VL6180X传感器驱动
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vl6180x_i2c.c
#include "vl6180x_i2c.h"#include <softi2c.h>uint8 data_reg=0;/*********************************************************************************************************** 函 数 名: VL6180X_CheckID* 功能说明: 获取VL6180X的ID* 返 回 值: VL6180X_ID**********************************************************************************************************/uint8 VL6180X_CheckID(void){ uint8 data_ID; data_ID = VL6180x_ReadBytes(DEV_ADDR, VL6180X_IDENTIFICATION_MODEL_ID); return data_ID;}void VL6180X_Init(void){ uint8 reset=0, timeOut=0; GPIO_0_OUTPUT; GPIO_1_OUTPUT;// Power_PIN_OUTPUT;// Power_PIN_PORT=0;// GPIO_0_PIN_PORT = 0;// GPIO_1_PIN_PORT = 0;// DelayMS(5);// Power_PIN_PORT=1;// DelayMS(5);// GPIO_0_PIN_PORT = 1;// GPIO_1_PIN_PORT = 1;// DelayMS(5); GPIO_0_PIN_PORT = 0; GPIO_1_PIN_PORT = 0; DelayMS(10); GPIO_0_PIN_PORT = 1; GPIO_1_PIN_PORT = 1; DelayMS(1); while(!(VL6180X_CheckID() == 0xB4)); DelayMS(5); VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSTEM_FRESH_OUT_OF_RESET, 0x01); while (reset!=1 && timeOut<100) { reset = VL6180x_ReadBytes(DEV_ADDR, VL6180X_SYSTEM_FRESH_OUT_OF_RESET); // read fresh_out_of_reset bit if(reset == 1) { // if if fresh_out_of_reset bit set, then device has been freshly initialized // SR03 settings AN4545 24/27 DocID026571 Rev 19 SR03 settings // http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf // Below are the recommended settings required to be loaded onto the VL6180X during the // initialisation of the device (see Section 1.3). // Mandatory : private registers VL6180X_WriteBytes(DEV_ADDR, 0x0207, 0x01); data_reg = VL6180x_ReadBytes(DEV_ADDR, 0x0207); VL6180X_WriteBytes(DEV_ADDR, 0x0208, 0x01); VL6180X_WriteBytes(DEV_ADDR, 0x0096, 0x00); VL6180X_WriteBytes(DEV_ADDR, 0x0097, 0xFD); VL6180X_WriteBytes(DEV_ADDR, 0x00e3, 0x00); VL6180X_WriteBytes(DEV_ADDR, 0x00e4, 0x04); data_reg = VL6180x_ReadBytes(DEV_ADDR, 0x00e4); VL6180X_WriteBytes(DEV_ADDR, 0x00e5, 0x02); VL6180X_WriteBytes(DEV_ADDR, 0x00e6, 0x01); VL6180X_WriteBytes(DEV_ADDR, 0x00e7, 0x03); VL6180X_WriteBytes(DEV_ADDR, 0x00f5, 0x02); VL6180X_WriteBytes(DEV_ADDR, 0x00d9, 0x05); VL6180X_WriteBytes(DEV_ADDR, 0x00db, 0xce); VL6180X_WriteBytes(DEV_ADDR, 0x00dc, 0x03); VL6180X_WriteBytes(DEV_ADDR, 0x00dd, 0xf8); VL6180X_WriteBytes(DEV_ADDR, 0x009f, 0x00); VL6180X_WriteBytes(DEV_ADDR, 0x00a3, 0x3c); VL6180X_WriteBytes(DEV_ADDR, 0x00b7, 0x00); VL6180X_WriteBytes(DEV_ADDR, 0x00bb, 0x3c); VL6180X_WriteBytes(DEV_ADDR, 0x00b2, 0x09); VL6180X_WriteBytes(DEV_ADDR, 0x00ca, 0x09); VL6180X_WriteBytes(DEV_ADDR, 0x0198, 0x01); VL6180X_WriteBytes(DEV_ADDR, 0x01b0, 0x17); VL6180X_WriteBytes(DEV_ADDR, 0x01ad, 0x00); VL6180X_WriteBytes(DEV_ADDR, 0x00ff, 0x05); VL6180X_WriteBytes(DEV_ADDR, 0x0100, 0x05); VL6180X_WriteBytes(DEV_ADDR, 0x0199, 0x05); VL6180X_WriteBytes(DEV_ADDR, 0x01a6, 0x1b); VL6180X_WriteBytes(DEV_ADDR, 0x01ac, 0x3e); VL6180X_WriteBytes(DEV_ADDR, 0x01a7, 0x1f); VL6180X_WriteBytes(DEV_ADDR, 0x0030, 0x00); data_reg = VL6180x_ReadBytes(DEV_ADDR, 0x0030); // configure range measurement for low power // Specify range measurement interval in units of 10 ms from 0 (= 10 ms) - 254 (= 2.55 s) VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSRANGE_INTERMEASUREMENT_PERIOD, 0x0A); // 100 ms interval in steps of 10 ms VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSRANGE_VHV_REPEAT_RATE, 0xFF); // sets number of range measurements after which autocalibrate is performed VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSRANGE_VHV_RECALIBRATE, 0x01); // perform temperature calibration of the ranging sensor // Set Early Convergence Estimate for lower power consumption VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSRANGE_MAX_CONVERGENCE_TIME, 0x32); // set max convergence time to 50 ms (steps of 1 ms) VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSRANGE_RANGE_CHECK_ENABLES, 0x10 | 0x01); // enable (0x01) early convergence estimate // This ECE is calculated as follows: // [(1 - % below threshold) x 0.5 x 15630]/ range max convergence time // This is ~123 ms for 50 ms max convergence time and 80% below threshold // This is a sixteen bit (2 byte) register with the first byte MSByte and the second LSByte VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSRANGE_EARLY_CONVERGENCE_ESTIMATE, 0x00); // set early convergence estimate to 5% VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSRANGE_EARLY_CONVERGENCE_ESTIMATE + 1, 0x7B); // set early convergence estimate to 5% // Configure ALS VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSALS_INTERMEASUREMENT_PERIOD, 0x0A); // set to 100 ms data_reg = VL6180x_ReadBytes(DEV_ADDR, VL6180X_SYSALS_INTERMEASUREMENT_PERIOD); // Following is a 16-bit register with the first MSByte reserved VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSALS_INTEGRATION_PERIOD, 0x00); VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSALS_INTEGRATION_PERIOD+1, 0x63); // set ALS integration time to 100 ms in steps of 1 ms // The internal readout averaging sample period can be adjusted from 0 to 255. Increasing the sampling // period decreases noise but also reduces the effective max convergence time and increases power consumption: // Effective max convergence time = max convergence time - readout averaging period (see // Section 2.5: Range timing). Each unit sample period corresponds to around 64.5 ?s additional // processing time. The recommended setting is 48 which equates to around 4.3 ms VL6180X_WriteBytes(DEV_ADDR, VL6180X_READOUT_AVERAGING_SAMPLE_PERIOD, 0x30); // compromise between low noise and increased execution time // Gain can be 0 = 20, 1 = 10, 2 = 5, 3 = 2.5, 4 = 1.67, 5 = 1.25, 6 = 1.0 and 7 = 40 // These are value possible for the lower nibble. The upper nibble must be 4 VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSALS_ANALOGUE_GAIN, 0x40 | 1); // Sets light and dark gain (don't change upper nibble) data_reg = VL6180x_ReadBytes(DEV_ADDR, VL6180X_SYSALS_ANALOGUE_GAIN); // Scalar (1 - 32, bits 4:0) to multiply raw ALS count for additonal gain, if necessary VL6180X_WriteBytes(DEV_ADDR, VL6180X_FIRMWARE_RESULT_SCALER, 0x01); // Configure the interrupts VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSTEM_MODE_GPIO0, 0x00); // set up GPIO 0 (set to high impedence for now) VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSTEM_MODE_GPIO1, 0x00); // set up GPIO 1 (set to high impedence for now) VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSTEM_INTERRUPT_CONFIG_GPIO, 0x24); // enable sample ready interrupt#if 0 // enable continuous range mode if(VL6180XMode == contRangeMode) { VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSRANGE_START, 0x03); // start auto range mode } // enable continuous ALS mode if(VL6180XMode == contALSMode) { // Configure ALS VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSALS_INTERMEASUREMENT_PERIOD, 0x32); // set to 100 ms // Following is a 16-bit register with the first MSByte reserved VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSALS_INTEGRATION_PERIOD+1, 0x32); // set ALS integration time to 50 ms in steps of 1 ms VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSALS_START, 0x03); // start auto range mode }#endif // Clear reset bit VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSTEM_FRESH_OUT_OF_RESET, 0x00); // reset fresh_out_of_reset bit to zero } else { timeOut++; } } reset=0;}uint8 RangePollingRead(void){ uint8 status; uint8 distance; /* Wait for device ready. */ do { status = VL6180x_ReadBytes(DEV_ADDR, VL6180X_RESULT_RANGE_STATUS); } while ((status & (1 << 0)) == 0); VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSRANGE_START, START_SINGLE_MODE); data_reg = VL6180x_ReadBytes(DEV_ADDR, VL6180X_SYSRANGE_START); status = VL6180x_ReadBytes(DEV_ADDR, VL6180X_RESULT_INTERRUPT_STATUS_GPIO); status = status & RANGE_SINGLE_MODE_MASK; /* Wait for measurement ready. */ while (status != RANGE_SINGLE_MODE_READY) { status = VL6180x_ReadBytes(DEV_ADDR, VL6180X_RESULT_INTERRUPT_STATUS_GPIO); status = status & RANGE_SINGLE_MODE_MASK; DelayMS(1); } DelayMS(10); distance = VL6180x_ReadBytes(DEV_ADDR, VL6180X_RESULT_RANGE_VAL); VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSTEM_INTERRUPT_CLEAR, CLEAR_ALS_INT); return distance;}uint16 ligthPollingRead(void) { uint8 status; uint16 alsraw; /* Wait for device ready. */ do { status = VL6180x_ReadBytes(DEV_ADDR, VL6180X_RESULT_ALS_STATUS); } while ((status & (1 << 0)) == 0); VL6180X_WriteBytes(DEV_ADDR,VL6180X_SYSALS_START, START_SINGLE_MODE); data_reg = VL6180x_ReadBytes(DEV_ADDR, VL6180X_SYSALS_START); status = VL6180x_ReadBytes(DEV_ADDR,VL6180X_RESULT_INTERRUPT_STATUS_GPIO); status = status & ALS_SINGLE_MODE_MASK;// while (status != ALS_SINGLE_MODE_READY) {// status = VL6180x_ReadBytes(DEV_ADDR, VL6180X_RESULT_INTERRUPT_STATUS_GPIO);// status = status & ALS_SINGLE_MODE_MASK;// DelayMS(1);// } alsraw = VL6180x_Read_Two_Bytes(DEV_ADDR, VL6180X_RESULT_ALS_VAL); //als = 0.32f * ((float) alsraw / 10.32) * (100.0f/100.0f); VL6180X_WriteBytes(DEV_ADDR, VL6180X_SYSTEM_INTERRUPT_CLEAR, CLEAR_ALS_INT); return alsraw;}/* * 通过I2C总线向某一寄存器写入一个字节数据 * 成功 0 * 失败 1 */uint8 VL6180X_WriteBytes(uint8 I2C_addr,uint16 index,uint8 dat){ uint8 Index_H = (uint8)(index >> 8); uint8 Index_L = (uint8)(index & 0xff); start(); iic_write(I2C_addr | 0X00); //WRITE i2c if (check_ack()==0) { goto err; } iic_write(Index_H); //TDOS'register if (check_ack()==0) { goto err; } iic_write(Index_L); //TDOS'register if (check_ack()==0) { goto err; } iic_write(dat); //发送数据字节 if (check_ack()==0) { goto err; } stop(); return 0;err: stop(); return 1;}/* * 通过I2C总线读出某一寄存器的数据 */uint8 VL6180x_ReadBytes(uint8 I2C_addr, uint16 index) { uint8 dat; uint8 Index_H = (uint8)(index >> 8); uint8 Index_L = (uint8)(index & 0xff); start(); iic_write(I2C_addr | 0X00); //WRITE i2c if (check_ack()==0) { goto err; } iic_write(Index_H); //TDOS'register if (check_ack()==0) { goto err; } iic_write(Index_L); //TDOS'register if (check_ack()==0) { goto err; } start(); //重发起动信号 iic_write(I2C_addr | 0X01); //READ if (check_ack()==0) { goto err; } dat = iic_read(); //接收读出的数据 stop(); return dat;err: stop(); return 0;}/* * 通过I2C总线读出某一寄存器的数据 */uint16 VL6180x_Read_Two_Bytes(uint8 I2C_addr, uint16 index) { uint8 t; uint16 data_res; uint8 Index_H = (uint8)(index >> 8); uint8 Index_L = (uint8)(index & 0xff); start(); iic_write(I2C_addr | 0X00); //WRITE i2c if (check_ack()==0) { goto err; } iic_write(Index_H); //TDOS'register if (check_ack()==0) { goto err; } iic_write(Index_L); //TDOS'register if (check_ack()==0) { goto err; } stop(); start(); //重发起动信号 iic_write(I2C_addr | 0X01); //READ if (check_ack()==0) { goto err; } t = iic_read(); //接收读出的数据 send_ack(); data_res = t; t = iic_read(); //接收读出的数据 send_ack(); data_res = ((data_res<<8) | t);// t = iic_read(); //接收读出的数据 // send_ack(); // data_res = ((data_res<<16) | t);// // t = iic_read(); //接收读出的数据 // send_ack(); // data_res = ((data_res<<24) | t); stop(); return data_res;err: stop(); return 0;}vl6180x_i2c.h
#ifndef VL6180_I2C_H_#define VL6180_I2C_H_#include "softi2c.h"#define GPIO_0_PIN_PORT P1_0#define GPIO_1_PIN_PORT P1_1#define Power_PIN_PORT P1_2#define GPIO_0_OUTPUT (P1DIR |= BIT0)#define GPIO_1_OUTPUT (P1DIR |= BIT1)#define Power_PIN_OUTPUT (P1DIR |= BIT2)#define DEV_ADDR (0X29<<1)//This read-only register contains the device identifier, set to B4#define VL6180X_IDENTIFICATION_MODEL_ID_RETURN 0xB4// VL6180X registers#define VL6180X_WHO_AM_I 0x0000 // should be 0xB4#define VL6180X_IDENTIFICATION_MODEL_ID 0x0000#define VL6180X_IDENTIFICATION_MODEL_REV_MAJOR 0x0001#define VL6180X_IDENTIFICATION_MODEL_REV_MINOR 0x0002#define VL6180X_IDENTIFICATION_MODULE_REV_MAJOR 0x0003#define VL6180X_IDENTIFICATION_MODULE_REV_MINOR 0x0004#define VL6180X_IDENTIFICATION_DATE_HI 0x0006#define VL6180X_IDENTIFICATION_DATE_LO 0x0007#define VL6180X_IDENTIFICATION_TIME_HI 0x0008#define VL6180X_IDENTIFICATION_TIME_LO 0x0009#define VL6180X_SYSTEM_MODE_GPIO0 0x0010#define VL6180X_SYSTEM_MODE_GPIO1 0x0011#define VL6180X_SYSTEM_HISTORY_CTRL 0x0012/*[5:3] als_int_mode: Interrupt mode source for ALS readings:0: Disabled1: Level Low (value < thresh_low)2: Level High (value > thresh_high)3: Out Of Window (value < thresh_low OR value > thresh_high)4: New sample ready[2:0] range_int_mode: Interrupt mode source for Range readings:0: Disabled1: Level Low (value < thresh_low)2: Level High (value > thresh_high)3: Out Of Window (value */#define VL6180X_SYSTEM_INTERRUPT_CONFIG_GPIO 0x0014#define VL6180X_SYSTEM_INTERRUPT_CLEAR 0x0015#define VL6180X_SYSTEM_FRESH_OUT_OF_RESET 0x0016#define VL6180X_SYSTEM_GROUPED_PARAMETER_HOLD 0x0017/*[1] sysrange__mode_select: Device Mode select0: Ranging Mode Single-Shot1: Ranging Mode Continuous[0] sysrange__startstop: StartStop trigger based on current mode and system configuration ofdevice_ready. FW clears register automatically.Setting this bit to 1 in single-shot mode starts a single measurement.Setting this bit to 1 in continuous mode will either start continuous operation (if stopped) or haltcontinuous operation (if started).This bit is auto-cleared in both modes of operation. */#define VL6180X_SYSRANGE_START 0x0018#define VL6180X_SYSRANGE_THRESH_HIGH 0x0019#define VL6180X_SYSRANGE_THRESH_LOW 0x001A#define VL6180X_SYSRANGE_INTERMEASUREMENT_PERIOD 0x001B#define VL6180X_SYSRANGE_MAX_CONVERGENCE_TIME 0x001C#define VL6180X_SYSRANGE_CROSSTALK_COMPENSATION_RATE 0x001E#define VL6180X_SYSRANGE_CROSSTALK_VALID_HEIGHT 0x0021#define VL6180X_SYSRANGE_EARLY_CONVERGENCE_ESTIMATE 0x0022#define VL6180X_SYSRANGE_PART_TO_PART_RANGE_OFFSET 0x0024#define VL6180X_SYSRANGE_RANGE_IGNORE_VALID_HEIGHT 0x0025#define VL6180X_SYSRANGE_RANGE_IGNORE_THRESHOLD 0x0026#define VL6180X_SYSRANGE_MAX_AMBIENT_LEVEL_MULT 0x002C#define VL6180X_SYSRANGE_RANGE_CHECK_ENABLES 0x002D#define VL6180X_SYSRANGE_VHV_RECALIBRATE 0x002E#define VL6180X_SYSRANGE_VHV_REPEAT_RATE 0x0031/*[1] sysals__mode_select: Device Mode select0: ALS Mode Single-Shot1: ALS Mode Continuous[0] VL6180X_SYSALS_STARTstop: Start/Stop trigger based on current mode and system configuration ofdevice_ready. FW clears register automatically.Setting this bit to 1 in single-shot mode starts a single measurement.Setting this bit to 1 in continuous mode will either start continuous operation (if stopped) or haltcontinuous operation (if started).This bit is auto-cleared in both modes of operation.See 6.2.56: INTERLEAVED_MODE__ENABLE for combined ALS and Range operation. */#define VL6180X_SYSALS_START 0x038#define VL6180X_SYSALS_THRESH_HIGH 0x003A#define VL6180X_SYSALS_THRESH_LOW 0x003C#define VL6180X_SYSALS_INTERMEASUREMENT_PERIOD 0x003E/*VL6180X_SYSALS_ANALOGUE_GAIN_light: ALS analogue gain (light channel)0: ALS Gain = 201: ALS Gain = 102: ALS Gain = 5.03: ALS Gain = 2.54: ALS Gain = 1.675: ALS Gain = 1.256: ALS Gain = 1.07: ALS Gain = 40Controls the 搇ight?channel gain.Note: Upper nibble should be set to 0x4 i.e. For ALS gain of 1.0 write 0x46. */#define VL6180X_SYSALS_ANALOGUE_GAIN 0x003F#define VL6180X_SYSALS_INTEGRATION_PERIOD 0x0040#define VL6180X_RESULT_RANGE_STATUS 0x004D#define VL6180X_RESULT_ALS_STATUS 0x004E/*[7:6] result_int_error_gpio: Interrupt bits for Error:0: No error reported1: Laser Safety Error2: PLL error (either PLL1 or PLL2)[5:3] result_int_als_gpio: Interrupt bits for ALS:0: No threshold events reported1: Level Low threshold event2: Level High threshold event3: Out Of Window threshold event4: New Sample Ready threshold event[2:0] result_int_range_gpio: Interrupt bits for Range:0: No threshold events reported1: Level Low threshold event2: Level High threshold event3: Out Of Window threshold event4: New Sample Ready threshold event */#define VL6180X_RESULT_INTERRUPT_STATUS_GPIO 0x004F#define VL6180X_RESULT_ALS_VAL 0x0050#define VL6180X_RESULT_HISTORY_BUFFER0 0x0052 // This is a FIFO buffer that can store 8 range values or 16 ALS values#define VL6180X_RESULT_HISTORY_BUFFER1 0x0053 // It would be read in burst mode so all that is#define VL6180X_RESULT_HISTORY_BUFFER2 0x0054 // needed would be to reference the first address#define VL6180X_RESULT_HISTORY_BUFFER3 0x0055#define VL6180X_RESULT_HISTORY_BUFFER4 0x0056#define VL6180X_RESULT_HISTORY_BUFFER5 0x0057#define VL6180X_RESULT_HISTORY_BUFFER6 0x0058#define VL6180X_RESULT_HISTORY_BUFFER7 0x0059#define VL6180X_RESULT_HISTORY_BUFFER8 0x0060 // end of FIFO/*[7:0] result__range_val: Final range result value presented to the user for use. Unit is in mm. */#define VL6180X_RESULT_RANGE_VAL 0x0062#define VL6180X_RESULT_RANGE_RAW 0x0064#define VL6180X_RESULT_RANGE_RETURN_RATE 0x0066#define VL6180X_RESULT_RANGE_REFERENCE_RATE 0x0068#define VL6180X_RESULT_RANGE_RETURN_SIGNAL_COUNT 0x006C#define VL6180X_RESULT_RANGE_REFERENCE_SIGNAL_COUNT 0x0070#define VL6180X_RESULT_RANGE_RETURN_AMB_COUNT 0x0074#define VL6180X_RESULT_RANGE_REFERENCE_AMB_COUNT 0x0078#define VL6180X_RESULT_RANGE_RETURN_CONV_TIME 0x007C#define VL6180X_RESULT_RANGE_REFERENCE_CONV_TIME 0x0080#define VL6180X_READOUT_AVERAGING_SAMPLE_PERIOD 0x010A#define VL6180X_FIRMWARE_BOOTUP 0x0119#define VL6180X_FIRMWARE_RESULT_SCALER 0x0120#define VL6180X_I2C_SLAVE_DEVICE_ADDRESS 0x0212#define VL6180X_INTERLEAVED_MODE_ENABLE 0x02A3#define START_SINGLE_MODE 0x01#define START_CONTINUOUS_MODE 0x02#define ALS_SINGLE_MODE_MASK 0x38#define ALS_SINGLE_MODE_READY 0x20#define RANGE_SINGLE_MODE_MASK 0x07#define RANGE_SINGLE_MODE_READY 0x04#define CLEAR_RANGE_INT 0x01#define CLEAR_ALS_INT 0x02#define CLEAR_ERROR_INT 0x04#define contRangeMode 0#define contALSMode 1#define VL6180XMode 0void VL6180X_Init(void);uint8 RangePollingRead(void);uint16 ligthPollingRead(void);uint8 VL6180X_WriteBytes(uint8 I2C_addr,uint16 index,uint8 dat);uint8 VL6180x_ReadBytes(uint8 I2C_addr, uint16 index) ;uint16 VL6180x_Read_Two_Bytes(uint8 I2C_addr, uint16 index);#endifGitHub工程源代码：
https://github.com/lanhaixuan/CC2541_VL6180X_BMA250
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