VL53L1X_api.c File Reference

#include "VL53L1X_api.h"
#include <string.h>

Go to the source code of this file.

Functions
VL53L1X_ERROR	VL53L1X_GetSWVersion (VL53L1X_Version_t *pVersion)
	This function returns the SW driver version. More...
VL53L1X_ERROR	VL53L1X_SetI2CAddress (uint16_t dev, uint8_t new_address)
	This function sets the sensor I2C address used in case multiple devices application, default address 0x52. More...
VL53L1X_ERROR	VL53L1X_SensorInit (uint16_t dev)
	This function loads the 135 bytes default values to initialize the sensor. More...
VL53L1X_ERROR	VL53L1X_ClearInterrupt (uint16_t dev)
	This function clears the interrupt, to be called after a ranging data reading to arm the interrupt for the next data ready event. More...
VL53L1X_ERROR	VL53L1X_SetInterruptPolarity (uint16_t dev, uint8_t NewPolarity)
	This function programs the interrupt polarity 1=active high (default), 0=active low. More...
VL53L1X_ERROR	VL53L1X_GetInterruptPolarity (uint16_t dev, uint8_t *pInterruptPolarity)
	This function returns the current interrupt polarity 1=active high (default), 0=active low. More...
VL53L1X_ERROR	VL53L1X_StartRanging (uint16_t dev)
	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. More...
VL53L1X_ERROR	VL53L1X_StopRanging (uint16_t dev)
	This function stops the ranging. More...
VL53L1X_ERROR	VL53L1X_CheckForDataReady (uint16_t dev, uint8_t *isDataReady)
	This function checks if the new ranging data is available by polling the dedicated register. More...
VL53L1X_ERROR	VL53L1X_SetTimingBudgetInMs (uint16_t dev, uint16_t TimingBudgetInMs)
	This function programs the timing budget in ms. Predefined values = 15, 20, 33, 50, 100(default), 200, 500. More...
VL53L1X_ERROR	VL53L1X_GetTimingBudgetInMs (uint16_t dev, uint16_t *pTimingBudget)
	This function returns the current timing budget in ms. More...
VL53L1X_ERROR	VL53L1X_SetDistanceMode (uint16_t dev, uint16_t DM)
	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. More...
VL53L1X_ERROR	VL53L1X_GetDistanceMode (uint16_t dev, uint16_t *DM)
	This function returns the current distance mode (1=short, 2=long). More...
VL53L1X_ERROR	VL53L1X_SetInterMeasurementInMs (uint16_t dev, uint32_t InterMeasMs)
	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. More...
VL53L1X_ERROR	VL53L1X_GetInterMeasurementInMs (uint16_t dev, uint16_t *pIM)
	This function returns the Intermeasurement period in ms. More...
VL53L1X_ERROR	VL53L1X_BootState (uint16_t dev, uint8_t *state)
	This function returns the boot state of the device (1:booted, 0:not booted) More...
VL53L1X_ERROR	VL53L1X_GetSensorId (uint16_t dev, uint16_t *sensorId)
	This function returns the sensor id, sensor Id must be 0xEEAC. More...
VL53L1X_ERROR	VL53L1X_GetDistance (uint16_t dev, uint16_t *distance)
	This function returns the distance measured by the sensor in mm. More...
VL53L1X_ERROR	VL53L1X_GetSignalPerSpad (uint16_t dev, uint16_t *signalRate)
	This function returns the returned signal per SPAD in kcps/SPAD. With kcps stands for Kilo Count Per Second. More...
VL53L1X_ERROR	VL53L1X_GetAmbientPerSpad (uint16_t dev, uint16_t *ambPerSp)
	This function returns the ambient per SPAD in kcps/SPAD. More...
VL53L1X_ERROR	VL53L1X_GetSignalRate (uint16_t dev, uint16_t *signal)
	This function returns the returned signal in kcps. More...
VL53L1X_ERROR	VL53L1X_GetSpadNb (uint16_t dev, uint16_t *spNb)
	This function returns the current number of enabled SPADs. More...
VL53L1X_ERROR	VL53L1X_GetAmbientRate (uint16_t dev, uint16_t *ambRate)
	This function returns the ambient rate in kcps. More...
VL53L1X_ERROR	VL53L1X_GetRangeStatus (uint16_t dev, uint8_t *rangeStatus)
	This function returns the ranging status error (0:no error, 1:sigma failed, 2:signal failed, ..., 7:wrap-around) More...
VL53L1X_ERROR	VL53L1X_GetResult (uint16_t dev, VL53L1X_Result_t *pResult)
	This function returns measurements and the range status in a single read access. More...
VL53L1X_ERROR	VL53L1X_SetOffset (uint16_t dev, int16_t OffsetValue)
	This function programs the offset correction in mm. More...
VL53L1X_ERROR	VL53L1X_GetOffset (uint16_t dev, int16_t *offset)
	This function returns the programmed offset correction value in mm. More...
VL53L1X_ERROR	VL53L1X_SetXtalk (uint16_t dev, 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. More...
VL53L1X_ERROR	VL53L1X_GetXtalk (uint16_t dev, uint16_t *xtalk)
	This function returns the current programmed xtalk correction value in cps. More...
VL53L1X_ERROR	VL53L1X_SetDistanceThreshold (uint16_t dev, 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 . More...
VL53L1X_ERROR	VL53L1X_GetDistanceThresholdWindow (uint16_t dev, uint16_t *window)
	This function returns the window detection mode (0=below; 1=above; 2=out; 3=in) More...
VL53L1X_ERROR	VL53L1X_GetDistanceThresholdLow (uint16_t dev, uint16_t *low)
	This function returns the low threshold in mm. More...
VL53L1X_ERROR	VL53L1X_GetDistanceThresholdHigh (uint16_t dev, uint16_t *high)
	This function returns the high threshold in mm. More...
VL53L1X_ERROR	VL53L1X_SetROICenter (uint16_t dev, uint8_t ROICenter)
	This function programs the new user ROI center, please to be aware that there is no check in this function. if the ROI center vs ROI size is out of border the ranging function return error #13. More...
VL53L1X_ERROR	VL53L1X_GetROICenter (uint16_t dev, uint8_t *ROICenter)
	This function returns the current user ROI center. More...
VL53L1X_ERROR	VL53L1X_SetROI (uint16_t dev, 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 . More...
VL53L1X_ERROR	VL53L1X_GetROI_XY (uint16_t dev, uint16_t *ROI_X, uint16_t *ROI_Y)
	This function returns width X and height Y. More...
VL53L1X_ERROR	VL53L1X_SetSignalThreshold (uint16_t dev, uint16_t Signal)
	This function programs a new signal threshold in kcps (default=1024 kcps . More...
VL53L1X_ERROR	VL53L1X_GetSignalThreshold (uint16_t dev, uint16_t *signal)
	This function returns the current signal threshold in kcps. More...
VL53L1X_ERROR	VL53L1X_SetSigmaThreshold (uint16_t dev, uint16_t Sigma)
	This function programs a new sigma threshold in mm (default=15 mm) More...
VL53L1X_ERROR	VL53L1X_GetSigmaThreshold (uint16_t dev, uint16_t *sigma)
	This function returns the current sigma threshold in mm. More...
VL53L1X_ERROR	VL53L1X_StartTemperatureUpdate (uint16_t dev)
	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. More...

Variables
const uint8_t	VL51L1X_DEFAULT_CONFIGURATION []
static const uint8_t	status_rtn [24]

Function Documentation

VL53L1X_BootState()

VL53L1X_ERROR VL53L1X_BootState	(	uint16_t	dev,
		uint8_t *	state
	)

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

Definition at line 526 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    uint8_t tmp = 0;

    status = VL53L1_RdByte(dev,VL53L1_FIRMWARE__SYSTEM_STATUS, &tmp);
    *state = tmp;
    return status;
}

VL53L1X_CheckForDataReady()

VL53L1X_ERROR VL53L1X_CheckForDataReady	(	uint16_t	dev,
		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 291 of file VL53L1X_api.c.

{
    uint8_t Temp;
    uint8_t IntPol;
    VL53L1X_ERROR status = 0;

    status = VL53L1X_GetInterruptPolarity(dev, &IntPol);
    status = VL53L1_RdByte(dev, GPIO__TIO_HV_STATUS, &Temp);
    /* Read in the register to check if a new value is available */
    if (status == 0){
        if ((Temp & 1) == IntPol)
            *isDataReady = 1;
        else
            *isDataReady = 0;
    }
    return status;
}

VL53L1X_ClearInterrupt()

VL53L1X_ERROR VL53L1X_ClearInterrupt

(

uint16_t

dev

)

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 245 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;

    status = VL53L1_WrByte(dev, SYSTEM__INTERRUPT_CLEAR, 0x01);
    return status;
}

VL53L1X_GetAmbientPerSpad()

VL53L1X_ERROR VL53L1X_GetAmbientPerSpad	(	uint16_t	dev,
		uint16_t *	ambPerSp
	)

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

Definition at line 570 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    uint16_t AmbientRate, SpNb = 1;

    status = VL53L1_RdWord(dev, RESULT__AMBIENT_COUNT_RATE_MCPS_SD, &AmbientRate);
    status = VL53L1_RdWord(dev, VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0, &SpNb);
    *ambPerSp=(uint16_t) (2000.0 * AmbientRate / SpNb);
    return status;
}

VL53L1X_GetAmbientRate()

VL53L1X_ERROR VL53L1X_GetAmbientRate	(	uint16_t	dev,
		uint16_t *	ambRate
	)

This function returns the ambient rate in kcps.

Definition at line 603 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    uint16_t tmp;

    status = VL53L1_RdWord(dev, RESULT__AMBIENT_COUNT_RATE_MCPS_SD, &tmp);
    *ambRate = tmp*8;
    return status;
}

VL53L1X_GetDistance()

VL53L1X_ERROR VL53L1X_GetDistance	(	uint16_t	dev,
		uint16_t *	distance
	)

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

Definition at line 546 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    uint16_t tmp;

    status = (VL53L1_RdWord(dev,
            VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0, &tmp));
    *distance = tmp;
    return status;
}

VL53L1X_GetDistanceMode()

VL53L1X_ERROR VL53L1X_GetDistanceMode	(	uint16_t	dev,
		uint16_t *	DM
	)

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

Definition at line 487 of file VL53L1X_api.c.

{
    uint8_t TempDM, status=0;

    status = VL53L1_RdByte(dev,PHASECAL_CONFIG__TIMEOUT_MACROP, &TempDM);
    if (TempDM == 0x14)
        *DM=1;
    if(TempDM == 0x0A)
        *DM=2;
    return status;
}

VL53L1X_GetDistanceThresholdHigh()

VL53L1X_ERROR VL53L1X_GetDistanceThresholdHigh	(	uint16_t	dev,
		uint16_t *	high
	)

This function returns the high threshold in mm.

Definition at line 735 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    uint16_t tmp;

    status = VL53L1_RdWord(dev,SYSTEM__THRESH_HIGH, &tmp);
    *high = tmp;
    return status;
}

VL53L1X_GetDistanceThresholdLow()

VL53L1X_ERROR VL53L1X_GetDistanceThresholdLow	(	uint16_t	dev,
		uint16_t *	low
	)

This function returns the low threshold in mm.

Definition at line 725 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    uint16_t tmp;

    status = VL53L1_RdWord(dev,SYSTEM__THRESH_LOW, &tmp);
    *low = tmp;
    return status;
}

VL53L1X_GetDistanceThresholdWindow()

VL53L1X_ERROR VL53L1X_GetDistanceThresholdWindow	(	uint16_t	dev,
		uint16_t *	window
	)

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

Definition at line 716 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    uint8_t tmp;
    status = VL53L1_RdByte(dev,SYSTEM__INTERRUPT_CONFIG_GPIO, &tmp);
    *window = (uint16_t)(tmp & 0x7);
    return status;
}

VL53L1X_GetInterMeasurementInMs()

VL53L1X_ERROR VL53L1X_GetInterMeasurementInMs	(	uint16_t	dev,
		uint16_t *	pIM
	)

This function returns the Intermeasurement period in ms.

Definition at line 512 of file VL53L1X_api.c.

{
    uint16_t ClockPLL;
    VL53L1X_ERROR status = 0;
    uint32_t tmp;

    status = VL53L1_RdDWord(dev,VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD, &tmp);
    *pIM = (uint16_t)tmp;
    status = VL53L1_RdWord(dev, VL53L1_RESULT__OSC_CALIBRATE_VAL, &ClockPLL);
    ClockPLL = ClockPLL&0x3FF;
    *pIM= (uint16_t)(*pIM/(ClockPLL*1.065));
    return status;
}

VL53L1X_GetInterruptPolarity()

VL53L1X_ERROR VL53L1X_GetInterruptPolarity	(	uint16_t	dev,
		uint8_t *	pInterruptPolarity
	)

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

Definition at line 264 of file VL53L1X_api.c.

{
    uint8_t Temp;
    VL53L1X_ERROR status = 0;

    status = VL53L1_RdByte(dev, GPIO_HV_MUX__CTRL, &Temp);
    Temp = Temp & 0x10;
    *pInterruptPolarity = !(Temp>>4);
    return status;
}

VL53L1X_GetOffset()

VL53L1X_ERROR VL53L1X_GetOffset	(	uint16_t	dev,
		int16_t *	offset
	)

This function returns the programmed offset correction value in mm.

Definition at line 658 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    uint16_t Temp;

    status = VL53L1_RdWord(dev,ALGO__PART_TO_PART_RANGE_OFFSET_MM, &Temp);
    Temp = Temp<<3;
    Temp = Temp>>5;
    *offset = (int16_t)(Temp);
    return status;
}

VL53L1X_GetRangeStatus()

VL53L1X_ERROR VL53L1X_GetRangeStatus	(	uint16_t	dev,
		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 613 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    uint8_t RgSt;

    *rangeStatus = 255;
    status = VL53L1_RdByte(dev, VL53L1_RESULT__RANGE_STATUS, &RgSt);
    RgSt = RgSt & 0x1F;
    if (RgSt < 24)
        *rangeStatus = status_rtn[RgSt];
    return status;
}

VL53L1X_GetResult()

VL53L1X_ERROR VL53L1X_GetResult	(	uint16_t	dev,
		VL53L1X_Result_t *	pResult
	)

This function returns measurements and the range status in a single read access.

Definition at line 626 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    uint8_t Temp[17];
    uint8_t RgSt = 255;

    status = VL53L1_ReadMulti(dev, VL53L1_RESULT__RANGE_STATUS, Temp, 17);
    RgSt = Temp[0] & 0x1F;
    if (RgSt < 24)
        RgSt = status_rtn[RgSt];
    pResult->Status = RgSt;
    pResult->Ambient = (Temp[7] << 8 | Temp[8]) * 8;
    pResult->NumSPADs = Temp[3];
    pResult->SigPerSPAD = (Temp[15] << 8 | Temp[16]) * 8;
    pResult->Distance = Temp[13] << 8 | Temp[14];

    return status;
}

VL53L1X_GetROI_XY()

VL53L1X_ERROR VL53L1X_GetROI_XY	(	uint16_t	dev,
		uint16_t *	ROI_X,
		uint16_t *	ROI_Y
	)

This function returns width X and height Y.

Definition at line 780 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    uint8_t tmp;

    status = VL53L1_RdByte(dev,ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE, &tmp);
    *ROI_X = ((uint16_t)tmp & 0x0F) + 1;
    *ROI_Y = (((uint16_t)tmp & 0xF0) >> 4) + 1;
    return status;
}

VL53L1X_GetROICenter()

VL53L1X_ERROR VL53L1X_GetROICenter	(	uint16_t	dev,
		uint8_t *	ROICenter
	)

This function returns the current user ROI center.

Definition at line 752 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    uint8_t tmp;
    status = VL53L1_RdByte(dev, ROI_CONFIG__USER_ROI_CENTRE_SPAD, &tmp);
    *ROICenter = tmp;
    return status;
}

VL53L1X_GetSensorId()

VL53L1X_ERROR VL53L1X_GetSensorId	(	uint16_t	dev,
		uint16_t *	sensorId
	)

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

Definition at line 536 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    uint16_t tmp = 0;

    status = VL53L1_RdWord(dev, VL53L1_IDENTIFICATION__MODEL_ID, &tmp);
    *sensorId = tmp;
    return status;
}

VL53L1X_GetSigmaThreshold()

VL53L1X_ERROR VL53L1X_GetSigmaThreshold	(	uint16_t	dev,
		uint16_t *	sigma
	)

This function returns the current sigma threshold in mm.

Definition at line 822 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    uint16_t tmp;

    status = VL53L1_RdWord(dev,RANGE_CONFIG__SIGMA_THRESH, &tmp);
    *sigma = tmp >> 2;
    return status;

}

VL53L1X_GetSignalPerSpad()

VL53L1X_ERROR VL53L1X_GetSignalPerSpad	(	uint16_t	dev,
		uint16_t *	signalRate
	)

This function returns the returned signal per SPAD in kcps/SPAD. With kcps stands for Kilo Count Per Second.

Definition at line 557 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    uint16_t SpNb=1, signal;

    status = VL53L1_RdWord(dev,
        VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0, &signal);
    status = VL53L1_RdWord(dev,
        VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0, &SpNb);
    *signalRate = (uint16_t) (2000.0*signal/SpNb);
    return status;
}

VL53L1X_GetSignalRate()

VL53L1X_ERROR VL53L1X_GetSignalRate	(	uint16_t	dev,
		uint16_t *	signal
	)

This function returns the returned signal in kcps.

Definition at line 581 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    uint16_t tmp;

    status = VL53L1_RdWord(dev,
        VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0, &tmp);
    *signal = tmp*8;
    return status;
}

VL53L1X_GetSignalThreshold()

VL53L1X_ERROR VL53L1X_GetSignalThreshold	(	uint16_t	dev,
		uint16_t *	signal
	)

This function returns the current signal threshold in kcps.

Definition at line 799 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    uint16_t tmp;

    status = VL53L1_RdWord(dev,
                RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS, &tmp);
    *signal = tmp <<3;
    return status;
}

VL53L1X_GetSpadNb()

VL53L1X_ERROR VL53L1X_GetSpadNb	(	uint16_t	dev,
		uint16_t *	spNb
	)

This function returns the current number of enabled SPADs.

Definition at line 592 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    uint16_t tmp;

    status = VL53L1_RdWord(dev,
                  VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0, &tmp);
    *spNb = tmp >> 8;
    return status;
}

VL53L1X_GetSWVersion()

VL53L1X_ERROR VL53L1X_GetSWVersion

(

VL53L1X_Version_t *

pVersion

)

This function returns the SW driver version.

Definition at line 206 of file VL53L1X_api.c.

{
    VL53L1X_ERROR Status = 0;

    pVersion->major = VL53L1X_IMPLEMENTATION_VER_MAJOR;
    pVersion->minor = VL53L1X_IMPLEMENTATION_VER_MINOR;
    pVersion->build = VL53L1X_IMPLEMENTATION_VER_SUB;
    pVersion->revision = VL53L1X_IMPLEMENTATION_VER_REVISION;
    return Status;
}

VL53L1X_GetTimingBudgetInMs()

VL53L1X_ERROR VL53L1X_GetTimingBudgetInMs	(	uint16_t	dev,
		uint16_t *	pTimingBudget
	)

This function returns the current timing budget in ms.

Definition at line 411 of file VL53L1X_api.c.

{
    uint16_t Temp;
    VL53L1X_ERROR status = 0;

    status = VL53L1_RdWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, &Temp);
    switch (Temp) {
        case 0x001D :
            *pTimingBudget = 15;
            break;
        case 0x0051 :
        case 0x001E :
            *pTimingBudget = 20;
            break;
        case 0x00D6 :
        case 0x0060 :
            *pTimingBudget = 33;
            break;
        case 0x1AE :
        case 0x00AD :
            *pTimingBudget = 50;
            break;
        case 0x02E1 :
        case 0x01CC :
            *pTimingBudget = 100;
            break;
        case 0x03E1 :
        case 0x02D9 :
            *pTimingBudget = 200;
            break;
        case 0x0591 :
        case 0x048F :
            *pTimingBudget = 500;
            break;
        default:
            status = 1;
            *pTimingBudget = 0;
    }
    return status;
}

VL53L1X_GetXtalk()

VL53L1X_ERROR VL53L1X_GetXtalk	(	uint16_t	dev,
		uint16_t *	xtalk
	)

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

Definition at line 685 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    uint32_t tmp;

    status = VL53L1_RdDWord(dev,ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS, &tmp);
    *xtalk = (uint16_t)(tmp*1000)>>9; /* * 1000 to convert kcps to cps and >> 9 (7.9 format) */
    return status;
}

VL53L1X_SensorInit()

VL53L1X_ERROR VL53L1X_SensorInit

(

uint16_t

dev

)

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

Parameters

dev	Device address

Returns

0:success, != 0:failed

Definition at line 225 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    uint8_t Addr = 0x00, tmp;

    for (Addr = 0x2D; Addr <= 0x87; Addr++){
        status = VL53L1_WrByte(dev, Addr, VL51L1X_DEFAULT_CONFIGURATION[Addr - 0x2D]);
    }
    status = VL53L1X_StartRanging(dev);
    tmp  = 0;
    while(tmp==0){
            status = VL53L1X_CheckForDataReady(dev, &tmp);
    }
    status = VL53L1X_ClearInterrupt(dev);
    status = VL53L1X_StopRanging(dev);
    status = VL53L1_WrByte(dev, VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, 0x09); /* two bounds VHV */
    status = VL53L1_WrByte(dev, 0x0B, 0); /* start VHV from the previous temperature */
    return status;
}

VL53L1X_SetDistanceMode()

VL53L1X_ERROR VL53L1X_SetDistanceMode	(	uint16_t	dev,
		uint16_t	DM
	)

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 452 of file VL53L1X_api.c.

{
    uint16_t TB;
    VL53L1X_ERROR status = 0;

    status = VL53L1X_GetTimingBudgetInMs(dev, &TB);
    if (status != 0)
        return 1;
    switch (DM) {
    case 1:
        status = VL53L1_WrByte(dev, PHASECAL_CONFIG__TIMEOUT_MACROP, 0x14);
        status = VL53L1_WrByte(dev, RANGE_CONFIG__VCSEL_PERIOD_A, 0x07);
        status = VL53L1_WrByte(dev, RANGE_CONFIG__VCSEL_PERIOD_B, 0x05);
        status = VL53L1_WrByte(dev, RANGE_CONFIG__VALID_PHASE_HIGH, 0x38);
        status = VL53L1_WrWord(dev, SD_CONFIG__WOI_SD0, 0x0705);
        status = VL53L1_WrWord(dev, SD_CONFIG__INITIAL_PHASE_SD0, 0x0606);
        break;
    case 2:
        status = VL53L1_WrByte(dev, PHASECAL_CONFIG__TIMEOUT_MACROP, 0x0A);
        status = VL53L1_WrByte(dev, RANGE_CONFIG__VCSEL_PERIOD_A, 0x0F);
        status = VL53L1_WrByte(dev, RANGE_CONFIG__VCSEL_PERIOD_B, 0x0D);
        status = VL53L1_WrByte(dev, RANGE_CONFIG__VALID_PHASE_HIGH, 0xB8);
        status = VL53L1_WrWord(dev, SD_CONFIG__WOI_SD0, 0x0F0D);
        status = VL53L1_WrWord(dev, SD_CONFIG__INITIAL_PHASE_SD0, 0x0E0E);
        break;
    default:
        status = 1;
        break;
    }

    if (status == 0)
        status = VL53L1X_SetTimingBudgetInMs(dev, TB);
    return status;
}

VL53L1X_SetDistanceThreshold()

VL53L1X_ERROR VL53L1X_SetDistanceThreshold	(	uint16_t	dev,
		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 695 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    uint8_t Temp = 0;

    status = VL53L1_RdByte(dev, SYSTEM__INTERRUPT_CONFIG_GPIO, &Temp);
    Temp = Temp & 0x47;
    if (IntOnNoTarget == 0) {
        status = VL53L1_WrByte(dev, SYSTEM__INTERRUPT_CONFIG_GPIO,
                   (Temp | (Window & 0x07)));
    } else {
        status = VL53L1_WrByte(dev, SYSTEM__INTERRUPT_CONFIG_GPIO,
                   ((Temp | (Window & 0x07)) | 0x40));
    }
    status = VL53L1_WrWord(dev, SYSTEM__THRESH_HIGH, ThreshHigh);
    status = VL53L1_WrWord(dev, SYSTEM__THRESH_LOW, ThreshLow);
    return status;
}

VL53L1X_SetI2CAddress()

VL53L1X_ERROR VL53L1X_SetI2CAddress	(	uint16_t	dev,
		uint8_t	new_address
	)

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

Definition at line 217 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;

    status = VL53L1_WrByte(dev, VL53L1_I2C_SLAVE__DEVICE_ADDRESS, new_address >> 1);
    return status;
}

VL53L1X_SetInterMeasurementInMs()

VL53L1X_ERROR VL53L1X_SetInterMeasurementInMs	(	uint16_t	dev,
		uint32_t	InterMeasMs
	)

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 499 of file VL53L1X_api.c.

{
    uint16_t ClockPLL;
    VL53L1X_ERROR status = 0;

    status = VL53L1_RdWord(dev, VL53L1_RESULT__OSC_CALIBRATE_VAL, &ClockPLL);
    ClockPLL = ClockPLL&0x3FF;
    VL53L1_WrDWord(dev, VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD,
            (uint32_t)(ClockPLL * InterMeasMs * 1.075));
    return status;

}

VL53L1X_SetInterruptPolarity()

VL53L1X_ERROR VL53L1X_SetInterruptPolarity	(	uint16_t	dev,
		uint8_t	NewPolarity
	)

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

Definition at line 253 of file VL53L1X_api.c.

{
    uint8_t Temp;
    VL53L1X_ERROR status = 0;

    status = VL53L1_RdByte(dev, GPIO_HV_MUX__CTRL, &Temp);
    Temp = Temp & 0xEF;
    status = VL53L1_WrByte(dev, GPIO_HV_MUX__CTRL, Temp | (!(NewPolarity & 1)) << 4);
    return status;
}

VL53L1X_SetOffset()

VL53L1X_ERROR VL53L1X_SetOffset	(	uint16_t	dev,
		int16_t	OffsetValue
	)

This function programs the offset correction in mm.

Parameters

OffsetValue:the

offset correction value to program in mm

Definition at line 645 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    int16_t Temp;

    Temp = (OffsetValue*4);
    VL53L1_WrWord(dev, ALGO__PART_TO_PART_RANGE_OFFSET_MM,
            (uint16_t)Temp);
    VL53L1_WrWord(dev, MM_CONFIG__INNER_OFFSET_MM, 0x0);
    VL53L1_WrWord(dev, MM_CONFIG__OUTER_OFFSET_MM, 0x0);
    return status;
}

VL53L1X_SetROI()

VL53L1X_ERROR VL53L1X_SetROI	(	uint16_t	dev,
		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 761 of file VL53L1X_api.c.

{
    uint8_t OpticalCenter;
    VL53L1X_ERROR status = 0;

    status =VL53L1_RdByte(dev, VL53L1_ROI_CONFIG__MODE_ROI_CENTRE_SPAD, &OpticalCenter);
    if (X > 16)
        X = 16;
    if (Y > 16)
        Y = 16;
    if (X > 10 || Y > 10){
        OpticalCenter = 199;
    }
    status = VL53L1_WrByte(dev, ROI_CONFIG__USER_ROI_CENTRE_SPAD, OpticalCenter);
    status = VL53L1_WrByte(dev, ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE,
               (Y - 1) << 4 | (X - 1));
    return status;
}

VL53L1X_SetROICenter()

VL53L1X_ERROR VL53L1X_SetROICenter	(	uint16_t	dev,
		uint8_t	ROICenter
	)

This function programs the new user ROI center, please to be aware that there is no check in this function. if the ROI center vs ROI size is out of border the ranging function return error #13.

Definition at line 745 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    status = VL53L1_WrByte(dev, ROI_CONFIG__USER_ROI_CENTRE_SPAD, ROICenter);
    return status;
}

VL53L1X_SetSigmaThreshold()

VL53L1X_ERROR VL53L1X_SetSigmaThreshold	(	uint16_t	dev,
		uint16_t	Sigma
	)

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

Definition at line 810 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;

    if(Sigma>(0xFFFF>>2)){
        return 1;
    }
    /* 16 bits register 14.2 format */
    status = VL53L1_WrWord(dev,RANGE_CONFIG__SIGMA_THRESH,Sigma<<2);
    return status;
}

VL53L1X_SetSignalThreshold()

VL53L1X_ERROR VL53L1X_SetSignalThreshold	(	uint16_t	dev,
		uint16_t	Signal
	)

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

Definition at line 791 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;

    VL53L1_WrWord(dev,RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS,Signal>>3);
    return status;
}

VL53L1X_SetTimingBudgetInMs()

VL53L1X_ERROR VL53L1X_SetTimingBudgetInMs	(	uint16_t	dev,
		uint16_t	TimingBudgetInMs
	)

This function programs the timing budget in ms. Predefined values = 15, 20, 33, 50, 100(default), 200, 500.

Definition at line 309 of file VL53L1X_api.c.

{
    uint16_t DM;
    VL53L1X_ERROR  status=0;

    status = VL53L1X_GetDistanceMode(dev, &DM);
    if (DM == 0)
        return 1;
    else if (DM == 1) { /* Short DistanceMode */
        switch (TimingBudgetInMs) {
        case 15: /* only available in short distance mode */
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
                    0x01D);
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
                    0x0027);
            break;
        case 20:
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
                    0x0051);
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
                    0x006E);
            break;
        case 33:
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
                    0x00D6);
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
                    0x006E);
            break;
        case 50:
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
                    0x1AE);
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
                    0x01E8);
            break;
        case 100:
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
                    0x02E1);
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
                    0x0388);
            break;
        case 200:
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
                    0x03E1);
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
                    0x0496);
            break;
        case 500:
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
                    0x0591);
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
                    0x05C1);
            break;
        default:
            status = 1;
            break;
        }
    } else {
        switch (TimingBudgetInMs) {
        case 20:
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
                    0x001E);
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
                    0x0022);
            break;
        case 33:
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
                    0x0060);
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
                    0x006E);
            break;
        case 50:
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
                    0x00AD);
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
                    0x00C6);
            break;
        case 100:
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
                    0x01CC);
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
                    0x01EA);
            break;
        case 200:
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
                    0x02D9);
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
                    0x02F8);
            break;
        case 500:
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
                    0x048F);
            VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
                    0x04A4);
            break;
        default:
            status = 1;
            break;
        }
    }
    return status;
}

VL53L1X_SetXtalk()

VL53L1X_ERROR VL53L1X_SetXtalk	(	uint16_t	dev,
		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 670 of file VL53L1X_api.c.

{
/* XTalkValue in count per second to avoid float type */
    VL53L1X_ERROR status = 0;

    status = VL53L1_WrWord(dev,
            ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS,
            0x0000);
    status = VL53L1_WrWord(dev, ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS,
            0x0000);
    status = VL53L1_WrWord(dev, ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS,
            (XtalkValue<<9)/1000); /* * << 9 (7.9 format) and /1000 to convert cps to kpcs */
    return status;
}

VL53L1X_StartRanging()

VL53L1X_ERROR VL53L1X_StartRanging

(

uint16_t

dev

)

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 275 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;

    status = VL53L1_WrByte(dev, SYSTEM__MODE_START, 0x40);  /* Enable VL53L1X */
    return status;
}

VL53L1X_StartTemperatureUpdate()

VL53L1X_ERROR VL53L1X_StartTemperatureUpdate

(

uint16_t

dev

)

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 833 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;
    uint8_t tmp=0;

    status = VL53L1_WrByte(dev,VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND,0x81); /* full VHV */
    status = VL53L1_WrByte(dev,0x0B,0x92);
    status = VL53L1X_StartRanging(dev);
    while(tmp==0){
        status = VL53L1X_CheckForDataReady(dev, &tmp);
    }
    tmp  = 0;
    status = VL53L1X_ClearInterrupt(dev);
    status = VL53L1X_StopRanging(dev);
    status = VL53L1_WrByte(dev, VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, 0x09); /* two bounds VHV */
    status = VL53L1_WrByte(dev, 0x0B, 0); /* start VHV from the previous temperature */
    return status;
}

VL53L1X_StopRanging()

VL53L1X_ERROR VL53L1X_StopRanging

(

uint16_t

dev

)

This function stops the ranging.

Definition at line 283 of file VL53L1X_api.c.

{
    VL53L1X_ERROR status = 0;

    status = VL53L1_WrByte(dev, SYSTEM__MODE_START, 0x00);  /* Disable VL53L1X */
    return status;
}

Variable Documentation

status_rtn

const uint8_t status_rtn[24]

static

Initial value:

= { 255, 255, 255, 5, 2, 4, 1, 7, 3, 0,
    255, 255, 9, 13, 255, 255, 255, 255, 10, 6,
    255, 255, 11, 12
}

Definition at line 201 of file VL53L1X_api.c.

VL51L1X_DEFAULT_CONFIGURATION

const uint8_t VL51L1X_DEFAULT_CONFIGURATION[]

Definition at line 107 of file VL53L1X_api.c.