Class that stores state and functions for interacting with VL53L0X time-of-flight sensor chips. More...

#include <Adafruit_VL53L0X.h>

Public Types
enum	VL53L0X_Sense_config_t { VL53L0X_SENSE_DEFAULT = 0, VL53L0X_SENSE_LONG_RANGE, VL53L0X_SENSE_HIGH_SPEED, VL53L0X_SENSE_HIGH_ACCURACY }

Public Member Functions
boolean	begin (uint8_t i2c_addr=VL53L0X_I2C_ADDR, boolean debug=false, TwoWire *i2c=&Wire, VL53L0X_Sense_config_t vl_config=VL53L0X_SENSE_DEFAULT)
	Setups the I2C interface and hardware. More...

boolean	setAddress (uint8_t newAddr)
	Change the I2C address of the sensor. More...

VL53L0X_Error	rangingTest (VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, boolean debug=false)
	get a ranging measurement from the device More...

VL53L0X_Error	getSingleRangingMeasurement (VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, boolean debug=false)
	get a ranging measurement from the device More...

void	printRangeStatus (VL53L0X_RangingMeasurementData_t *pRangingMeasurementData)
	print a ranging measurement out via Serial.print in a human-readable format More...

VL53L0X_Error	getRangingMeasurement (VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, boolean debug=false)
	get a ranging measurement from the device More...

VL53L0X_Error	startMeasurement (boolean debug=false)
	Start the ranging measurement from the device. More...

VL53L0X_Error	stopMeasurement (boolean debug=false)
	Stop ranging measurement from the device. More...

VL53L0X_Error	getLimitCheckCurrent (uint8_t LimitCheckId, FixPoint1616_t *pLimitCheckCurrent, boolean debug=false)
	Stop ranging measurement from the device. More...

VL53L0X_Error	getDeviceMode (VL53L0X_DeviceModes *pDeviceMode, boolean debug=false)
	Get current new device mode. More...

VL53L0X_Error	setDeviceMode (VL53L0X_DeviceModes DeviceMode, boolean debug=false)
	Set a new device mode. More...

VL53L0X_Error	setInterruptThresholds (FixPoint1616_t ThresholdLow, FixPoint1616_t ThresholdHigh, boolean debug=false)
	Set low and high Interrupt thresholds. More...

VL53L0X_Error	getInterruptThresholds (FixPoint1616_t pThresholdLow, FixPoint1616_t pThresholdHigh, boolean debug=false)
	Get high and low Interrupt thresholds. More...

VL53L0X_Error	clearInterruptMask (boolean debug=false)
	Clear system interrupt condition. More...

VL53L0X_Error	getGpioConfig (VL53L0X_DeviceModes pDeviceMode, VL53L0X_GpioFunctionality pFunctionality, VL53L0X_InterruptPolarity *pPolarity, boolean debug=false)
	Get current configuration for GPIO pin 0. More...

VL53L0X_Error	setGpioConfig (VL53L0X_DeviceModes DeviceMode, VL53L0X_GpioFunctionality Functionality, VL53L0X_InterruptPolarity Polarity, boolean debug=false)
	Set the configuration of GPIO pin 0. More...

uint16_t	readRange (void)
	Single shot ranging. Be sure to check the return of readRangeStatus to before using the return value! More...

uint8_t	readRangeStatus (void)
	Request ranging success/error message (retrieve after ranging) More...

boolean	startRange (void)
	Start a range operation. More...

boolean	isRangeComplete (void)
	Checks to see if a range operation has completed. More...

boolean	waitRangeComplete (void)
	Wait until Range operation has completed. More...

uint16_t	readRangeResult (void)
	Return the range in mm for the last operation. More...

boolean	startRangeContinuous (uint16_t period_ms=50)
	Start a continuous range operation. More...

void	stopRangeContinuous (void)
	Stop a continuous ranging operation.

boolean	timeoutOccurred (void)
	timeout status More...

boolean	configSensor (VL53L0X_Sense_config_t vl_config)
	Configure the sensor for one of the ways the example ST sketches configure the sensors for different usages. More...

boolean	setMeasurementTimingBudgetMicroSeconds (uint32_t budget_us)
	Wrapper to ST library code to budget how long a measurement should take. More...

uint32_t	getMeasurementTimingBudgetMicroSeconds (void)
	Wrapper to ST library code to budget how long a measurement should take. More...

boolean	setVcselPulsePeriod (VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriod)
	Sets the VCSEL pulse period. More...

uint8_t	getVcselPulsePeriod (VL53L0X_VcselPeriod VcselPeriodType)
	Gets the VCSEL pulse period. More...

boolean	setLimitCheckEnable (uint16_t LimitCheckId, uint8_t LimitCheckEnable)
	Enable/Disable a specific limit check. More...

uint8_t	getLimitCheckEnable (uint16_t LimitCheckId)
	Get specific limit check enable state. More...

boolean	setLimitCheckValue (uint16_t LimitCheckId, FixPoint1616_t LimitCheckValue)
	Set a specific limit check value. More...

FixPoint1616_t	getLimitCheckValue (uint16_t LimitCheckId)
	Get a specific limit check value. More...

Public Attributes
VL53L0X_Error	Status

Detailed Description

Class that stores state and functions for interacting with VL53L0X time-of-flight sensor chips.

Member Enumeration Documentation

◆ VL53L0X_Sense_config_t

enum Adafruit_VL53L0X::VL53L0X_Sense_config_t

Sensor configurations

Member Function Documentation

◆ begin()

boolean Adafruit_VL53L0X::begin	(	uint8_t	i2c_addr = `VL53L0X_I2C_ADDR`,
		boolean	debug = `false`,
		TwoWire *	i2c = `&Wire`,
		VL53L0X_Sense_config_t	vl_config = `VL53L0X_SENSE_DEFAULT`
	)

Setups the I2C interface and hardware.

Parameters

i2c_addr	Optional I2C address the sensor can be found on. Default is 0x29
debug	Optional debug flag. If true, debug information will print out via Serial.print during setup. Defaults to false.
i2c	Optional I2C bus the sensor is located on. Default is Wire
vl_config	Sensor configuration

Returns: True if device is set up, false on any failure

◆ setAddress()

boolean Adafruit_VL53L0X::setAddress ( uint8_t newAddr )

Change the I2C address of the sensor.

Parameters

newAddr the new address to set the sensor to

Returns: True if address was set successfully, False otherwise

◆ rangingTest()

VL53L0X_Error Adafruit_VL53L0X::rangingTest	(	VL53L0X_RangingMeasurementData_t *	pRangingMeasurementData,
		boolean	debug = `false`
	)

inline

get a ranging measurement from the device

Parameters

pRangingMeasurementData	the pointer to the struct the data will be stored in
debug	Optional debug flag. If true debug information will print via Serial.print during execution. Defaults to false.

Returns: True if address was set successfully, False otherwise

◆ getSingleRangingMeasurement()

VL53L0X_Error Adafruit_VL53L0X::getSingleRangingMeasurement	(	VL53L0X_RangingMeasurementData_t *	RangingMeasurementData,
		boolean	debug = `false`
	)

get a ranging measurement from the device

Parameters

RangingMeasurementData	the pointer to the struct the data will be stored in
debug	Optional debug flag. If true debug information will print via Serial.print during execution. Defaults to false.

Returns: True if address was set successfully, False otherwise

◆ printRangeStatus()

void Adafruit_VL53L0X::printRangeStatus ( VL53L0X_RangingMeasurementData_t * pRangingMeasurementData )

print a ranging measurement out via Serial.print in a human-readable format

Parameters

pRangingMeasurementData a pointer to the ranging measurement data

◆ getRangingMeasurement()

VL53L0X_Error Adafruit_VL53L0X::getRangingMeasurement	(	VL53L0X_RangingMeasurementData_t *	RangingMeasurementData,
		boolean	debug = `false`
	)

get a ranging measurement from the device

Parameters

RangingMeasurementData	the pointer to the struct the data will be stored in
debug	Optional debug flag. If true debug information will print via Serial.print during execution. Defaults to false.

Returns: VL53L0X_ERROR_NONE or Error if one occured

◆ startMeasurement()

VL53L0X_Error Adafruit_VL53L0X::startMeasurement ( boolean debug = false )

Start the ranging measurement from the device.

Parameters

debug Optional debug flag. If true debug information will print via Serial.print during execution. Defaults to false.

Returns: status code

◆ stopMeasurement()

VL53L0X_Error Adafruit_VL53L0X::stopMeasurement ( boolean debug = false )

Stop ranging measurement from the device.

Parameters

debug Optional debug flag. If true debug information will print via Serial.print during execution. Defaults to false.

Returns: status code

◆ getLimitCheckCurrent()

VL53L0X_Error Adafruit_VL53L0X::getLimitCheckCurrent	(	uint8_t	LimitCheckId,
		FixPoint1616_t *	pLimitCheckCurrent,
		boolean	debug = `false`
	)

Stop ranging measurement from the device.

Parameters

LimitCheckId	Limit Check ID (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
pLimitCheckCurrent	Pointer to current Value for a given LimitCheckId.
debug	Optional debug flag. If true debug information will print via Serial.print during execution. Defaults to false.

Returns: status code

◆ getDeviceMode()

VL53L0X_Error Adafruit_VL53L0X::getDeviceMode	(	VL53L0X_DeviceModes *	pDeviceMode,
		boolean	debug = `false`
	)

Get current new device mode.

Parameters

pDeviceMode	Pointer to current apply mode value
debug	Optional debug flag. If true debug information will print via Serial.print during execution. Defaults to false.

Returns: status code

◆ setDeviceMode()

VL53L0X_Error Adafruit_VL53L0X::setDeviceMode	(	VL53L0X_DeviceModes	DeviceMode,
		boolean	debug = `false`
	)

Set a new device mode.

Parameters

DeviceMode	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
debug	Optional debug flag. If true debug information will print via Serial.print during execution. Defaults to false.

Returns: status code

◆ setInterruptThresholds()

VL53L0X_Error Adafruit_VL53L0X::setInterruptThresholds	(	FixPoint1616_t	ThresholdLow,
		FixPoint1616_t	ThresholdHigh,
		boolean	debug = `false`
	)

Set low and high Interrupt thresholds.

Parameters

ThresholdLow	Low threshold (mm, lux ..., depending on the mode)
ThresholdHigh	High threshold (mm, lux ..., depending on the mode)
debug	Optional debug flag. If true debug information will print via Serial.print during execution. Defaults to false.

Returns: status code

◆ getInterruptThresholds()

VL53L0X_Error Adafruit_VL53L0X::getInterruptThresholds	(	FixPoint1616_t *	pThresholdLow,
		FixPoint1616_t *	pThresholdHigh,
		boolean	debug = `false`
	)

Get high and low Interrupt thresholds.

Parameters

pThresholdLow	Low threshold (mm, lux ..., depending on the mode)
pThresholdHigh	High threshold (mm, lux ..., depending on the mode)
debug	Optional debug flag. If true debug information will print via Serial.print during execution. Defaults to false.

Returns: status code

◆ clearInterruptMask()

VL53L0X_Error Adafruit_VL53L0X::clearInterruptMask ( boolean debug = false )

Clear system interrupt condition.

Parameters

debug Optional debug flag. If true debug information will print via Serial.print during execution. Defaults to false.

Returns: status code

◆ getGpioConfig()

VL53L0X_Error Adafruit_VL53L0X::getGpioConfig	(	VL53L0X_DeviceModes *	pDeviceMode,
		VL53L0X_GpioFunctionality *	pFunctionality,
		VL53L0X_InterruptPolarity *	pPolarity,
		boolean	debug = `false`
	)

Get current configuration for GPIO pin 0.

Parameters

pDeviceMode	Pointer to Device Mode associated to the Gpio.
pFunctionality	Pointer to Pin functionality.
pPolarity	Pointer to interrupt polarity. Active high or active low.
debug	Optional debug flag. If true debug information will print via Serial.print during execution. Defaults to false.

Returns: status code

◆ setGpioConfig()

VL53L0X_Error Adafruit_VL53L0X::setGpioConfig	(	VL53L0X_DeviceModes	DeviceMode,
		VL53L0X_GpioFunctionality	Functionality,
		VL53L0X_InterruptPolarity	Polarity,
		boolean	debug = `false`
	)

Set the configuration of GPIO pin 0.

Parameters

DeviceMode	Device Mode associated to the Gpio.
Functionality	Select Pin functionality.
Polarity	Set interrupt polarity. Active high or active low.
debug	Optional debug flag. If true debug information will print via Serial.print during execution. Defaults to false.

Returns: status code

◆ readRange()

uint16_t Adafruit_VL53L0X::readRange ( void )

Single shot ranging. Be sure to check the return of readRangeStatus to before using the return value!

Returns: Distance in millimeters if valid

◆ readRangeStatus()

uint8_t Adafruit_VL53L0X::readRangeStatus ( void )

Request ranging success/error message (retrieve after ranging)

Returns: One of possible VL6180X_ERROR_* values

◆ startRange()

boolean Adafruit_VL53L0X::startRange ( void )

Start a range operation.

Returns: true if range operation successfully started.

◆ isRangeComplete()

boolean Adafruit_VL53L0X::isRangeComplete ( void )

Checks to see if a range operation has completed.

Returns: true if range operation completed or an error has happened

◆ waitRangeComplete()

boolean Adafruit_VL53L0X::waitRangeComplete ( void )

Wait until Range operation has completed.

Returns: true if range operation completed, false if error.

◆ readRangeResult()

uint16_t Adafruit_VL53L0X::readRangeResult ( void )

Return the range in mm for the last operation.

Returns: Range in mm.

◆ startRangeContinuous()

boolean Adafruit_VL53L0X::startRangeContinuous ( uint16_t period_ms = 50 )

Start a continuous range operation.

Parameters

period_ms inter measurement period in milliseconds

Returns: True if successful, false otherwise

◆ timeoutOccurred()

boolean Adafruit_VL53L0X::timeoutOccurred ( void )

inline

timeout status

Returns: True if timeout has occurred, False otherwise

◆ configSensor()

boolean Adafruit_VL53L0X::configSensor ( VL53L0X_Sense_config_t vl_config )

Configure the sensor for one of the ways the example ST sketches configure the sensors for different usages.

Parameters

vl_config Which configureation you are trying to configure for It should be one of the following VL53L0X_SENSE_DEFAULT VL53L0X_SENSE_LONG_RANGE VL53L0X_SENSE_HIGH_SPEED, VL53L0X_SENSE_HIGH_ACCURACY

Returns: True if address was set successfully, False otherwise

◆ setMeasurementTimingBudgetMicroSeconds()

boolean Adafruit_VL53L0X::setMeasurementTimingBudgetMicroSeconds ( uint32_t budget_us )

Wrapper to ST library code to budget how long a measurement should take.

Parameters

budget_us the new budget

Returns: True if success

◆ getMeasurementTimingBudgetMicroSeconds()

uint32_t Adafruit_VL53L0X::getMeasurementTimingBudgetMicroSeconds ( void )

Wrapper to ST library code to budget how long a measurement should take.

Returns: the current budget time in microseconds.

◆ setVcselPulsePeriod()

boolean Adafruit_VL53L0X::setVcselPulsePeriod	(	VL53L0X_VcselPeriod	VcselPeriodType,
		uint8_t	VCSELPulsePeriod
	)

Sets the VCSEL pulse period.

Parameters

VcselPeriodType	VCSEL period identifier (pre-range\|final).
VCSELPulsePeriod	VCSEL period value

Returns: True if success

◆ getVcselPulsePeriod()

uint8_t Adafruit_VL53L0X::getVcselPulsePeriod ( VL53L0X_VcselPeriod VcselPeriodType )

Gets the VCSEL pulse period.

Parameters

VcselPeriodType VCSEL period identifier (pre-range|final).

Returns: the current pulse peried for the given type.

◆ setLimitCheckEnable()

boolean Adafruit_VL53L0X::setLimitCheckEnable	(	uint16_t	LimitCheckId,
		uint8_t	LimitCheckEnable
	)

Enable/Disable a specific limit check.

Parameters

LimitCheckId	Limit Check ID (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
LimitCheckEnable	if 1 the check limit corresponding to LimitCheckId is Enabled if 0 the check limit corresponding to LimitCheckId is disabled

Returns: true if succeeded

◆ getLimitCheckEnable()

uint8_t Adafruit_VL53L0X::getLimitCheckEnable ( uint16_t LimitCheckId )

Get specific limit check enable state.

Parameters

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

Returns: current state of limit enabled

◆ setLimitCheckValue()

boolean Adafruit_VL53L0X::setLimitCheckValue	(	uint16_t	LimitCheckId,
		FixPoint1616_t	LimitCheckValue
	)

Set a specific limit check value.

Parameters

LimitCheckId	Limit Check ID (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ). LimitCheckId
LimitCheckValue	Limit Check Value

Returns: true if succeeded.

◆ getLimitCheckValue()

FixPoint1616_t Adafruit_VL53L0X::getLimitCheckValue ( uint16_t LimitCheckId )

Get a specific limit check value.

Parameters

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

Returns: limit check value in FixPoint1616

Member Data Documentation

◆ Status

VL53L0X_Error Adafruit_VL53L0X::Status

Initial value:

=

VL53L0X_ERROR_NONE

indicates whether or not the sensor has encountered an error

The documentation for this class was generated from the following files:

src/Adafruit_VL53L0X.h
src/Adafruit_VL53L0X.cpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Enumeration Documentation

◆ VL53L0X_Sense_config_t

Member Function Documentation

◆ begin()

◆ setAddress()

◆ rangingTest()

◆ getSingleRangingMeasurement()

◆ printRangeStatus()

◆ getRangingMeasurement()

◆ startMeasurement()

◆ stopMeasurement()

◆ getLimitCheckCurrent()

◆ getDeviceMode()

◆ setDeviceMode()

◆ setInterruptThresholds()

◆ getInterruptThresholds()

◆ clearInterruptMask()

◆ getGpioConfig()

◆ setGpioConfig()

◆ readRange()

◆ readRangeStatus()

◆ startRange()

◆ isRangeComplete()

◆ waitRangeComplete()

◆ readRangeResult()

◆ startRangeContinuous()

◆ timeoutOccurred()

◆ configSensor()

◆ setMeasurementTimingBudgetMicroSeconds()

◆ getMeasurementTimingBudgetMicroSeconds()

◆ setVcselPulsePeriod()

◆ getVcselPulsePeriod()

◆ setLimitCheckEnable()

◆ getLimitCheckEnable()

◆ setLimitCheckValue()

◆ getLimitCheckValue()

Member Data Documentation

◆ Status