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‎Libraries/Arduino/SFE_VL6180X.cpp‎

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/******************************************************************************
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SFE_VL6180x.cpp
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Library for VL6180x time of flight range finder.
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Casey Kuhns @ SparkFun Electronics
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10/29/2014
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https://github.com/sparkfun/
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The VL6180x by ST micro is a time of flight range finder that
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uses pulsed IR light to determine distances from object at close
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range. The average range of a sensor is between 0-200mm
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In this file are the functions in the VL6180x class
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Resources:
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This library uses the Arduino Wire.h to complete I2C transactions.
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Development environment specifics:
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IDE: Arduino 1.0.5
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Hardware Platform: Arduino Pro 3.3V/8MHz
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VL6180x Breakout Version: 1.0
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This code is beerware. If you see me (or any other SparkFun employee) at the
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local pub, and you've found our code helpful, please buy us a round!
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Distributed as-is; no warranty is given.
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******************************************************************************/
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#include <Wire.h>
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#include "SFE_VL6180X.h"
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VL6180x::VL6180x(uint8_t address)
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// Initialize the Library
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{
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Wire.begin(); // Arduino Wire library initializer
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_i2caddress = address; //set default address for communication
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}
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uint8_t VL6180x::VL6180xInit(void){
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uint8_t data; //for temp data storage
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data = VL6180x_getRegister(VL6180X_SYSTEM_FRESH_OUT_OF_RESET);
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if(data != 1) return VL6180x_FAILURE_RESET;
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//Required by datasheet
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//http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf
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VL6180x_setRegister(0x0207, 0x01);
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VL6180x_setRegister(0x0208, 0x01);
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VL6180x_setRegister(0x0096, 0x00);
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VL6180x_setRegister(0x0097, 0xfd);
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VL6180x_setRegister(0x00e3, 0x00);
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VL6180x_setRegister(0x00e4, 0x04);
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VL6180x_setRegister(0x00e5, 0x02);
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VL6180x_setRegister(0x00e6, 0x01);
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VL6180x_setRegister(0x00e7, 0x03);
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VL6180x_setRegister(0x00f5, 0x02);
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VL6180x_setRegister(0x00d9, 0x05);
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VL6180x_setRegister(0x00db, 0xce);
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VL6180x_setRegister(0x00dc, 0x03);
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VL6180x_setRegister(0x00dd, 0xf8);
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VL6180x_setRegister(0x009f, 0x00);
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VL6180x_setRegister(0x00a3, 0x3c);
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VL6180x_setRegister(0x00b7, 0x00);
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VL6180x_setRegister(0x00bb, 0x3c);
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VL6180x_setRegister(0x00b2, 0x09);
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VL6180x_setRegister(0x00ca, 0x09);
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VL6180x_setRegister(0x0198, 0x01);
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VL6180x_setRegister(0x01b0, 0x17);
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VL6180x_setRegister(0x01ad, 0x00);
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VL6180x_setRegister(0x00ff, 0x05);
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VL6180x_setRegister(0x0100, 0x05);
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VL6180x_setRegister(0x0199, 0x05);
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VL6180x_setRegister(0x01a6, 0x1b);
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VL6180x_setRegister(0x01ac, 0x3e);
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VL6180x_setRegister(0x01a7, 0x1f);
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VL6180x_setRegister(0x0030, 0x00);
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return 0;
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}
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void VL6180x::VL6180xDefautSettings(void){
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//Recommended settings from datasheet
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//http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf
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//Enable Interrupts on Conversion Complete (any source)
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VL6180x_setRegister(VL6180X_SYSTEM_INTERRUPT_CONFIG_GPIO, (4 << 3)|(4) ); // Set GPIO1 high when sample complete
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VL6180x_setRegister(VL6180X_SYSTEM_MODE_GPIO1, 0x10); // Set GPIO1 high when sample complete
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VL6180x_setRegister(VL6180X_READOUT_AVERAGING_SAMPLE_PERIOD, 0x30); //Set Avg sample period
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VL6180x_setRegister(VL6180X_SYSALS_ANALOGUE_GAIN, 0x46); // Set the ALS gain
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VL6180x_setRegister(VL6180X_SYSRANGE_VHV_REPEAT_RATE, 0xFF); // Set auto calibration period (Max = 255)/(OFF = 0)
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VL6180x_setRegister(VL6180X_SYSALS_INTEGRATION_PERIOD, 0x63); // Set ALS integration time to 100ms
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VL6180x_setRegister(VL6180X_SYSRANGE_VHV_RECALIBRATE, 0x01); // perform a single temperature calibration
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//Optional settings from datasheet
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//http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf
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VL6180x_setRegister(VL6180X_SYSRANGE_INTERMEASUREMENT_PERIOD, 0x09); // Set default ranging inter-measurement period to 100ms
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VL6180x_setRegister(VL6180X_SYSALS_INTERMEASUREMENT_PERIOD, 0x31); // Set default ALS inter-measurement period to 500ms
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VL6180x_setRegister(VL6180X_SYSTEM_INTERRUPT_CONFIG_GPIO, 0x24); // Configures interrupt on ‘New Sample Ready threshold event’
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//Additional settings defaults from community
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VL6180x_setRegister(VL6180X_SYSRANGE_MAX_CONVERGENCE_TIME, 0x32);
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VL6180x_setRegister(VL6180X_SYSRANGE_RANGE_CHECK_ENABLES, 0x10 | 0x01);
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VL6180x_setRegister16bit(VL6180X_SYSRANGE_EARLY_CONVERGENCE_ESTIMATE, 0x7B );
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VL6180x_setRegister16bit(VL6180X_SYSALS_INTEGRATION_PERIOD, 0x63);
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VL6180x_setRegister(VL6180X_READOUT_AVERAGING_SAMPLE_PERIOD,0x30);
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VL6180x_setRegister(VL6180X_SYSALS_ANALOGUE_GAIN,0x40);
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VL6180x_setRegister(VL6180X_FIRMWARE_RESULT_SCALER,0x01);
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}
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void VL6180x::getIdentification(struct VL6180xIdentification *temp){
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temp->idModel = VL6180x_getRegister(VL6180X_IDENTIFICATION_MODEL_ID);
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temp->idModelRevMajor = VL6180x_getRegister(VL6180X_IDENTIFICATION_MODEL_REV_MAJOR);
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temp->idModelRevMinor = VL6180x_getRegister(VL6180X_IDENTIFICATION_MODEL_REV_MINOR);
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temp->idModuleRevMajor = VL6180x_getRegister(VL6180X_IDENTIFICATION_MODULE_REV_MAJOR);
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temp->idModuleRevMinor = VL6180x_getRegister(VL6180X_IDENTIFICATION_MODULE_REV_MINOR);
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temp->idDate = VL6180x_getRegister16bit(VL6180X_IDENTIFICATION_DATE);
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temp->idTime = VL6180x_getRegister16bit(VL6180X_IDENTIFICATION_TIME);
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}
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uint8_t VL6180x::getDistance()
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{
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VL6180x_setRegister(VL6180X_SYSRANGE_START, 0x01); //Start Single shot mode
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delay(10);
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return VL6180x_getRegister(VL6180X_RESULT_RANGE_VAL);
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VL6180x_setRegister(VL6180X_SYSTEM_INTERRUPT_CLEAR, 0x07);
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// return distance;
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}
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uint8_t VL6180x::getAmbientLight()
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{
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VL6180x_setRegister(VL6180X_SYSALS_START, 0x01);
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delay(100);
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VL6180x_setRegister(VL6180X_SYSTEM_INTERRUPT_CLEAR, 0x07);
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return VL6180x_getRegister(VL6180X_RESULT_ALS_VAL);
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}
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// --- Private Functions --- //
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uint8_t VL6180x::VL6180x_getRegister(uint16_t registerAddr)
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{
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uint8_t data;
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Wire.beginTransmission( _i2caddress ); // Address set on class instantiation
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Wire.write((registerAddr >> 8) & 0xFF); //MSB of register address
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Wire.write(registerAddr & 0xFF); //LSB of register address
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Wire.endTransmission(false); //Send address and register address bytes
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Wire.requestFrom( _i2caddress , 1);
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data = Wire.read(); //Read Data from selected register
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return data;
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}
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uint16_t VL6180x::VL6180x_getRegister16bit(uint16_t registerAddr)
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{
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uint8_t data_low;
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uint8_t data_high;
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uint16_t data;
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Wire.beginTransmission( _i2caddress ); // Address set on class instantiation
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Wire.write((registerAddr >> 8) & 0xFF); //MSB of register address
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Wire.write(registerAddr & 0xFF); //LSB of register address
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Wire.endTransmission(false); //Send address and register address bytes
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Wire.requestFrom( _i2caddress, 2);
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data_high = Wire.read(); //Read Data from selected register
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data_low = Wire.read(); //Read Data from selected register
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data = (data_high << 8)|data_low;
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return data;
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}
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void VL6180x::VL6180x_setRegister(uint16_t registerAddr, uint8_t data)
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{
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Wire.beginTransmission( _i2caddress ); // Address set on class instantiation
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Wire.write((registerAddr >> 8) & 0xFF); //MSB of register address
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Wire.write(registerAddr & 0xFF); //LSB of register address
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Wire.write(data); // Data/setting to be sent to device.
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Wire.endTransmission(); //Send address and register address bytes
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}
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void VL6180x::VL6180x_setRegister16bit(uint16_t registerAddr, uint16_t data)
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{
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Wire.beginTransmission( _i2caddress ); // Address set on class instantiation
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Wire.write((registerAddr >> 8) & 0xFF); //MSB of register address
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Wire.write(registerAddr & 0xFF); //LSB of register address
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uint8_t temp;
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temp = (data >> 8) & 0xff;
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Wire.write(temp); // Data/setting to be sent to device
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temp = data & 0xff;
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Wire.write(temp); // Data/setting to be sent to device
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Wire.endTransmission(); //Send address and register address bytes
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}
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‎Libraries/Arduino/SFE_VL6180X.h‎

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/******************************************************************************
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SFE_VL6180X.h
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Library for VL6180x time of flight range finder.
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Casey Kuhns @ SparkFun Electronics
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10/29/2014
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https://github.com/sparkfun/
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The VL6180x by ST micro is a time of flight range finder that
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uses pulsed IR light to determine distances from object at close
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range. The average range of a sensor is between 0-200mm
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In this file are the function prototypes in the VL6180x class
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Resources:
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This library uses the Arduino Wire.h to complete I2C transactions.
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Development environment specifics:
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IDE: Arduino 1.0.5
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Hardware Platform: Arduino Pro 3.3V/8MHz
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VL6180x Breakout Version: 1.0
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Some settings and initial values come from code written by Kris Winer
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VL6180X_t3 Basic Example Code
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by: Kris Winer
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date: September 1, 2014
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license: Beerware - Use this code however you'd like. If you
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find it useful you can buy me a beer some time.
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This code is beerware. If you see me (or any other SparkFun employee) at the
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local pub, and you've found our code helpful, please buy us a round!
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Distributed as-is; no warranty is given.
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******************************************************************************/
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#ifndef SFE_VL6180X_h
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#define SFE_VL6180X_h
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#include <Arduino.h>
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#define VL6180x_FAILURE_RESET -1
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#define VL6180X_IDENTIFICATION_MODEL_ID 0x0000
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#define VL6180X_IDENTIFICATION_MODEL_REV_MAJOR 0x0001
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#define VL6180X_IDENTIFICATION_MODEL_REV_MINOR 0x0002
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#define VL6180X_IDENTIFICATION_MODULE_REV_MAJOR 0x0003
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#define VL6180X_IDENTIFICATION_MODULE_REV_MINOR 0x0004
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#define VL6180X_IDENTIFICATION_DATE 0x0006 //16bit value
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#define VL6180X_IDENTIFICATION_TIME 0x0008 //16bit value
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#define VL6180X_SYSTEM_MODE_GPIO0 0x0010
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#define VL6180X_SYSTEM_MODE_GPIO1 0x0011
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#define VL6180X_SYSTEM_HISTORY_CTRL 0x0012
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#define VL6180X_SYSTEM_INTERRUPT_CONFIG_GPIO 0x0014
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#define VL6180X_SYSTEM_INTERRUPT_CLEAR 0x0015
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#define VL6180X_SYSTEM_FRESH_OUT_OF_RESET 0x0016
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#define VL6180X_SYSTEM_GROUPED_PARAMETER_HOLD 0x0017
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#define VL6180X_SYSRANGE_START 0x0018
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#define VL6180X_SYSRANGE_THRESH_HIGH 0x0019
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#define VL6180X_SYSRANGE_THRESH_LOW 0x001A
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#define VL6180X_SYSRANGE_INTERMEASUREMENT_PERIOD 0x001B
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#define VL6180X_SYSRANGE_MAX_CONVERGENCE_TIME 0x001C
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#define VL6180X_SYSRANGE_CROSSTALK_COMPENSATION_RATE 0x001E
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#define VL6180X_SYSRANGE_CROSSTALK_VALID_HEIGHT 0x0021
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#define VL6180X_SYSRANGE_EARLY_CONVERGENCE_ESTIMATE 0x0022
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#define VL6180X_SYSRANGE_PART_TO_PART_RANGE_OFFSET 0x0024
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#define VL6180X_SYSRANGE_RANGE_IGNORE_VALID_HEIGHT 0x0025
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#define VL6180X_SYSRANGE_RANGE_IGNORE_THRESHOLD 0x0026
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#define VL6180X_SYSRANGE_MAX_AMBIENT_LEVEL_MULT 0x002C
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#define VL6180X_SYSRANGE_RANGE_CHECK_ENABLES 0x002D
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#define VL6180X_SYSRANGE_VHV_RECALIBRATE 0x002E
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#define VL6180X_SYSRANGE_VHV_REPEAT_RATE 0x0031
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#define VL6180X_SYSALS_START 0x0038
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#define VL6180X_SYSALS_THRESH_HIGH 0x003A
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#define VL6180X_SYSALS_THRESH_LOW 0x003C
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#define VL6180X_SYSALS_INTERMEASUREMENT_PERIOD 0x003E
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#define VL6180X_SYSALS_ANALOGUE_GAIN 0x003F
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#define VL6180X_SYSALS_INTEGRATION_PERIOD 0x0040
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#define VL6180X_RESULT_RANGE_STATUS 0x004D
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#define VL6180X_RESULT_ALS_STATUS 0x004E
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#define VL6180X_RESULT_INTERRUPT_STATUS_GPIO 0x004F
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#define VL6180X_RESULT_ALS_VAL 0x0050
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#define VL6180X_RESULT_HISTORY_BUFFER 0x0052
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#define VL6180X_RESULT_RANGE_VAL 0x0062
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#define VL6180X_RESULT_RANGE_RAW 0x0064
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#define VL6180X_RESULT_RANGE_RETURN_RATE 0x0066
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#define VL6180X_RESULT_RANGE_REFERENCE_RATE 0x0068
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#define VL6180X_RESULT_RANGE_RETURN_SIGNAL_COUNT 0x006C
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#define VL6180X_RESULT_RANGE_REFERENCE_SIGNAL_COUNT 0x0070
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#define VL6180X_RESULT_RANGE_RETURN_AMB_COUNT 0x0074
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#define VL6180X_RESULT_RANGE_REFERENCE_AMB_COUNT 0x0078
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#define VL6180X_RESULT_RANGE_RETURN_CONV_TIME 0x007C
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#define VL6180X_RESULT_RANGE_REFERENCE_CONV_TIME 0x0080
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#define VL6180X_READOUT_AVERAGING_SAMPLE_PERIOD 0x010A
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#define VL6180X_FIRMWARE_BOOTUP 0x0119
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#define VL6180X_FIRMWARE_RESULT_SCALER 0x0120
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#define VL6180X_I2C_SLAVE_DEVICE_ADDRESS 0x0212
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#define VL6180X_INTERLEAVED_MODE_ENABLE 0x02A3
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struct VL6180xIdentification
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{
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uint8_t idModel;
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uint8_t idModelRevMajor;
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uint8_t idModelRevMinor;
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uint8_t idModuleRevMajor;
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uint8_t idModuleRevMinor;
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uint16_t idDate;
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uint16_t idTime;
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};
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class VL6180x
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{
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public:
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//Initalize library with default address
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VL6180x(uint8_t address);
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//Send manditory settings as stated in ST datasheet.
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// http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf (Section 1.3)
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uint8_t VL6180xInit(void);
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// Use default settings from ST data sheet section 9.
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// http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf
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void VL6180xDefautSettings(void);
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// Get Range distance in (mm)
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uint8_t getDistance();
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// Get ALS level in Lux
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uint8_t getAmbientLight();
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//Load structure provided by the user with identification info
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//Structure example:
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// struct VL6180xIdentification
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// {
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// uint8_t idModel;
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// uint8_t idModelRevMajor;
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// uint8_t idModelRevMinor;
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// uint8_t idModuleRevMajor;
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// uint8_t idModuleRevMinor;
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// uint16_t idDate;
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// uint16_t idTime;
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// };
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void getIdentification(struct VL6180xIdentification *temp);
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//Change the default address of the device to allow multiple
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//sensors on the bus. Can use up to 127 sensors. New address
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//is saved in non-volatile device memory.
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uint8_t changeAddress();
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private:
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//Store address given when the class is initialized.
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//This value can be changed by the changeAddress() function
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int _i2caddress;
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uint8_t VL6180x_getRegister(uint16_t registerAddr);
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uint16_t VL6180x_getRegister16bit(uint16_t registerAddr);
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void VL6180x_setRegister(uint16_t registerAddr, uint8_t data);
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void VL6180x_setRegister16bit(uint16_t registerAddr, uint16_t data);
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};
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#endif

‎Libraries/README.md.txt‎

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See https://github.com/sparkfun/SparkFun_VL6180_Time_of_Flight_Library for library

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