Remarks

Vl53l0x
Status
Source code	GitHub
Datasheet(s)	GitHub
NuGet package

                <img src="https://img.shields.io/nuget/v/Meadow.Foundation.Sensors.Distance.Vl53l0x.svg?label=Meadow.Foundation.Sensors.Distance.Vl53l0x" 
                style="width: auto; height: -webkit-fill-available;" /></a> |

Code Example

Vl53l0x sensor;

public override Task Initialize()
{
    Console.WriteLine("Initializing hardware...");

    var i2cBus = Device.CreateI2cBus(I2cBusSpeed.FastPlus);
    sensor = new Vl53l0x(Device, i2cBus, (byte)Vl53l0x.Addresses.Default);

    sensor.DistanceUpdated += Sensor_Updated;

    return Task.CompletedTask;
}

public override Task Run()
{
    sensor.StartUpdating(TimeSpan.FromMilliseconds(250));

    return Task.CompletedTask;
}

private void Sensor_Updated(object sender, IChangeResult<Length> result)
{
    if (result.New == null) { return; }

    if (result.New < new Length(0, LU.Millimeters))
    { 
        Console.WriteLine("out of range.");
    }
    else 
    {
        Console.WriteLine($"{result.New.Millimeters}mm / {result.New.Inches:n3}\"");
    }
}

Sample project(s) available on GitHub

Wiring Example

To wire a Vl53l0x to your Meadow board, connect the following:

Vl53l0x	Meadow Pin
GND	GND
SCL	D08 (SCL)
SDA	D07 (SDA)
VCC	3V3

It should look like the following diagram:

Characteristic	Locus
Inheritance	System.Object ObservableBase<Length> SensorBase<Length> SamplingSensorBase<Length> ByteCommsSensorBase<Length> > Vl53l0x
Implements	ISamplingSensor<Length> IDisposable IRangeFinder
Inherited Members	ByteCommsSensorBase<Length>.Peripheral ByteCommsSensorBase<Length>.ReadBuffer ByteCommsSensorBase<Length>.WriteBuffer ByteCommsSensorBase<Length>.Init(Int32, Int32) ByteCommsSensorBase<Length>.Dispose(Boolean) ByteCommsSensorBase<Length>.Dispose() SamplingSensorBase<Length>.StartUpdating(Nullable<TimeSpan>) SamplingSensorBase<Length>.StopUpdating() SensorBase<Length>.Updated SensorBase<Length>.samplingLock SensorBase<Length>.SamplingTokenSource SensorBase<Length>.Conditions SensorBase<Length>.IsSampling SensorBase<Length>.UpdateInterval SensorBase<Length>.RaiseEventsAndNotify(IChangeResult<>) SensorBase<Length>.Read() ObservableBase<Length>.observers ObservableBase<Length>.NotifyObservers(IChangeResult<>) Meadow.Foundation.ObservableBase<Length>.Subscribe(IObserver<>) Meadow.Foundation.ObservableBase<Length>.CreateObserver(Action<>, System.Nullable<Predicate<IChangeResult<UNIT>>>)
Namespace	Meadow.Foundation.Sensors.Distance
Assembly	Vl53l0x.dll

Syntax

public class Vl53l0x : ByteCommsSensorBase<Length>, ISamplingSensor<Length>, IDisposable, IRangeFinder

Constructors

Vl53l0x(IDigitalOutputController, II2cBus, IPin, Byte)

Creates a new Vl53l0x object

Declaration

public Vl53l0x(IDigitalOutputController device, II2cBus i2cBus, IPin shutdownPin, byte address = null)

Parameters

Type	Name	Description
IDigitalOutputController	device	Meadow device
II2cBus	i2cBus	I2C bus
IPin	shutdownPin	Shutdown pin
System.Byte	address	VL53L0X address

Vl53l0x(IDigitalOutputController, II2cBus, Byte)

Creates a new Vl53l0x object

Declaration

public Vl53l0x(IDigitalOutputController device, II2cBus i2cBus, byte address = null)

Parameters

Type	Name	Description
IDigitalOutputController	device	Meadow device
II2cBus	i2cBus	I2C bus
System.Byte	address	I2C address

Properties

Distance

The distance to the measured object.

Declaration

public Length? Distance { get; protected set; }

Property Value

Type	Description
System.Nullable<Length>

IsShutdown

Is the hardware shutdown / off

Declaration

public bool IsShutdown { get; }

Property Value

Type	Description
System.Boolean

MaximumDistance

Maximum valid distance in mm (CurrentDistance returns -1 if above).

Declaration

public Length MaximumDistance { get; }

Property Value

Type	Description
Length

MinimumDistance

Minimum valid distance in mm.

Declaration

public Length MinimumDistance { get; }

Property Value

Type	Description
Length

Methods

GetSpadInfo()

Get the spad info

Declaration

protected Tuple<int, bool> GetSpadInfo()

Returns

Type	Description
Tuple<System.Int32, System.Boolean>

Initialize()

Initializes the VL53L0X

Declaration

protected Task Initialize()

Returns

Type	Description
Task

MeasureDistance()

Tell the sensor to take a measurement

Declaration

public void MeasureDistance()

PerformSingleRefCalibration(Byte)

perform a sensor self calibration

Declaration

protected void PerformSingleRefCalibration(byte vhvInitByte)

Parameters

Type	Name	Description
System.Byte	vhvInitByte	The VHV init byte

RaiseEventsAndNotify(IChangeResult<Length>)

Raise distance change event and notify subscribers

Declaration

protected override void RaiseEventsAndNotify(IChangeResult<Length> changeResult)

Parameters

Type	Name	Description
IChangeResult<Length>	changeResult

ReadSensor()

Returns the current distance/range

Declaration

protected override Task<Length> ReadSensor()

Returns

Type	Description
Task<Length>	The distance in the specified Units. Default mm. Returns -1 if the shutdown pin is used and is off

Overrides

Meadow.Foundation.SensorBase<Length>.ReadSensor()

SetAddress(Byte)

Set a new I2C address

Declaration

public void SetAddress(byte newAddress)

Parameters

Type	Name	Description
System.Byte	newAddress

ShutDown()

Shut down/power down the sensor

Declaration

public void ShutDown()

ShutDown(Boolean)

Set the Shutdown state of the device

Declaration

public Task ShutDown(bool state)

Parameters

Type	Name	Description
System.Boolean	state	true = off/shutdown. false = on

Returns

Type	Description
Task

Events

DistanceUpdated

Distance updated event

Declaration

public event EventHandler<IChangeResult<Length>> DistanceUpdated

Event Type

Type	Description
EventHandler<IChangeResult<Length>>