i2c driver for VL6180x distance sensor
vl6180x.cpp
- Committer:
- sillevl
- Date:
- 2015-12-19
- Revision:
- 1:6a00afc8dc84
- Parent:
- 0:84c73bed7d92
- Child:
- 2:2e0406672e67
File content as of revision 1:6a00afc8dc84:
#include "vl6180x.h" #include "mbed.h" VL6180x::VL6180x(I2C &_i2c, char _address): i2c(_i2c), address(_address) { address = I2C_SLAVE_DEFAULT_ADDRESS; } 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 }