Class representing a VL53L1 sensor component. More...

#include <vl53l1x_class.h>

Public Member Functions
	VL53L1X (vl53L1X_DevI2C i2c, DigitalOut pin, PinName pin_gpio1, uint8_t dev_addr=VL53L1X_DEFAULT_DEVICE_ADDRESS)
	Constructor.
	VL53L1X (vl53L1X_DevI2C i2c, Stmpe1600DigiOut pin, PinName pin_gpio1, uint8_t dev_addr=VL53L1X_DEFAULT_DEVICE_ADDRESS)
	Constructor 2 (STMPE1600DigiOut)
virtual	~VL53L1X ()
	Destructor.
virtual void	VL53L1_On (void)
	PowerOn the sensor.
virtual void	VL53L1_Off (void)
	PowerOff the sensor.
VL53L1X_ERROR	InitSensor (uint8_t address)
	Initialize the sensor with default values.
virtual int	init (void *init)
	One time device initialization.
int	init_sensor (uint8_t new_addr)
	Initialize the sensor with default values.
int	handle_irq (uint16_t *distance)
	Interrupt handling func to be called by user after an INT is occurred.
int	start_measurement (void(*fptr)(void))
	Start the measure indicated by operating mode.
int	stop_measurement ()
	Stop the currently running measure indicate by operating_mode.
int	get_measurement (uint16_t *distance)
	Get results for the measure.
void	enable_interrupt_measure_detection_irq (void)
	Enable interrupt measure IRQ.
void	disable_interrupt_measure_detection_irq (void)
	Disable interrupt measure IRQ.
void	attach_interrupt_measure_detection_irq (void(*fptr)(void))
	Attach a function to call when an interrupt is detected, i.e.
virtual int	get_distance (uint32_t *piData)
	Get ranging result and only that.
VL53L1X_ERROR	VL53L1X_GetSWVersion (VL53L1X_Version_t *pVersion)
	This function returns the SW driver version.
VL53L1X_ERROR	VL53L1X_SetI2CAddress (uint8_t new_address)
	This function sets the sensor I2C address used in case multiple devices application, default address 0x52.
VL53L1X_ERROR	VL53L1X_SensorInit ()
	This function loads the 135 bytes default values to initialize the sensor.
VL53L1X_ERROR	VL53L1X_ClearInterrupt ()
	This function clears the interrupt, to be called after a ranging data reading to arm the interrupt for the next data ready event.
VL53L1X_ERROR	VL53L1X_SetInterruptPolarity (uint8_t IntPol)
	This function programs the interrupt polarity 1=active high (default), 0=active low.
VL53L1X_ERROR	VL53L1X_GetInterruptPolarity (uint8_t *pIntPol)
	This function returns the current interrupt polarity 1=active high (default), 0=active low.
VL53L1X_ERROR	VL53L1X_StartRanging ()
	This function starts the ranging distance operation The ranging operation is continuous.
VL53L1X_ERROR	VL53L1X_StopRanging ()
	This function stops the ranging.
VL53L1X_ERROR	VL53L1X_CheckForDataReady (uint8_t *isDataReady)
	This function checks if the new ranging data is available by polling the dedicated register.
VL53L1X_ERROR	VL53L1X_SetTimingBudgetInMs (uint16_t TimingBudgetInMs)
	This function programs the timing budget in ms.
VL53L1X_ERROR	VL53L1X_GetTimingBudgetInMs (uint16_t *pTimingBudgetInMs)
	This function returns the current timing budget in ms.
VL53L1X_ERROR	VL53L1X_SetDistanceMode (uint16_t DistanceMode)
	This function programs the distance mode (1=short, 2=long(default)).
VL53L1X_ERROR	VL53L1X_GetDistanceMode (uint16_t *pDistanceMode)
	This function returns the current distance mode (1=short, 2=long).
VL53L1X_ERROR	VL53L1X_SetInterMeasurementInMs (uint16_t InterMeasurementInMs)
	This function programs the Intermeasurement period in ms Intermeasurement period must be >/= timing budget.
VL53L1X_ERROR	VL53L1X_GetInterMeasurementInMs (uint16_t *pIM)
	This function returns the Intermeasurement period in ms.
VL53L1X_ERROR	VL53L1X_BootState (uint8_t *state)
	This function returns the boot state of the device (1:booted, 0:not booted)
VL53L1X_ERROR	VL53L1X_GetSensorId (uint16_t *id)
	This function returns the sensor id, sensor Id must be 0xEEAC.
VL53L1X_ERROR	VL53L1X_GetDistance (uint16_t *distance)
	This function returns the distance measured by the sensor in mm.
VL53L1X_ERROR	VL53L1X_GetSignalPerSpad (uint16_t *signalPerSp)
	This function returns the returned signal per SPAD in kcps/SPAD.
VL53L1X_ERROR	VL53L1X_GetAmbientPerSpad (uint16_t *amb)
	This function returns the ambient per SPAD in kcps/SPAD.
VL53L1X_ERROR	VL53L1X_GetSignalRate (uint16_t *signalRate)
	This function returns the returned signal in kcps.
VL53L1X_ERROR	VL53L1X_GetSpadNb (uint16_t *spNb)
	This function returns the current number of enabled SPADs.
VL53L1X_ERROR	VL53L1X_GetAmbientRate (uint16_t *ambRate)
	This function returns the ambient rate in kcps.
VL53L1X_ERROR	VL53L1X_GetRangeStatus (uint8_t *rangeStatus)
	This function returns the ranging status error (0:no error, 1:sigma failed, 2:signal failed, ..., 7:wrap-around)
VL53L1X_ERROR	VL53L1X_SetOffset (int16_t OffsetValue)
	This function programs the offset correction in mm.
VL53L1X_ERROR	VL53L1X_GetOffset (int16_t *Offset)
	This function returns the programmed offset correction value in mm.
VL53L1X_ERROR	VL53L1X_SetXtalk (uint16_t XtalkValue)
	This function programs the xtalk correction value in cps (Count Per Second).
VL53L1X_ERROR	VL53L1X_GetXtalk (uint16_t *Xtalk)
	This function returns the current programmed xtalk correction value in cps.
VL53L1X_ERROR	VL53L1X_SetDistanceThreshold (uint16_t ThreshLow, uint16_t ThreshHigh, uint8_t Window, uint8_t IntOnNoTarget)
	This function programs the threshold detection mode Example: VL53L1X_SetDistanceThreshold(dev,100,300,0,1): Below 100 VL53L1X_SetDistanceThreshold(dev,100,300,1,1): Above 300 VL53L1X_SetDistanceThreshold(dev,100,300,2,1): Out of window VL53L1X_SetDistanceThreshold(dev,100,300,3,1): In window .
VL53L1X_ERROR	VL53L1X_GetDistanceThresholdWindow (uint16_t *window)
	This function returns the window detection mode (0=below; 1=above; 2=out; 3=in)
VL53L1X_ERROR	VL53L1X_GetDistanceThresholdLow (uint16_t *low)
	This function returns the low threshold in mm.
VL53L1X_ERROR	VL53L1X_GetDistanceThresholdHigh (uint16_t *high)
	This function returns the high threshold in mm.
VL53L1X_ERROR	VL53L1X_SetROI (uint16_t X, uint16_t Y)
	This function programs the ROI (Region of Interest) The ROI position is centered, only the ROI size can be reprogrammed.
VL53L1X_ERROR	VL53L1X_GetROI_XY (uint16_t ROI_X, uint16_t ROI_Y)
	This function returns width X and height Y.
VL53L1X_ERROR	VL53L1X_SetSignalThreshold (uint16_t signal)
	This function programs a new signal threshold in kcps (default=1024 kcps .
VL53L1X_ERROR	VL53L1X_GetSignalThreshold (uint16_t *signal)
	This function returns the current signal threshold in kcps.
VL53L1X_ERROR	VL53L1X_SetSigmaThreshold (uint16_t sigma)
	This function programs a new sigma threshold in mm (default=15 mm)
VL53L1X_ERROR	VL53L1X_GetSigmaThreshold (uint16_t *signal)
	This function returns the current sigma threshold in mm.
VL53L1X_ERROR	VL53L1X_StartTemperatureUpdate ()
	This function performs the temperature calibration.
int8_t	VL53L1X_CalibrateOffset (uint16_t TargetDistInMm, int16_t *offset)
	This function performs the offset calibration.
int8_t	VL53L1X_CalibrateXtalk (uint16_t TargetDistInMm, uint16_t *xtalk)
	This function performs the xtalk calibration.

Detailed Description

Class representing a VL53L1 sensor component.

Definition at line 136 of file vl53l1x_class.h.

Constructor & Destructor Documentation

VL53L1X	(	vl53L1X_DevI2C *	i2c,
		DigitalOut *	pin,
		PinName	pin_gpio1,
		uint8_t	dev_addr = `VL53L1X_DEFAULT_DEVICE_ADDRESS`
	)

Constructor.

Parameters:

[in]	&i2c	device I2C to be used for communication
[in]	&pin_gpio1	pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
[in]	DevAddr	device address, 0x52 by default

Definition at line 144 of file vl53l1x_class.h.

VL53L1X	(	vl53L1X_DevI2C *	i2c,
		Stmpe1600DigiOut *	pin,
		PinName	pin_gpio1,
		uint8_t	dev_addr = `VL53L1X_DEFAULT_DEVICE_ADDRESS`
	)

Constructor 2 (STMPE1600DigiOut)

Parameters:

[in]	i2c	device I2C to be used for communication
[in]	&pin	Gpio Expander STMPE1600DigiOut pin to be used as component GPIO_0 CE
[in]	pin_gpio1	pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
[in]	device	address, 0x29 by default

Definition at line 164 of file vl53l1x_class.h.

virtual ~VL53L1X ( ) [virtual]

Destructor.

Definition at line 181 of file vl53l1x_class.h.

Member Function Documentation

void attach_interrupt_measure_detection_irq ( void(*)(void) fptr )

Attach a function to call when an interrupt is detected, i.e.

measurement is ready

Parameters:

[in] fptr pointer to call back function to be called whenever an interrupt occours

Returns:: 0 on Success

Definition at line 367 of file vl53l1x_class.h.

void disable_interrupt_measure_detection_irq ( void )

Disable interrupt measure IRQ.

Returns:: 0 on Success

Definition at line 357 of file vl53l1x_class.h.

void enable_interrupt_measure_detection_irq ( void )

Enable interrupt measure IRQ.

Returns:: 0 on Success

Definition at line 347 of file vl53l1x_class.h.

virtual int get_distance ( uint32_t * piData ) [virtual]

Get ranging result and only that.

Parameters:

pRange_mm Pointer to range distance

Returns:: 0 on success

Definition at line 377 of file vl53l1x_class.h.

int get_measurement ( uint16_t * distance )

Get results for the measure.

Parameters:

[out] Data pointer to the distance_data to read data in to

Returns:: 0 on Success

Definition at line 1069 of file vl53l1x_class.cpp.

int handle_irq ( uint16_t * distance )

Interrupt handling func to be called by user after an INT is occurred.

Parameters:

[out] Data pointer to the distance to read data in to

Returns:: 0 on Success

Definition at line 1061 of file vl53l1x_class.cpp.

virtual int init ( void * init ) [virtual]

One time device initialization.

Parameters:

void

Returns:: 0 on success, CALIBRATION_WARNING if failed

Definition at line 278 of file vl53l1x_class.h.

int init_sensor ( uint8_t new_addr )

Initialize the sensor with default values.

Returns:: "0" on success

Definition at line 70 of file vl53l1x_class.cpp.

VL53L1X_ERROR InitSensor ( uint8_t address )

Initialize the sensor with default values.

Returns:: 0 on Success

Definition at line 251 of file vl53l1x_class.h.

int start_measurement ( void(*)(void) fptr )

Start the measure indicated by operating mode.

Parameters:

[in] fptr specifies call back function must be !NULL in case of interrupt measure

Returns:: 0 on Success

Definition at line 1079 of file vl53l1x_class.cpp.

int stop_measurement ( )

Stop the currently running measure indicate by operating_mode.

Returns:: 0 on Success

Definition at line 1102 of file vl53l1x_class.cpp.

virtual void VL53L1_Off ( void ) [virtual]

PowerOff the sensor.

Returns:: void

Definition at line 221 of file vl53l1x_class.h.

virtual void VL53L1_On ( void ) [virtual]

PowerOn the sensor.

Returns:: void

Definition at line 203 of file vl53l1x_class.h.

VL53L1X_ERROR VL53L1X_BootState ( uint8_t * state )

This function returns the boot state of the device (1:booted, 0:not booted)

Definition at line 411 of file vl53l1x_class.cpp.

int8_t VL53L1X_CalibrateOffset	(	uint16_t	TargetDistInMm,
		int16_t *	offset
	)

This function performs the offset calibration.

The function returns the offset value found and programs the offset compensation into the device.

Parameters:

TargetDistInMm target distance in mm, ST recommended 100 mm Target reflectance = grey17%

Returns:: 0:success, !=0: failed; offset pointer contains the offset found in mm

Definition at line 760 of file vl53l1x_class.cpp.

int8_t VL53L1X_CalibrateXtalk	(	uint16_t	TargetDistInMm,
		uint16_t *	xtalk
	)

This function performs the xtalk calibration.

The function returns the xtalk value found and programs the xtalk compensation to the device

Parameters:

TargetDistInMm target distance in mm
The target distance : the distance where the sensor start to "under range"
due to the influence of the photons reflected back from the cover glass becoming strong
It's also called inflection point
Target reflectance = grey 17%

Returns:: 0: success, !=0: failed; xtalk pointer contains the xtalk value found in cps (number of photons in count per second)

Definition at line 788 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_CheckForDataReady ( uint8_t * isDataReady )

This function checks if the new ranging data is available by polling the dedicated register.

Parameters:

:	isDataReady==0 -> not ready; isDataReady==1 -> ready

Definition at line 170 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_ClearInterrupt ( )

This function clears the interrupt, to be called after a ranging data reading to arm the interrupt for the next data ready event.

Definition at line 117 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_GetAmbientPerSpad ( uint16_t * amb )

This function returns the ambient per SPAD in kcps/SPAD.

Definition at line 458 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_GetAmbientRate ( uint16_t * ambRate )

This function returns the ambient rate in kcps.

Definition at line 494 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_GetDistance ( uint16_t * distance )

This function returns the distance measured by the sensor in mm.

Definition at line 433 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_GetDistanceMode ( uint16_t * pDistanceMode )

This function returns the current distance mode (1=short, 2=long).

Definition at line 368 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_GetDistanceThresholdHigh ( uint16_t * high )

This function returns the high threshold in mm.

Definition at line 656 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_GetDistanceThresholdLow ( uint16_t * low )

This function returns the low threshold in mm.

Definition at line 646 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_GetDistanceThresholdWindow ( uint16_t * window )

This function returns the window detection mode (0=below; 1=above; 2=out; 3=in)

Definition at line 636 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_GetInterMeasurementInMs ( uint16_t * pIM )

This function returns the Intermeasurement period in ms.

Definition at line 396 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_GetInterruptPolarity ( uint8_t * pIntPol )

This function returns the current interrupt polarity
1=active high (default), 0=active low.

Definition at line 139 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_GetOffset ( int16_t * Offset )

This function returns the programmed offset correction value in mm.

Definition at line 575 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_GetRangeStatus ( uint8_t * rangeStatus )

This function returns the ranging status error
(0:no error, 1:sigma failed, 2:signal failed, ..., 7:wrap-around)

Definition at line 505 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_GetROI_XY	(	uint16_t *	ROI_X,
		uint16_t *	ROI_Y
	)

This function returns width X and height Y.

Definition at line 685 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_GetSensorId ( uint16_t * id )

This function returns the sensor id, sensor Id must be 0xEEAC.

Definition at line 422 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_GetSigmaThreshold ( uint16_t * signal )

This function returns the current sigma threshold in mm.

Definition at line 728 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_GetSignalPerSpad ( uint16_t * signalPerSp )

This function returns the returned signal per SPAD in kcps/SPAD.

With kcps stands for Kilo Count Per Second

Definition at line 444 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_GetSignalRate ( uint16_t * signalRate )

This function returns the returned signal in kcps.

Definition at line 470 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_GetSignalThreshold ( uint16_t * signal )

This function returns the current signal threshold in kcps.

Definition at line 704 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_GetSpadNb ( uint16_t * spNb )

This function returns the current number of enabled SPADs.

Definition at line 482 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_GetSWVersion ( VL53L1X_Version_t * pVersion )

This function returns the SW driver version.

Definition at line 50 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_GetTimingBudgetInMs ( uint16_t * pTimingBudgetInMs )

This function returns the current timing budget in ms.

Definition at line 291 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_GetXtalk ( uint16_t * Xtalk )

This function returns the current programmed xtalk correction value in cps.

Definition at line 603 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_SensorInit ( )

This function loads the 135 bytes default values to initialize the sensor.

Parameters:

dev	Device address

Returns:: 0:success, != 0:failed

Definition at line 86 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_SetDistanceMode ( uint16_t DistanceMode )

This function programs the distance mode (1=short, 2=long(default)).

Short mode max distance is limited to 1.3 m but better ambient immunity.
Long mode can range up to 4 m in the dark with 200 ms timing budget.

Definition at line 333 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_SetDistanceThreshold	(	uint16_t	ThreshLow,
		uint16_t	ThreshHigh,
		uint8_t	Window,
		uint8_t	IntOnNoTarget
	)

This function programs the threshold detection mode
Example:
VL53L1X_SetDistanceThreshold(dev,100,300,0,1): Below 100
VL53L1X_SetDistanceThreshold(dev,100,300,1,1): Above 300
VL53L1X_SetDistanceThreshold(dev,100,300,2,1): Out of window
VL53L1X_SetDistanceThreshold(dev,100,300,3,1): In window
.

Parameters:

dev	: device address
ThreshLow(in	mm) : the threshold under which one the device raises an interrupt if Window = 0
ThreshHigh(in	mm) : the threshold above which one the device raises an interrupt if Window = 1
Window	detection mode : 0=below, 1=above, 2=out, 3=in
IntOnNoTarget	= 1 (No longer used - just use 1)

Definition at line 614 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_SetI2CAddress ( uint8_t new_address )

This function sets the sensor I2C address used in case multiple devices application, default address 0x52.

Definition at line 61 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_SetInterMeasurementInMs ( uint16_t InterMeasurementInMs )

This function programs the Intermeasurement period in ms
Intermeasurement period must be >/= timing budget.

This condition is not checked by the API, the customer has the duty to check the condition. Default = 100 ms

Definition at line 382 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_SetInterruptPolarity ( uint8_t IntPol )

This function programs the interrupt polarity
1=active high (default), 0=active low.

Definition at line 126 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_SetOffset ( int16_t OffsetValue )

This function programs the offset correction in mm.

Parameters:

OffsetValue:the offset correction value to program in mm

Definition at line 561 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_SetROI	(	uint16_t	X,
		uint16_t	Y
	)

This function programs the ROI (Region of Interest)
The ROI position is centered, only the ROI size can be reprogrammed.

The smallest acceptable ROI size = 4

Parameters:

X:ROI Width; Y=ROI Height

Definition at line 666 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_SetSigmaThreshold ( uint16_t sigma )

This function programs a new sigma threshold in mm (default=15 mm)

Definition at line 716 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_SetSignalThreshold ( uint16_t signal )

This function programs a new signal threshold in kcps (default=1024 kcps
.

Definition at line 696 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_SetTimingBudgetInMs ( uint16_t TimingBudgetInMs )

This function programs the timing budget in ms.

Predefined values = 15, 20, 33, 50, 100(default), 200, 500.

Definition at line 189 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_SetXtalk ( uint16_t XtalkValue )

This function programs the xtalk correction value in cps (Count Per Second).

This is the number of photons reflected back from the cover glass in cps.

Definition at line 587 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_StartRanging ( )

This function starts the ranging distance operation
The ranging operation is continuous.

The clear interrupt has to be done after each get data to allow the interrupt to raise when the next data is ready
1=active high (default), 0=active low, use SetInterruptPolarity() to change the interrupt polarity if required.

Definition at line 152 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_StartTemperatureUpdate ( )

This function performs the temperature calibration.

It is recommended to call this function any time the temperature might have changed by more than 8 deg C without sensor ranging activity for an extended period.

Definition at line 739 of file vl53l1x_class.cpp.

VL53L1X_ERROR VL53L1X_StopRanging ( )

This function stops the ranging.

Definition at line 160 of file vl53l1x_class.cpp.

Type:	Library
Created:	29 Oct 2020
Imports:	3
Forks:	0
Commits:	7
Dependents:	0
Dependencies:	2
Followers:	404

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