/****************************************************************************** * SparkFun_VL6180x.cpp * Library for VL6180x time of flight range finder. * Casey Kuhns @ SparkFun Electronics * 10/29/2014 * https://github.com/sparkfun/SparkFun_ToF_Range_Finder-VL6180_Arduino_Library * * The VL6180x by ST micro is a time of flight range finder that * uses pulsed IR light to determine distances from object at close * range. The average range of a sensor is between 0-200mm * * In this file are the functions in the VL6180x class * * Resources: * This library uses the Arduino Wire.h to complete I2C transactions. * * Development environment specifics: * IDE: Arduino 1.0.5 * Hardware Platform: Arduino Pro 3.3V/8MHz * VL6180x Breakout Version: 1.0 * **Updated for Arduino 1.6.4 5/2015** * * This code is beerware. If you see me (or any other SparkFun employee) at the * local pub, and you've found our code helpful, please buy us a round! * * Distributed as-is; no warranty is given. ******************************************************************************/ #include #include #include #include #include // Delay is approx 0.2us per loop @64Mhz #define I2CDEV_LOOPS_PER_US 5 #define I2CDEV_LOOPS_PER_MS (1000 * I2CDEV_LOOPS_PER_US) #define I2CDEV_I2C1_PIN_SDA GPIO_Pin_7 #define I2CDEV_I2C1_PIN_SCL GPIO_Pin_6 #define I2CDEV_NO_MEM_ADDR 0xFF #define I2C1_DEV &I2C1_DevStructure #define I2C2_DEV &I2C2_DevStructure #define I2C3_DEV &I2C3_DevStructure typedef CPAL_InitTypeDef I2C_Dev; void VL6180x(uint8_t address);// void VL6180x(); // Initialize the Library //Wire.begin(); // Arduino Wire library initializer int _i2caddress; //set default address for communication //uint8_t VL6180x::VL6180xInit(void){ uint8_t VL6180xInit(void){ uint8_t data; //for temp data storage data = VL6180x_getRegister(VL6180X_SYSTEM_FRESH_OUT_OF_RESET); if(data != 1) return VL6180x_FAILURE_RESET; //Required by datasheet //http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf VL6180x_setRegister(0x0207, 0x01); VL6180x_setRegister(0x0208, 0x01); VL6180x_setRegister(0x0096, 0x00); VL6180x_setRegister(0x0097, 0xfd); VL6180x_setRegister(0x00e3, 0x00); VL6180x_setRegister(0x00e4, 0x04); VL6180x_setRegister(0x00e5, 0x02); VL6180x_setRegister(0x00e6, 0x01); VL6180x_setRegister(0x00e7, 0x03); VL6180x_setRegister(0x00f5, 0x02); VL6180x_setRegister(0x00d9, 0x05); VL6180x_setRegister(0x00db, 0xce); VL6180x_setRegister(0x00dc, 0x03); VL6180x_setRegister(0x00dd, 0xf8); VL6180x_setRegister(0x009f, 0x00); VL6180x_setRegister(0x00a3, 0x3c); VL6180x_setRegister(0x00b7, 0x00); VL6180x_setRegister(0x00bb, 0x3c); VL6180x_setRegister(0x00b2, 0x09); VL6180x_setRegister(0x00ca, 0x09); VL6180x_setRegister(0x0198, 0x01); VL6180x_setRegister(0x01b0, 0x17); VL6180x_setRegister(0x01ad, 0x00); VL6180x_setRegister(0x00ff, 0x05); VL6180x_setRegister(0x0100, 0x05); VL6180x_setRegister(0x0199, 0x05); VL6180x_setRegister(0x01a6, 0x1b); VL6180x_setRegister(0x01ac, 0x3e); VL6180x_setRegister(0x01a7, 0x1f); VL6180x_setRegister(0x0030, 0x00); return 0; } //void VL6180x::VL6180xDefautSettings(void){ void VL6180xDefaultSettings(void){ //Recommended settings from datasheet //http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf //Enable Interrupts on Conversion Complete (any source) VL6180x_setRegister(VL6180X_SYSTEM_INTERRUPT_CONFIG_GPIO, (4 << 3)|(4) ); // Set GPIO1 high when sample complete VL6180x_setRegister(VL6180X_SYSTEM_MODE_GPIO1, 0x10); // Set GPIO1 high when sample complete VL6180x_setRegister(VL6180X_READOUT_AVERAGING_SAMPLE_PERIOD, 0x30); //Set Avg sample period VL6180x_setRegister(VL6180X_SYSALS_ANALOGUE_GAIN, 0x46); // Set the ALS gain VL6180x_setRegister(VL6180X_SYSRANGE_VHV_REPEAT_RATE, 0xFF); // Set auto calibration period (Max = 255)/(OFF = 0) VL6180x_setRegister(VL6180X_SYSALS_INTEGRATION_PERIOD, 0x63); // Set ALS integration time to 100ms VL6180x_setRegister(VL6180X_SYSRANGE_VHV_RECALIBRATE, 0x01); // perform a single temperature calibration //Optional settings from datasheet //http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf VL6180x_setRegister(VL6180X_SYSRANGE_INTERMEASUREMENT_PERIOD, 0x09); // Set default ranging inter-measurement period to 100ms VL6180x_setRegister(VL6180X_SYSALS_INTERMEASUREMENT_PERIOD, 0x0A); //default 0x31 500ms Set default ALS inter-measurement period to 100ms VL6180x_setRegister(VL6180X_SYSTEM_INTERRUPT_CONFIG_GPIO, 0x24); // Configures interrupt on ‘New Sample Ready threshold event’ //Additional settings defaults from community VL6180x_setRegister(VL6180X_SYSRANGE_MAX_CONVERGENCE_TIME, 0x32); VL6180x_setRegister(VL6180X_SYSRANGE_RANGE_CHECK_ENABLES, 0x10 | 0x01); VL6180x_setRegister16bit(VL6180X_SYSRANGE_EARLY_CONVERGENCE_ESTIMATE, 0x7B ); VL6180x_setRegister16bit(VL6180X_SYSALS_INTEGRATION_PERIOD, 0x64); VL6180x_setRegister(VL6180X_READOUT_AVERAGING_SAMPLE_PERIOD,0x30); VL6180x_setRegister(VL6180X_SYSALS_ANALOGUE_GAIN,0x40); VL6180x_setRegister(VL6180X_FIRMWARE_RESULT_SCALER,0x01); } //void VL6180x::getIdentification(struct VL6180xIdentification *temp){ void getIdentification(struct VL6180xIdentification *temp){ temp->idModel = VL6180x_getRegister(VL6180X_IDENTIFICATION_MODEL_ID); temp->idModelRevMajor = VL6180x_getRegister(VL6180X_IDENTIFICATION_MODEL_REV_MAJOR); temp->idModelRevMinor = VL6180x_getRegister(VL6180X_IDENTIFICATION_MODEL_REV_MINOR); temp->idModuleRevMajor = VL6180x_getRegister(VL6180X_IDENTIFICATION_MODULE_REV_MAJOR); temp->idModuleRevMinor = VL6180x_getRegister(VL6180X_IDENTIFICATION_MODULE_REV_MINOR); temp->idDate = VL6180x_getRegister16bit(VL6180X_IDENTIFICATION_DATE); temp->idTime = VL6180x_getRegister16bit(VL6180X_IDENTIFICATION_TIME); } //uint8_t VL6180x::changeAddress(uint8_t old_address, uint8_t new_address){ uint8_t changeAddress(uint8_t old_address, uint8_t new_address){ //NOTICE: IT APPEARS THAT CHANGING THE ADDRESS IS NOT STORED IN NON-VOLATILE MEMORY // POWER CYCLING THE DEVICE REVERTS ADDRESS BACK TO 0X29 if( old_address == new_address) return old_address; if( new_address > 127) return old_address; VL6180x_setRegister(VL6180X_I2C_SLAVE_DEVICE_ADDRESS, new_address); return VL6180x_getRegister(VL6180X_I2C_SLAVE_DEVICE_ADDRESS); } //uint8_t VL6180x::getDistance() uint8_t getDistance() { VL6180x_setRegister(VL6180X_SYSRANGE_START, 0x03); //Start continuous mode -single shot = 0x01 usleep(10); return VL6180x_getRegister(VL6180X_RESULT_RANGE_VAL); VL6180x_setRegister(VL6180X_SYSTEM_INTERRUPT_CLEAR, 0x07); // return distance; } //float VL6180x::getAmbientLight(vl6180x_als_gain VL6180X_ALS_GAIN) float getAmbientLight(VL6180X_ALS_GAIN) { //First load in Gain we are using, do it everytime incase someone changes it on us. //Note: Upper nibble shoudl be set to 0x4 i.e. for ALS gain of 1.0 write 0x46 VL6180x_setRegister(VL6180X_SYSALS_ANALOGUE_GAIN, (0x40 | VL6180X_ALS_GAIN)); // Set the ALS gain //Start ALS Measurement VL6180x_setRegister(VL6180X_SYSALS_START, 0x03); usleep(100); //give it time... VL6180x_setRegister(VL6180X_SYSTEM_INTERRUPT_CLEAR, 0x07); //Retrieve the Raw ALS value from the sensoe unsigned int alsRaw = VL6180x_getRegister16bit(VL6180X_RESULT_ALS_VAL); //Get Integration Period for calculation, we do this everytime incase someone changes it on us. unsigned int alsIntegrationPeriodRaw = VL6180x_getRegister16bit(VL6180X_SYSALS_INTEGRATION_PERIOD); float alsIntegrationPeriod = 100.0 / alsIntegrationPeriodRaw ; //Calculate actual LUX from Appnotes float alsGain = 0.0; switch (VL6180X_ALS_GAIN){ case GAIN_20: alsGain = 20.0; break; case GAIN_10: alsGain = 10.32; break; case GAIN_5: alsGain = 5.21; break; case GAIN_2_5: alsGain = 2.60; break; case GAIN_1_67: alsGain = 1.72; break; case GAIN_1_25: alsGain = 1.28; break; case GAIN_1: alsGain = 1.01; break; case GAIN_40: alsGain = 40.0; break; } //Calculate LUX from formula in AppNotes float alsCalculated = (float)0.32 * ((float)alsRaw / alsGain) * alsIntegrationPeriod; return alsCalculated; } // --- Private Functions --- // //uint8_t VL6180x::VL6180x_getRegister(uint16_t registerAddr) uint8_t VL6180x_getRegister(uint16_t registerAddr) { uint8_t data; //beginTransmission( _i2caddress); // Address set on class instantiation // write((registerAddr >> 8) & 0xFF); //MSB of register address write((registerAddr >> 8) & 0xFF); //write((registerAddr) & 0xFF); //LSB of register address write((registerAddr) & 0xFF); //endTransmission(false); //Send address and register address bytes read(_i2caddress, 1); //requestFrom( _i2caddress , 1); data = read(); //Read Data from selected register /** * Read bytes from an I2C peripheral * @param I2Cx Pointer to I2C peripheral to read from * @param devAddress The device address to read from * @param memAddress The internal address to read from, I2CDEV_NO_MEM_ADDR if none. * @param len Number of bytes to read. * @param data Pointer to a buffer to read the data to. * * @return TRUE if read was successful, otherwise FALSE. */ //bool i2cdevRead(I2C_Dev *_i2caddress, uint8_t registerAddr, uint8_t memAddress, // uint16_t len, uint8_t *data); // //{ // //write(); // //} //// return data; //} //uint16_t VL6180x::VL6180x_getRegister16bit(uint16_t registerAddr) uint16_t VL6180x_getRegister16bit(uint16_t registerAddr) { uint8_t data_low; uint8_t data_high; uint16_t data; return data; // beginTransmission( _i2caddress ); // Address set on class instantiation // write((registerAddr >> 8) & 0xFF); //MSB of register address write((registerAddr >>8) & 0xFF); // write(registerAddr & 0xFF); //LSB of register address write(registerAddr & 0xFF); // endTransmission(false); //Send address and register address bytes // requestFrom( _i2caddress, 2); read(_i2caddress, 2); data_high = read(); //Read Data from selected register data_low = read(); //Read Data from selected register data = (data_high << 8)|data_low; // bool i2cdevRead16(I2C_Dev *dev, uint8_t devAddress, uint16_t memAddress, // uint16_t len, uint8_t *data); // data_high = read(); //Read Data from selected register // data_low = read(); //Read Data from selected register // data = (data_high << 8)|data_low; // // return data; } //int i2cdevInit(I2C_Dev *dev); // //bool i2cdevReadByte(I2C_Dev *dev, uint8_t devAddress, uint8_t memAddress, // uint8_t *data); // // //bool i2cdevReadBit(I2C_Dev *dev, uint8_t devAddress, uint8_t memAddress, // uint8_t bitNum, uint8_t *data); // // //bool i2cdevReadBits(I2C_Dev *dev, uint8_t devAddress, uint8_t memAddress, // uint8_t bitStart, uint8_t length, uint8_t *data); //void VL6180x::VL6180x_setRegister(uint16_t registerAddr, uint8_t data) //{ // Wire.beginTransmission( _i2caddress ); // Address set on class instantiation // Wire.write((registerAddr >> 8) & 0xFF); //MSB of register address // Wire.write(registerAddr & 0xFF); //LSB of register address // Wire.write(data); // Data/setting to be sent to device. // Wire.endTransmission(); //Send address and register address bytes //} void VL6180x_setRegister(uint16_t registerAddr, uint8_t data) { write((registerAddr >> 8) & 0xFF); write(registerAddr & 0xFF); write (data); } // Write a data byte to a 16bit internal register of the VL6180 //i2cdevWrite16(I2C_Dev, devAddress, registerAddr, 1, &data); //I2Cx and devAddr set during init. //bool i2cdevWrite(I2C_Dev *dev, uint8_t devAddress, uint8_t memAddress, // uint16_t len, uint8_t *data); //} //void VL6180x::VL6180x_setRegister16bit(uint16_t registerAddr, uint16_t data) void VL6180x_setRegister16bit(uint16_t registerAddr, uint16_t data); //{ // // beginTransmission( _i2caddress ); // Address set on class instantiation // write((registerAddr >> 8) & 0xFF); //MSB of register address write((registerAddr >>8) & 0xFF); // write(registerAddr & 0xFF); //LSB of register address write(registerAddr & 0xFF); uint8_t temp; temp = (data >> 8) & 0xff; write(temp); // Data/setting to be sent to device temp = data & 0xff; write (temp); // Data/setting to be sent to device // //endTransmission(); //Send address and register address bytes //} //bool i2cdevWrite16(I2C_Dev *dev, uint8_t devAddress, uint16_t memAddress, // uint16_t len, uint8_t *data); // //bool i2cdevWriteByte(I2C_Dev *dev, uint8_t devAddress, uint8_t memAddress, // uint8_t data); // //bool i2cdevWriteBit(I2C_Dev *dev, uint8_t devAddress, uint8_t memAddress, // uint8_t bitNum, uint8_t data); // //bool i2cdevWriteBits(I2C_Dev *dev, uint8_t devAddress, uint8_t memAddress, // uint8_t bitStart, uint8_t length, uint8_t data); // ///** // * Unlocks the i2c bus if needed. // * @param portSCL Port of the SCL pin // * @param portSDA Port of the SDA pin // * @param pinSCL SCL Pin // * @param pinSDA SDA Pin // */ //void i2cdevUnlockBus(GPIO_TypeDef* portSCL, GPIO_TypeDef* portSDA, uint16_t pinSCL, uint16_t pinSDA); // ///** // * I2C1 DMA interrupt handler // */ //void i2cDmaInterruptHandlerI2c1(void); ///** // * I2C2 DMA interrupt handler // */ //void i2cDmaInterruptHandlerI2c2(void);