vl6180x.cpp

00001 #include "vl6180x.h"
00002 #include "mbed.h"
00003 
00004 VL6180x::VL6180x(I2C &_i2c, char _address): i2c(_i2c), address(_address)
00005 {
00006     address = I2C_SLAVE_DEFAULT_ADDRESS;
00007 }
00008 
00009 VL6180x::VL6180x(PinName sda, PinName scl, char _address): i2c(sda, scl), address(_address)
00010 {
00011     i2c.frequency(400000);   
00012     address = I2C_SLAVE_DEFAULT_ADDRESS;
00013 }
00014 
00015 void VL6180x::initialize()
00016 {
00017 
00018     // Mandatory : private registers
00019     setRegister(0x0207, 0x01);
00020     setRegister(0x0208, 0x01);
00021     setRegister(0x0096, 0x00);
00022     setRegister(0x0097, 0xfd);
00023     setRegister(0x00e3, 0x00);
00024     setRegister(0x00e4, 0x04);
00025     setRegister(0x00e5, 0x02);
00026     setRegister(0x00e6, 0x01);
00027     setRegister(0x00e7, 0x03);
00028     setRegister(0x00f5, 0x02);
00029     setRegister(0x00d9, 0x05);
00030     setRegister(0x00db, 0xce);
00031     setRegister(0x00dc, 0x03);
00032     setRegister(0x00dd, 0xf8);
00033     setRegister(0x009f, 0x00);
00034     setRegister(0x00a3, 0x3c);
00035     setRegister(0x00b7, 0x00);
00036     setRegister(0x00bb, 0x3c);
00037     setRegister(0x00b2, 0x09);
00038     setRegister(0x00ca, 0x09);
00039     setRegister(0x0198, 0x01);
00040     setRegister(0x01b0, 0x17);
00041     setRegister(0x01ad, 0x00);
00042     setRegister(0x00ff, 0x05);
00043     setRegister(0x0100, 0x05);
00044     setRegister(0x0199, 0x05);
00045     setRegister(0x01a6, 0x1b);
00046     setRegister(0x01ac, 0x3e);
00047     setRegister(0x01a7, 0x1f);
00048     setRegister(0x0030, 0x00);
00049 
00050 // Recommended : Public registers - See data sheet for more detail
00051     setRegister(SYSTEM_MODE_GPIO1, 0x10); // Enables polling for ‘New Sample ready’
00052 // when measurement completes
00053     setRegister(READOUT_AVERAGING_SAMPLE_PERIOD, 0x30); // Set the averaging sample period
00054 // (compromise between lower noise and
00055 // increased execution time)
00056     setRegister(SYSALS_ANALOGUE_GAIN, 0x46); // Sets the light and dark gain (upper
00057 // nibble). Dark gain should not be
00058 // changed.
00059     setRegister(SYSRANGE_VHV_REPEAT_RATE, 0xFF); // sets the # of range measurements after
00060 // which auto calibration of system is
00061 // performed
00062     setRegister(SYSALS_INTEGRATION_PERIOD, 0x63); // Set ALS integration time to 100ms
00063     setRegister(SYSRANGE_VHV_RECALIBRATE, 0x01); // perform a single temperature calibration
00064 // of the ranging sensor
00065 
00066 
00067     setRegister(SYSRANGE_INTERMEASUREMENT_PERIOD, 0x09); // Set default ranging inter-measurement
00068 // period to 100ms
00069     setRegister(SYSALS_INTERMEASUREMENT_PERIOD, 0x31); // Set default ALS inter-measurement period
00070 // to 500ms
00071     setRegister(SYSTEM_INTERRUPT_CONFIG_GPIO, 0x24); // Configures interrupt on ‘New Sample
00072 // Ready threshold event’
00073 }
00074 
00075 void VL6180x::startContinuousOperation()
00076 {
00077     setRegister(SYSRANGE_START, 0x03);
00078     
00079 }
00080 
00081 int VL6180x::getDistance()
00082 {
00083     int distance = 0;
00084     // should test bit 2  of RESULT_INTERRUPT_STATUS_GPIO ?
00085     distance = getRegister(RESULT_RANGE_VAL);
00086     // should clear interrupt ?
00087     return distance;   
00088 }
00089 
00090 int VL6180x::getSingleDistance()
00091 {
00092     int distance = 0;
00093     while(getRegister(RESULT_RANGE_STATUS) & 0x01 != 0x01);
00094     setRegister(SYSRANGE_START, 0x01); // start measurement
00095     while(getRegister(RESULT_INTERRUPT_STATUS_GPIO) & 0x04 != 0x04);
00096     distance = getRegister(RESULT_RANGE_VAL);
00097     setRegister(SYSTEM_INTERRUPT_CLEAR, 0x07);
00098     return distance;
00099 }
00100 
00101 float VL6180x::getAmbientLight()
00102 {
00103     return 0.0f;
00104 }
00105 
00106 void VL6180x::setRegister(int reg, int value)
00107 {
00108     char data_write[3];
00109     data_write[0] = ((reg &0xff00 ) >> 8);
00110     data_write[1] = (reg &0x00ff );
00111     data_write[2] = value;
00112     i2c.write(address, data_write, 3);
00113 }
00114 
00115 int VL6180x::getRegister(int reg)
00116 {
00117     char data_write[2];
00118     char data_read[1];
00119     data_write[0] = ((reg &0xff00 ) >> 8);
00120     data_write[1] = (reg &0x00ff ) ;
00121 
00122     i2c.write(address, data_write, 2, 1); //no stop
00123     i2c.read(address, data_read, 1, 0);
00124 
00125     return data_read[0];
00126 }
00127 
00128 VL6180x::Identification VL6180x::getIdentification()
00129 {
00130 
00131     char data_write[2];
00132     char data_read[10];
00133     data_write[0] = ( (0x00 &0xff00 ) >> 8);
00134     data_write[1] = (0x00 &0x00ff ) ;
00135 
00136     i2c.write(address, data_write, 2, 1); //no stop
00137     i2c.read(address, data_read, 10, 0);
00138 
00139     Identification id;
00140     id.model = data_read[0];
00141     id.modelRevMajor = data_read[1];
00142     id.modelRevMinor = data_read[2];
00143     id.moduleRevMajor = data_read[3];
00144     id.moduleRevMinor = data_read[4];
00145     id.date = data_read[6] << 8 | data_read[7];
00146     id.time = data_read[8] << 8 | data_read[9];
00147     return id;
00148 }
00149 
00150 void VL6180x::printIdentification(VL6180x::Identification id)
00151 {
00152     printf("VL6180x Identification:\r\n");
00153     printf("Model id:   0x%02X\r\n", id.model);
00154     printf("Model rev:  %d.%d\r\n", id.modelRevMajor, id.modelRevMinor);
00155     printf("Module rev: %d.%d\r\n", id.moduleRevMajor, id.modelRevMajor);
00156     printf("Date:       %04d-%02d-%02d (%d)\r\n", ((id.date >> 12) & 0x0F) + 2010, (id.date >> 8) & 0x0F, (id.date >> 3) & 0x1F, id.date & 0x07);
00157     printf("Time:       %02d:%02d:%02d\r\n", (id.time / 60*60) % 24, (id.time / 60) % 60, id.time % 60);
00158 }
00159 
00160 void VL6180x::setAddress(int address)
00161 {
00162     char data[3];
00163     data[0] = I2C_SLAVE_DEVICE_ADDRESS / 256;
00164     data[1] = I2C_SLAVE_DEVICE_ADDRESS % 256;
00165     data[2] = address >> 1;
00166     i2c.write(address, data, 3); //no stop
00167 }