // increased execution time)
sillevl 0:84c73bed7d92 51 setRegister(0x003f, 0x46); // Sets the light and dark gain (upper
sillevl 0:84c73bed7d92 52 // nibble). Dark gain should not be
sillevl 0:84c73bed7d92 53 // changed.
sillevl 0:84c73bed7d92 54 setRegister(0x0031, 0xFF); // sets the # of range measurements after
sillevl 0:84c73bed7d92 55 // which auto calibration of system is
sillevl 0:84c73bed7d92 56 // performed
sillevl 0:84c73bed7d92 57 setRegister(0x0040, 0x63); // Set ALS integration time to 100ms
sillevl 0:84c73bed7d92 58 setRegister(0x002e, 0x01); // perform a single temperature calibration
sillevl 0:84c73bed7d92 59 // of the ranging sensor
sillevl 0:84c73bed7d92 60
sillevl 0:84c73bed7d92 61
sillevl 0:84c73bed7d92 62 setRegister(0x001b, 0x09); // Set default ranging inter-measurement
sillevl 0:84c73bed7d92 63 // period to 100ms
sillevl 0:84c73bed7d92 64 setRegister(0x003e, 0x31); // Set default ALS inter-measurement period
sillevl 0:84c73bed7d92 65 // to 500ms
sillevl 0:84c73bed7d92 66 setRegister(0x0014, 0x24); // Configures interrupt on ‘New Sample
sillevl 0:84c73bed7d92 67 // Ready threshold event’
sillevl 0:84c73bed7d92 68 }
sillevl 0:84c73bed7d92 69
sillevl 0:84c73bed7d92 70 int VL6180x::getDistance()
sillevl 0:84c73bed7d92 71 {
sillevl 0:84c73bed7d92 72 int distance = 0;
sillevl 0:84c73bed7d92 73 while(getRegister(0x4D) & 0x01 != 0x01);
sillevl 0:84c73bed7d92 74 setRegister(0x018, 0x01); // start measurement
sillevl 0:84c73bed7d92 75 while(getRegister(0x4F) & 0x04 != 0x04);
sillevl 0:84c73bed7d92 76 distance = getRegister(0x62);
sillevl 0:84c73bed7d92 77 setRegister(0x15, 0x07);
sillevl 0:84c73bed7d92 78 return distance;
sillevl 0:84c73bed7d92 79 }
sillevl 0:84c73bed7d92 80
sillevl 0:84c73bed7d92 81 float VL6180x::getAmbientLight()
sillevl 0:84c73bed7d92 82 {
sillevl 0:84c73bed7d92 83 return 0.0f;
sillevl 0:84c73bed7d92 84 }
sillevl 0:84c73bed7d92 85
sillevl 0:84c73bed7d92 86 void VL6180x::setRegister(int reg, int value)
sillevl 0:84c73bed7d92 87 {
sillevl 0:84c73bed7d92 88 //INTERLEAVED_MODE_ENABLE
sillevl 0:84c73bed7d92 89 char data_write[3];
sillevl 0:84c73bed7d92 90 data_write[0] = ((reg &0xff00 ) >> 8);
sillevl 0:84c73bed7d92 91 data_write[1] = (reg &0x00ff );
sillevl 0:84c73bed7d92 92 data_write[2] = value;
sillevl 0:84c73bed7d92 93 i2c.write(address, data_write, 3);
sillevl 0:84c73bed7d92 94 }
sillevl 0:84c73bed7d92 95
sillevl 0:84c73bed7d92 96 int VL6180x::getRegister(int reg)
sillevl 0:84c73bed7d92 97 {
sillevl 0:84c73bed7d92 98 char data_write[2];
sillevl 0:84c73bed7d92 99 char data_read[1];
sillevl 0:84c73bed7d92 100 data_write[0] = ((reg &0xff00 ) >> 8);
sillevl 0:84c73bed7d92 101 data_write[1] = (reg &0x00ff ) ;
sillevl 0:84c73bed7d92 102
sillevl 0:84c73bed7d92 103 i2c.write(address, data_write, 2, 1); //no stop
sillevl 0:84c73bed7d92 104 i2c.read(address, data_read, 1, 0);
sillevl 0:84c73bed7d92 105
sillevl 0:84c73bed7d92 106 return data_read[0];
sillevl 0:84c73bed7d92 107 }
sillevl 0:84c73bed7d92 108
sillevl 0:84c73bed7d92 109 VL6180x::Identification VL6180x::getIdentification()
sillevl 0:84c73bed7d92 110 {
sillevl 0:84c73bed7d92 111
sillevl 0:84c73bed7d92 112 char data_write[2];
sillevl 0:84c73bed7d92 113 char data_read[10];
sillevl 0:84c73bed7d92 114 data_write[0] = ( (0x00 &0xff00 ) >> 8);
sillevl 0:84c73bed7d92 115 data_write[1] = (0x00 &0x00ff ) ;
sillevl 0:84c73bed7d92 116
sillevl 0:84c73bed7d92 117 i2c.write(address, data_write, 2, 1); //no stop
sillevl 0:84c73bed7d92 118 i2c.read(address, data_read, 10, 0);
sillevl 0:84c73bed7d92 119
sillevl 0:84c73bed7d92 120 Identification id;
sillevl 0:84c73bed7d92 121 id.model = data_read[0];
sillevl 0:84c73bed7d92 122 id.modelRevMajor = data_read[1];
sillevl 0:84c73bed7d92 123 id.modelRevMinor = data_read[2];
sillevl 0:84c73bed7d92 124 id.moduleRevMajor = data_read[3];
sillevl 0:84c73bed7d92 125 id.moduleRevMinor = data_read[4];
sillevl 0:84c73bed7d92 126 id.date = data_read[6] << 8 | data_read[7];
sillevl 0:84c73bed7d92 127 id.time = data_read[8] << 8 | data_read[9];
sillevl 0:84c73bed7d92 128 return id;
sillevl 0:84c73bed7d92 129 }
sillevl 0:84c73bed7d92 130
sillevl 0:84c73bed7d92 131 void VL6180x::printIdentification(VL6180x::Identification id)
sillevl 0:84c73bed7d92 132 {
sillevl 0:84c73bed7d92 133 printf("VL6180x Identification:\r\n");
sillevl 0:84c73bed7d92 134 printf("Model id: 0x%02X\r\n", id.model);
sillevl 0:84c73bed7d92 135 printf("Model rev: %d.%d\r\n", id.modelRevMajor, id.modelRevMinor);
sillevl 0:84c73bed7d92 136 printf("Module rev: %d.%d\r\n", id.moduleRevMajor, id.modelRevMajor);
sillevl 0:84c73bed7d92 137 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 138 printf("Time: %02d:%02d:%02d\r\n", (id.time / 60*60) % 24, (id.time / 60) % 60, id.time % 60);
sillevl 0:84c73bed7d92 139 }
sillevl 0:84c73bed7d92 140
sillevl 0:84c73bed7d92 141 void VL6180x::setAddress(int address)
sillevl 0:84c73bed7d92 142 {
sillevl 0:84c73bed7d92 143 char data[3];
sillevl 0:84c73bed7d92 144 data[0] = I2C_SLAVE_DEVICE_ADDRESS / 256;
sillevl 0:84c73bed7d92 145 data[1] = I2C_SLAVE_DEVICE_ADDRESS % 256;
sillevl 0:84c73bed7d92 146 data[2] = address >> 1;
sillevl 0:84c73bed7d92 147 i2c.write(address, data, 3); //no stop
sillevl 0:84c73bed7d92 148 }