i2c driver for VL6180x distance sensor
Diff: vl6180x.cpp
- Revision:
- 0:84c73bed7d92
- Child:
- 1:6a00afc8dc84
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/vl6180x.cpp Thu Dec 03 07:58:19 2015 +0000 @@ -0,0 +1,148 @@ +#include "vl6180x.h" +#include "mbed.h" + +VL6180x::VL6180x(PinName sda, PinName scl, char _address): i2c(sda, scl), address(address) +{ + i2c.frequency(400000); + address = I2C_SLAVE_DEFAULT_ADDRESS; +} + +void VL6180x::initialize() +{ + + // Mandatory : private registers + setRegister(0x0207, 0x01); + setRegister(0x0208, 0x01); + setRegister(0x0096, 0x00); + setRegister(0x0097, 0xfd); + setRegister(0x00e3, 0x00); + setRegister(0x00e4, 0x04); + setRegister(0x00e5, 0x02); + setRegister(0x00e6, 0x01); + setRegister(0x00e7, 0x03); + setRegister(0x00f5, 0x02); + setRegister(0x00d9, 0x05); + setRegister(0x00db, 0xce); + setRegister(0x00dc, 0x03); + setRegister(0x00dd, 0xf8); + setRegister(0x009f, 0x00); + setRegister(0x00a3, 0x3c); + setRegister(0x00b7, 0x00); + setRegister(0x00bb, 0x3c); + setRegister(0x00b2, 0x09); + setRegister(0x00ca, 0x09); + setRegister(0x0198, 0x01); + setRegister(0x01b0, 0x17); + setRegister(0x01ad, 0x00); + setRegister(0x00ff, 0x05); + setRegister(0x0100, 0x05); + setRegister(0x0199, 0x05); + setRegister(0x01a6, 0x1b); + setRegister(0x01ac, 0x3e); + setRegister(0x01a7, 0x1f); + setRegister(0x0030, 0x00); + +// Recommended : Public registers - See data sheet for more detail + setRegister(0x0011, 0x10); // Enables polling for ‘New Sample ready’ +// when measurement completes + setRegister(0x010a, 0x30); // Set the averaging sample period +// (compromise between lower noise and +// increased execution time) + setRegister(0x003f, 0x46); // Sets the light and dark gain (upper +// nibble). Dark gain should not be +// changed. + setRegister(0x0031, 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 +// of the ranging sensor + + + setRegister(0x001b, 0x09); // Set default ranging inter-measurement +// period to 100ms + setRegister(0x003e, 0x31); // Set default ALS inter-measurement period +// to 500ms + setRegister(0x0014, 0x24); // Configures interrupt on ‘New Sample +// Ready threshold event’ +} + +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); + return distance; +} + +float VL6180x::getAmbientLight() +{ + return 0.0f; +} + +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 ); + data_write[2] = value; + i2c.write(address, data_write, 3); +} + +int VL6180x::getRegister(int reg) +{ + char data_write[2]; + char data_read[1]; + data_write[0] = ((reg &0xff00 ) >> 8); + data_write[1] = (reg &0x00ff ) ; + + i2c.write(address, data_write, 2, 1); //no stop + i2c.read(address, data_read, 1, 0); + + return data_read[0]; +} + +VL6180x::Identification VL6180x::getIdentification() +{ + + char data_write[2]; + char data_read[10]; + data_write[0] = ( (0x00 &0xff00 ) >> 8); + data_write[1] = (0x00 &0x00ff ) ; + + i2c.write(address, data_write, 2, 1); //no stop + i2c.read(address, data_read, 10, 0); + + Identification id; + id.model = data_read[0]; + id.modelRevMajor = data_read[1]; + id.modelRevMinor = data_read[2]; + id.moduleRevMajor = data_read[3]; + id.moduleRevMinor = data_read[4]; + id.date = data_read[6] << 8 | data_read[7]; + id.time = data_read[8] << 8 | data_read[9]; + return id; +} + +void VL6180x::printIdentification(VL6180x::Identification id) +{ + printf("VL6180x Identification:\r\n"); + printf("Model id: 0x%02X\r\n", id.model); + printf("Model rev: %d.%d\r\n", id.modelRevMajor, id.modelRevMinor); + printf("Module rev: %d.%d\r\n", id.moduleRevMajor, id.modelRevMajor); + printf("Date: %04d-%02d-%02d (%d)\r\n", ((id.date >> 12) & 0x0F) + 2010, (id.date >> 8) & 0x0F, (id.date >> 3) & 0x1F, id.date & 0x07); + printf("Time: %02d:%02d:%02d\r\n", (id.time / 60*60) % 24, (id.time / 60) % 60, id.time % 60); +} + +void VL6180x::setAddress(int address) +{ + char data[3]; + data[0] = I2C_SLAVE_DEVICE_ADDRESS / 256; + data[1] = I2C_SLAVE_DEVICE_ADDRESS % 256; + data[2] = address >> 1; + i2c.write(address, data, 3); //no stop +} \ No newline at end of file