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Communicating with VL6180x via TCA9548
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bmete



Joined: 13 Jul 2023
Posts: 37

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PostPosted: Sat May 04, 2024 9:23 am     Reply with quote
Hello everyone,

Thank you all for your help, I finally reached the solution. This forum is truly special.

I think the problem was in the chip or pcb. Maybe the probes of the scope were corrupting the signals. I am not sure. I continued testing with the PIC18F2520 and different PCB then finally managed to communicate properly with the sensor.

Below, I am sharing a simplified version of the code that can access a total of 32 VL6180 sensors connected to 4 TCA9548s and requests distance and signal return rate information from them. Maybe it'll be useful to someone.


Code:

#include <18F2520.h>
#device ADC=10
#FUSES NOWDT                   
#use delay(internal=32MHz)
#use i2c(Master, sda=PIN_C4, scl=PIN_C3)

#define TCA9548_ADDRESS1 0xE0 //70 default
#define TCA9548_ADDRESS2 0xE2 //71 default
#define TCA9548_ADDRESS3 0xE4 //72 default
#define TCA9548_ADDRESS4 0xE6 //73 default
#define VL6180X_ADDRESS 0x52 // 29 default

#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 0x0006 // 16bit value
#define VL6180X_IDENTIFICATION_TIME 0x0008 // 16bit value

#define VL6180X_SYSTEM_MODE_GPIO0 0x0010
#define VL6180X_SYSTEM_MODE_GPIO1 0x0011
#define VL6180X_SYSTEM_HISTORY_CTRL 0x0012
#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

#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

#define VL6180X_SYSALS_START 0x0038
#define VL6180X_SYSALS_THRESH_HIGH 0x003A
#define VL6180X_SYSALS_THRESH_LOW 0x003C
#define VL6180X_SYSALS_INTERMEASUREMENT_PERIOD 0x003E
#define VL6180X_SYSALS_ANALOGUE_GAIN 0x003F
#define VL6180X_SYSALS_INTEGRATION_PERIOD 0x0040

#define VL6180X_RESULT_RANGE_STATUS 0x004D
#define VL6180X_RESULT_ALS_STATUS 0x004E
#define VL6180X_RESULT_INTERRUPT_STATUS_GPIO 0x004F
#define VL6180X_RESULT_ALS_VAL 0x0050
#define VL6180X_RESULT_HISTORY_BUFFER 0x0052
#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

void enable_bus(int8 mux_address, int8 n)
{
   int8 bus = 0;
   bit_set(bus,n);
   i2c_start();
   i2c_write(mux_address);
   i2c_write(bus);
   i2c_stop();
}

void VL6180x_getRegister(unsigned int16 registerAddr)
{
  i2c_start();   
  i2c_write(VL6180X_ADDRESS);
  i2c_write((registerAddr >> 8) & 0xFF);
  i2c_write(registerAddr & 0xFF);
  i2c_stop();
}

void VL6180x_setRegister(unsigned int16 registerAddr, unsigned int8 data2)
{
  i2c_start();   
  i2c_write(VL6180X_ADDRESS);
  i2c_write((registerAddr >> 8) & 0xFF);
  i2c_write(registerAddr & 0xFF);
  i2c_write(data2);
  i2c_stop();
}

void VL6180x_setRegister16bit(unsigned int16 registerAddr, unsigned int16 data)
{
  i2c_start();   
  i2c_write(VL6180X_ADDRESS);
  i2c_write((registerAddr >> 8) & 0xFF);
  i2c_write(registerAddr & 0xFF);
  unsigned int8 temp;
  temp = (data >> 8) & 0xff;
  i2c_write(temp);
  temp = data & 0xff;
  i2c_write(temp);       
  i2c_stop(); 
}

void VL6180x_init()
{

  //VL6180x_getRegister(VL6180X_SYSTEM_FRESH_OUT_OF_RESET);
  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);
}

void VL6180xDefautSettings()
{
  //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);   // 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 getSensorData()
{

i2c_start();   
i2c_write(VL6180X_ADDRESS);
i2c_write((0x0018 >> 8) & 0xFF);
i2c_write(0x0018 & 0xFF);
i2c_write(0x01);
i2c_stop();
delay_ms(10);
             
i2c_start();   
i2c_write(VL6180X_ADDRESS);
i2c_write((0x0015 >> 8) & 0xFF);
i2c_write(0x0015 & 0xFF);
i2c_write(0x07);
i2c_stop();
             
i2c_start();   
i2c_write(VL6180X_ADDRESS);
i2c_write((0x0062 >> 8) & 0xFF);
i2c_write(0x0062 & 0xFF);
             
i2c_start();   
i2c_write(VL6180X_ADDRESS+1);
sensor_data1 = i2c_read(0);
i2c_stop();
             
i2c_start();   
i2c_write(VL6180X_ADDRESS);
i2c_write((0x0066 >> 8) & 0xFF);
i2c_write(0x0066 & 0xFF);
             
i2c_start();
i2c_write(VL6180X_ADDRESS+1);
sensor_data2 = i2c_read(0); 
i2c_stop();

}

void main()
{

   enable_interrupts(GLOBAL);
   
   VL6180x_init();
   VL6180xDefautSettings();   

   while(TRUE)
   {
    for (int mux = 0xE0; mux <= 0xE6; mux += 2) // for four TCA9548
    {                                   
        for(int busNum = 0; busNum < 8; busNum++) // 8 channels
        {
            enable_bus(mux, busNum);                           
            getSensorData();
                                 
            int8 distance = sensor_data1;
            int8 returnRate = sensor_data2;                 
            //printf("Return Rate: %X --- Distance: %X \r\n", returnRate, distance);
            //delay_ms(200); 

        }         
    }
   }
}


Last edited by bmete on Sat May 04, 2024 6:37 pm; edited 1 time in total
PrinceNai



Joined: 31 Oct 2016
Posts: 478
Location: Montenegro

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PostPosted: Sat May 04, 2024 12:57 pm     Reply with quote
Great, it's nice you've found the solution.

And yes, this forum is special. With a right question that shows one made at least a minimal effort to find a solution at home, someone will 100% try to help. Within a day, most likely. For us in Europe even sooner, experience shows :-)
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