Adafruit VL53L0X Library

The library provides a VL53L0X_Sense_config_t enumeration to choose between different operational modes for the sensor. These can be passed during begin() or set using configSensor().

Available Modes:

• VL53L0X_SENSE_DEFAULT: Standard operating mode.
• VL53L0X_SENSE_LONG_RANGE: Optimized for longer distance measurements.
• VL53L0X_SENSE_HIGH_SPEED: Optimized for faster measurement rates.
• VL53L0X_SENSE_HIGH_ACCURACY: Optimized for higher precision.

typedef enum {
  VL53L0X_SENSE_DEFAULT = 0,
  VL53L0X_SENSE_LONG_RANGE,
  VL53L0X_SENSE_HIGH_SPEED,
  VL53L0X_SENSE_HIGH_ACCURACY
} VL53L0X_Sense_config_t;

The library allows configuring hardware interrupts based on distance thresholds and setting up GPIO functionality.

Interrupt Thresholds:

• setInterruptThresholds(FixPoint1616_t ThresholdLow, FixPoint1616_t ThresholdHigh, boolean debug = false): Sets the low and high distance limits for triggering an interrupt.
• clearInterruptMask(boolean debug = false): Clears the current interrupt.

GPIO Configuration:

• setGpioConfig(VL53L0X_DeviceModes DeviceMode, VL53L0X_GpioFunctionality Functionality, VL53L0X_InterruptPolarity Polarity, boolean debug = false): Configures the GPIO pin mode, functionality, and interrupt polarity.

To get a single distance measurement, use getSingleRangingMeasurement() or its wrapper rangingTest(). You must provide a pointer to a VL53L0X_RangingMeasurementData_t struct where the results will be stored.

Methods:

• VL53L0X_Error rangingTest(VL53L0X_RangingMeasurementData_t* pRangingMeasurementData, boolean debug = false)
• VL53L0X_Error getSingleRangingMeasurement(VL53L0X_RangingMeasurementData_t* pRangingMeasurementData, boolean debug = false)

Returns VL53L0X_ERROR_NONE on success, or an error code from the VL53L0X_Error type.

VL53L0X_RangingMeasurementData_t data;
VL53L0X_Error err = sensor.rangingTest(&data);

if (err == VL53L0X_ERROR_NONE) {
  // Use data.range_mm to get distance in mm
}

For applications requiring repeated measurements at a set interval, use the continuous ranging methods.

Methods:

• boolean startRangeContinuous(uint16_t period_ms = 50): Starts continuous measurements at the specified period in milliseconds.
• void stopRangeContinuous(): Stops the continuous measurement cycle.

To retrieve the result of the most recent measurement in a continuous cycle, use readRangeResult().

// Start continuous ranging every 100ms
sensor.startRangeContinuous(100);

// In your loop:
if (sensor.isRangeComplete()) {
  uint16_t distance = sensor.readRangeResult();
  Serial.print("Distance: ");
  Serial.println(distance);
}

Use the begin() method to initialize the sensor and prepare it for communication. You can specify the I2C address, enable debug mode, provide a custom TwoWire instance, and select a sensing configuration.

Parameters:

• i2c_addr: The I2C address of the sensor (defaults to VL53L0X_I2C_ADDR which is 0x29).
• debug: If true, debug information will be printed via Serial.print.
• i2c: A pointer to the TwoWire object to use (defaults to &Wire).
• vl_config: A VL53L0X_Sense_config_t enum value to set the sensing mode.

Adafruit_VL53L0X sensor;

// Initialize with default settings
if (!sensor.begin()) {
  Serial.println("Failed to begin VL53L0X");
  while (1);
}

You can fine-tune the sensor's performance by adjusting the measurement timing budget, which affects the balance between accuracy and speed.

Methods:

• boolean setMeasurementTimingBudgetMicroSeconds(uint32_t budget_us): Sets the time allocated for a single measurement in microseconds.
• uint32_t getMeasurementTimingBudgetMicroSeconds(): Returns the current timing budget.