VL53L0X Class Reference

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]	dev_addr	device address, 0x29 by default

Definition at line 88 of file VL53L0X.h.

Destructor.

Definition at line 115 of file VL53L0X.h.

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 "0" on success

Definition at line 210 of file VL53L0X.h.

Clear given system interrupt condition.

Function Description

Clear given interrupt(s) cause by writing into register SYSINT_CLEAR register.

Note:

This function Access to the device

Parameters:

interrupt_mask

Which interrupt source to clear. Use any combinations of INTERRUPT_CLEAR_RANGING , INTERRUPT_CLEAR_ALS , INTERRUPT_CLEAR_ERROR.

Returns:

None; instead check class Field "ErrState"

VL53L0X_ERROR_INTERRUPT_NOT_CLEARED Cannot clear interrupts

Definition at line 916 of file VL53L0X.cpp.

Disable interrupt measure IRQ "0" on success.

Definition at line 202 of file VL53L0X.h.

Enable interrupt measure IRQ.

Definition at line 195 of file VL53L0X.h.

Read current ErrState of the error register for the selected device.

Note:

This function Access to the device

Parameters:

p_device_error_status

Pointer to current error code of the device

Returns:

None; instead check class Field "ErrState"

Human readable error string for a given Error Code.

Note:

This function doesn't access to the device

Parameters:

error_code	The error code as stored on TDevError
p_device_error_string	The error string corresponding to the ErrorCode

Returns:

None; instead check class Field "ErrState"

Retrieve current device parameters.

Function Description

Get actual parameters of the device

• Then start ranging operation.

Note:

This function Access to the device

Returns:

VL53L0X_DeviceParams_t Current device parameters. Also check class Field "ErrState"

Definition at line 807 of file VL53L0X.cpp.

Return the Device Specification Version used for the current implementation.

Note:

This function doesn't access to the device

Parameters:

p_Device_spec_version

Pointer to current Device Specification Version

Returns:

None; instead check class Field "ErrState"

Reads the internal state of the Device for a given Device.

Note:

This function doesn't access to the device

Parameters:

p_Device_state

Pointer to current state of the Device for a given Device

Returns:

None; instead check class Field "ErrState"

Gets the fraction enable parameter indicating the resolution of range measurements.

Function Description

Gets the fraction enable state, which translates to the resolution of range measurements as follows :Enabled:=0.25mm resolution, Not Enabled:=1mm resolution.

Note:

This function Accesses the device

Parameters:

p_enabled

Output Parameter reporting the fraction enable state.

Returns:

None; instead check class Field "ErrState"

Get current configuration for GPIO pin for a given device.

Note:

This function Access to the device

Parameters:

pin	ID of the GPIO Pin
p_device_mode	Pointer to Device Mode associated to the Gpio.
p_functionality	Pointer to Pin functionality. Refer to TGPIO_Func
p_polarity	Pointer to interrupt polarity. Active high or active low see VL53L0X_InterruptPolarity

Returns:

None; instead check class Field "ErrState"

VL53L0X_ERROR_GPIO_NOT_EXISTING Only Pin=0 is accepted.

VL53L0X_ERROR_GPIO_FUNC_NOT_SUPPORTED This error occurs when Funcionality programmed is not in the supported list: Supported value are: GPIO_FUNC_OFF, GPIO_FUNC_THRESHOLD_CROSSED_LOW, GPIO_FUNC_THRESHOLD_CROSSED_HIGH, GPIO_FUNC_THRESHOLD_CROSSED_OUT, GPIO_FUNC_NEW_MEASURE_READY

Return device interrupt ErrState.

Function Description

Returns currently raised interrupts by the device. User shall be able to activate/deactivate interrupts through VL53L0X_SetGpioConfig()

Note:

This function Access to the device

Parameters:

p_interrupt_mask_status

Pointer to ErrState variable to update

Returns:

None; instead check class Field "ErrState"

Definition at line 871 of file VL53L0X.cpp.

Get high and low Interrupt thresholds for a given mode (ranging, ALS, ...) for a given device.

Function Description

Get high and low Interrupt thresholds for a given mode (ranging, ALS, ...) for a given device

Note:

This function Access to the device

DeviceMode is ignored for the current device

Parameters:

device_mode	Device Mode from which read thresholds
p_threshold_low	Low threshold (mm, lux ..., depending on the mode)
p_threshold_high	High threshold (mm, lux ..., depending on the mode)

Returns:

None; instead check class Field "ErrState"

Definition at line 1178 of file VL53L0X.cpp.

Get the current value of the signal used for the limit check.

Function Description

This function get a the current value of the signal used for the limit check. To obtain the latest value you should run a ranging before. The value reported is linked to the limit check identified with the limit_check_id.

Note:

This function Access to the device

Parameters:

limit_check_id	Limit Check ID (0<= limit_check_id < VL53L0X_GetNumberOfLimitCheck() ).
p_limit_check_current	Pointer to current Value for a given limit_check_id.

Returns:

None; instead check class Field "ErrState"

VL53L0X_ERROR_INVALID_PARAMS This error is returned when limit_check_id value is out of range.

Return a the Status of the specified check limit.

Function Description

This function returns the Status of the specified check limit. The value indicate if the check is fail or not. The limit check is identified with the limit_check_id.

Note:

This function doesn't Access to the device

Parameters:

limit_check_id	Limit Check ID (0<= limit_check_id < VL53L0X_GetNumberOfLimitCheck() ).
p_limit_check_status	Pointer to the Limit Check Status of the given check limit. LimitCheckStatus : 0 the check is not fail 1 the check if fail or not enabled

Returns:

None; instead check class Field "ErrState"

VL53L0X_ERROR_INVALID_PARAMS This error is returned when limit_check_id value is out of range.

Get specific limit check enable state.

Function Description

This function get the enable state of a specific limit check. The limit check is identified with the limit_check_id.

Note:

This function Access to the device

Parameters:

limit_check_id

Limit Check ID (0<= limit_check_id < VL53L0X_GetNumberOfLimitCheck() ).

Returns:

uint8_t Check limit enable value. if 1 the check limit corresponding to limit_check_id is Enabled if 0 the check limit corresponding to limit_check_id is disabled

also check class Field "ErrState"

VL53L0X_ERROR_INVALID_PARAMS This error is returned when limit_check_id value is out of range.

Definition at line 492 of file VL53L0X.cpp.

Get a specific limit check value.

Function Description

This function get a specific limit check value from device then it updates internal values and check enables. The limit check is identified with the limit_check_id.

Note:

This function Access to the device

Parameters:

limit_check_id

Limit Check ID (0<= limit_check_id < VL53L0X_GetNumberOfLimitCheck() ).

Returns:

TFP1616 Limit check Value for a given limit_check_id.

Also check class Field "ErrState";returned VL53L0X_ERROR_INVALID_PARAMS when limit_check_id value is out of range.

Definition at line 460 of file VL53L0X.cpp.

Get continuous mode Inter-Measurement period in milliseconds.

Function Description

When trying to set too short time return INVALID_PARAMS minimal value

Note:

This function Access to the device

Parameters:

p_measure_period_ms

Pointer to programmed Inter-Measurement Period in milliseconds.

Returns:

None; instead check class Field "ErrState"

Definition at line 424 of file VL53L0X.cpp.

Get Ranging Timing Budget in microseconds.

Function Description

Returns the programmed the maximum time allowed by the user to the device to run a full ranging sequence for the current mode (ranging, histogram, ASL ...)

Note:

This function Access to the device

Returns:

uint32_t Max measurement time in microseconds. Valid values are: >= 17000 microsecs when wraparound enabled >= 12000 microsecs when wraparound disabled Also check class Field "ErrState"

Definition at line 753 of file VL53L0X.cpp.

Get results for the measure indicated by operating mode.

Parameters:

[in]

operating_mode

specifies requested measure results

Returns:

TRangeResults The MeasureData_t structure with all results

Definition at line 347 of file VL53L0X.cpp.

Return Measurement is Ready.

Function Description

This function indicate that a measurement data is ready. This function check if interrupt mode is used then check is done accordingly. If perform function clear the interrupt, this function will not work, like in case of VL53L0X_PerformSingleRangingMeasurement(). The previous function is blocking function, VL53L0X_GetMeasurementDataReady is used for non-blocking capture.

Note:

This function Access to the device

Returns:

uint8_t Is Measurement Ready 0= not ready, 1 = ready Also check class Field "ErrState"

Definition at line 879 of file VL53L0X.cpp.

Get part to part calibration offset.

Get part to part calibration offset; Should only be used after a successful call to VL53L0X_DataInit to backup device NVM value.

Function Description

Should only be used after a successful call to VL53L0X_DataInit to backup device NVM value

Note:

This function Access to the device

Parameters:

p_Offset_Cal_um

Returns:

int32_t; Return part to part calibration offset from device (microns), also check class Field "ErrState"

Definition at line 371 of file VL53L0X.cpp.

Reads the Product Revision for a for given Device This function can be used to distinguish cut1.0 from cut1.1.

Note:

This function Access to the device

Parameters:

p_product_revision_major	Pointer to Product Revision Major for a given Device
p_product_revision_minor	Pointer to Product Revision Minor for a given Device

Returns:

None; instead check class Field "ErrState"

Get Reference Calibration Parameters.

Function Description

Get Reference Calibration Parameters.

Note:

This function Access to the device

Parameters:

p_vhv_settings	Pointer to VHV parameter
p_phase_cal	Pointer to PhaseCal Parameter

Returns:

None; instead check class Field "ErrState"

Retrieves SPAD configuration.

Function Description

This function retrieves the current number of applied reference SPADS and also their type : Aperture or Non-Aperture.

Note:

This function Access to the device

Parameters:

p_SPAD_count	Number ref SPAD Count
p_is_aperture_SPADS	Reports if SPADS are of type aperture or non-aperture. 1:=aperture, 0:=Non-Aperture

Returns:

None; instead check class Field "ErrState"

VL53L0X_ERROR_REF_SPAD_INIT Error in the in the reference SPAD configuration.

Gets the (on/off) state of all sequence steps.

Function Description

This function retrieves the state of all sequence step in the scheduler.

Note:

This function Accesses the device

Returns:

VL53L0X_Sequence_Steps_t Struct containing result. Also check class Field "ErrState"

Definition at line 512 of file VL53L0X.cpp.

Return the VL53L0X Device Implementation Version.

Note:

This function doesn't access to the device

Parameters:

p_version

Pointer to current Device Implementation Version

Returns:

None; instead check class Field "ErrState"

Get setup of Wrap around Check.

Function Description

This function get the wrapAround check enable parameters

Note:

This function Access to the device

Returns:

uint8_t Wrap around Check state 0=disabled or 1 = enabled

None Also check class Field "ErrState"

Definition at line 499 of file VL53L0X.cpp.

Get Cross talk compensation rate.

Function Description

Get Cross talk compensation rate.

Note:

This function Access to the device

Parameters:

p_Xtalk_CompRate_MHz

Pointer to Compensation rate in Mega counts per second (16.16 fix point) see datasheet for details

Returns:

None; instead check class Field "ErrState"

Definition at line 439 of file VL53L0X.cpp.

Perform Reference Calibration.

Perform a reference calibration of the Device. This function should be run from time to time before doing a ranging measurement. This function will launch a special ranging measurement, so if interrupt are enable an interrupt will be done. This function will clear the interrupt generated automatically.

Warning:

This function is a blocking function

Note:

This function Access to the device

Parameters:

p_vhv_settings	Pointer to vhv settings parameter.
p_phase_cal	Pointer to PhaseCal parameter.
get_data_enable	1 to enable to get the data

Returns:

None; instead check class Field "ErrState"

Definition at line 1018 of file VL53L0X.cpp.

Single shot measurement.

Function Description

Perform simple measurement sequence (Start measure, Wait measure to end, and returns when measurement is done). Once function returns, user can get valid data by calling VL53L0X_GetRangingMeasurement or VL53L0X_GetHistogramMeasurement depending on defined measurement mode User should Clear the interrupt in case this are enabled by using the function VL53L0X_ClearInterruptMask().

Warning:

This function is a blocking function

Note:

This function Access to the device

Returns:

None; instead check class Field "ErrState"

Definition at line 1354 of file VL53L0X.cpp.

Perform XTalk Measurement.

Measures the current cross talk from glass in front of the sensor. This functions performs a histogram measurement and uses the results to measure the crosstalk. For the function to be successful, there must be no target in front of the sensor.

Warning:

This function is a blocking function

This function is not supported when the final range vcsel clock period is set below 10 PCLKS.

Note:

This function Access to the device

Parameters:

timeout_ms	Histogram measurement duration.
p_xtalk_per_SPAD	Output parameter containing the crosstalk measurement result, in MHz/SPAD. Format fixpoint 16:16.
p_ambient_too_high	Output parameter which indicate that pXtalkPerSPAD is not good if the Ambient is too high.

Returns:

None; instead check class Field "ErrState"

VL53L0X_ERROR_INVALID_PARAMS vcsel clock period not supported for this operation. Must not be less than 10PCLKS.

PowerOff the sensor with the XShutdown Pin.

Definition at line 110 of file VL53L0X.h.

Do an hard reset or soft reset (depending on implementation) of the device call of this function, device must be in same state as right after a power-up sequence.This function will change the VL53L0X_State to VL53L0X_STATE_POWERDOWN.

Note:

This function Access to the device

Returns:

None; instead check class Field "ErrState"

Set a new device mode.

Function Description

Set device to a new mode (ranging, histogram ...)

Note:

This function doesn't Access to the device

Parameters:

device_mode

New device mode to apply Valid values are: VL53L0X_DEVICEMODE_SINGLE_RANGING VL53L0X_DEVICEMODE_CONTINUOUS_RANGING VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY VL53L0X_HISTOGRAMMODE_RETURN_ONLY VL53L0X_HISTOGRAMMODE_BOTH

Returns:

None; instead check class Field "ErrState"

VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when DeviceMode is not in the supported list

Definition at line 1148 of file VL53L0X.cpp.

Set low and high Interrupt thresholds for a given mode (ranging, ALS, ...) for a given device.

Function Description

Set low and high Interrupt thresholds for a given mode (ranging, ALS, ...) for a given device

Note:

This function Access to the device

DeviceMode is ignored for the current device

Parameters:

device_mode	Device Mode for which change thresholds
threshold_low	Low threshold (mm, lux ..., depending on the mode)
threshold_high	High threshold (mm, lux ..., depending on the mode)

Returns:

None; instead check class Field "ErrState"

Definition at line 1164 of file VL53L0X.cpp.

Set a specific limit check value.

Function Description

This function set a specific limit check value. The limit check is identified with the limit_check_id.

Note:

This function Access to the device

Parameters:

limit_check_id	Limit Check ID (0<= limit_check_id < VL53L0X_GetNumberOfLimitCheck() ).
limit_chk_val	Limit check Value for a given limit_check_id

Returns:

None; instead check class Field "ErrState"

VL53L0X_ERROR_INVALID_PARAMS This error is returned when either limit_check_id or LimitCheckValue value is out of range.

Definition at line 845 of file VL53L0X.cpp.

Program continuous mode Inter-Measurement period in milliseconds.

Function Description

When trying to set too short time return INVALID_PARAMS minimal value

Note:

This function Access to the device

Parameters:

measure_period_ms

Inter-Measurement Period in ms.

Returns:

None; instead check class Field "ErrState"

Set or over-hide part to part calibration offset.

See also:

VL53L0X_DataInit() VL53L0X_GetOffsetCalibrationData_um()

Note:

This function Access to the device

Parameters:

p_Offset_Cal_um

Offset (microns)

Returns:

None; instead check class Field "ErrState"

Definition at line 391 of file VL53L0X.cpp.

Sets the resolution of range measurements.

Function Description

Set resolution of range measurements to either 0.25mm if fraction enabled or 1mm if not enabled.

Note:

This function Accesses the device

Parameters:

enable

Enable high resolution

Returns:

None; instead check class Field "ErrState"

Sets the VCSEL pulse period.

Function Description

This function retrieves the VCSEL pulse period for the given period type.

Note:

This function Accesses the device

Parameters:

Vcsel_Range_Phase	VCSEL period identifier (pre-range|final).
vcsel_PPeriod	VCSEL period value

Returns:

None; instead check class Field "ErrState"

VL53L0X_ERROR_INVALID_PARAMS Error VcselPeriodType parameter not supported.

Definition at line 530 of file VL53L0X.cpp.

Enable (or disable) Wrap around Check.

Note:

This function Access to the device

Parameters:

wrap_around_Chk_En

Wrap around Check to be set 0=disabled, other = enabled

Returns:

None; instead check class Field "ErrState"

Enable/Disable Cross talk compensation feature.

Note:

This function is not Implemented. Enable/Disable Cross Talk by set to zero the Cross Talk value by using VL53L0X_SetXtalk_CompRate_MHz().

Parameters:

xtalk_compensation_enable

Cross talk compensation to be set 0=disabled else = enabled

Returns:

VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented

Set Cross talk compensation rate.

Function Description

Set Cross talk compensation rate.

Note:

This function Access to the device

Parameters:

Xtalk_CompRate_MHz

Compensation rate in Mega counts per second (16.16 fix point) see datasheet for details

Returns:

None; instead check class Field "ErrState"

Start device measurement.

Started measurement will depend on device parameters set through VL53L0X_SetParameters() This is a non-blocking function. This function will change the VL53L0X_State from VL53L0X_STATE_IDLE to VL53L0X_STATE_RUNNING.

Note:

This function Access to the device

Returns:

None; instead check class Field "ErrState"

VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when DeviceMode programmed with VL53L0X_SetDeviceMode is not in the supported list: Supported mode are: VL53L0X_DEVICEMODE_SINGLE_RANGING, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING

VL53L0X_ERROR_TIME_OUT Time out on start measurement

Definition at line 1294 of file VL53L0X.cpp.

Turns on, checks the ID, Set new device address, Initialize the calss, and the sensor with default values.

After completion the device will answer to the address new_addr. This new_addr should be set to individual values when several devices are used in parallel before using the individual sensors. When a single device us used, there is no need to set new_addr.

Returns:

VL53L0X_Error = 0 on success

Definition at line 59 of file VL53L0X.cpp.

Current state of this device; use Set_Current_State to change it

Definition at line 1188 of file VL53L0X.h.

Execution time of the final range

Definition at line 56 of file VL53L0X.h.

Vcsel pulse period (pll clocks) for the final range measurement

Definition at line 58 of file VL53L0X.h.

Unique Part ID Lower

Definition at line 75 of file VL53L0X.h.

Unique Part ID Upper

Definition at line 74 of file VL53L0X.h.

Execution time of the final range

Definition at line 60 of file VL53L0X.h.

Vcsel pulse period (pll clocks) for the pre-range measurement

Definition at line 62 of file VL53L0X.h.

Peek Signal rate at 400 mm

Definition at line 76 of file VL53L0X.h.