i2c driver for VL6180x distance sensor
Diff: vl6180x.cpp
- Revision:
- 2:2e0406672e67
- Parent:
- 1:6a00afc8dc84
--- a/vl6180x.cpp Sat Dec 19 10:42:18 2015 +0000 +++ b/vl6180x.cpp Sat Dec 19 13:27:01 2015 +0000 @@ -48,38 +48,53 @@ setRegister(0x0030, 0x00); // Recommended : Public registers - See data sheet for more detail - setRegister(0x0011, 0x10); // Enables polling for ‘New Sample ready’ + setRegister(SYSTEM_MODE_GPIO1, 0x10); // Enables polling for ‘New Sample ready’ // when measurement completes - setRegister(0x010a, 0x30); // Set the averaging sample period + setRegister(READOUT_AVERAGING_SAMPLE_PERIOD, 0x30); // Set the averaging sample period // (compromise between lower noise and // increased execution time) - setRegister(0x003f, 0x46); // Sets the light and dark gain (upper + setRegister(SYSALS_ANALOGUE_GAIN, 0x46); // Sets the light and dark gain (upper // nibble). Dark gain should not be // changed. - setRegister(0x0031, 0xFF); // sets the # of range measurements after + setRegister(SYSRANGE_VHV_REPEAT_RATE, 0xFF); // sets the # of range measurements after // which auto calibration of system is // performed - setRegister(0x0040, 0x63); // Set ALS integration time to 100ms - setRegister(0x002e, 0x01); // perform a single temperature calibration + setRegister(SYSALS_INTEGRATION_PERIOD, 0x63); // Set ALS integration time to 100ms + setRegister(SYSRANGE_VHV_RECALIBRATE, 0x01); // perform a single temperature calibration // of the ranging sensor - setRegister(0x001b, 0x09); // Set default ranging inter-measurement + setRegister(SYSRANGE_INTERMEASUREMENT_PERIOD, 0x09); // Set default ranging inter-measurement // period to 100ms - setRegister(0x003e, 0x31); // Set default ALS inter-measurement period + setRegister(SYSALS_INTERMEASUREMENT_PERIOD, 0x31); // Set default ALS inter-measurement period // to 500ms - setRegister(0x0014, 0x24); // Configures interrupt on ‘New Sample + setRegister(SYSTEM_INTERRUPT_CONFIG_GPIO, 0x24); // Configures interrupt on ‘New Sample // Ready threshold event’ } +void VL6180x::startContinuousOperation() +{ + setRegister(SYSRANGE_START, 0x03); + +} + int VL6180x::getDistance() { int distance = 0; - while(getRegister(0x4D) & 0x01 != 0x01); - setRegister(0x018, 0x01); // start measurement - while(getRegister(0x4F) & 0x04 != 0x04); - distance = getRegister(0x62); - setRegister(0x15, 0x07); + // should test bit 2 of RESULT_INTERRUPT_STATUS_GPIO ? + distance = getRegister(RESULT_RANGE_VAL); + // should clear interrupt ? + return distance; +} + +int VL6180x::getSingleDistance() +{ + int distance = 0; + while(getRegister(RESULT_RANGE_STATUS) & 0x01 != 0x01); + setRegister(SYSRANGE_START, 0x01); // start measurement + while(getRegister(RESULT_INTERRUPT_STATUS_GPIO) & 0x04 != 0x04); + distance = getRegister(RESULT_RANGE_VAL); + setRegister(SYSTEM_INTERRUPT_CLEAR, 0x07); return distance; } @@ -90,7 +105,6 @@ void VL6180x::setRegister(int reg, int value) { -//INTERLEAVED_MODE_ENABLE char data_write[3]; data_write[0] = ((reg &0xff00 ) >> 8); data_write[1] = (reg &0x00ff );