Remarks

Vl53l0x
Status
Source code	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

public class MeadowApp : App<F7Micro, MeadowApp>
{
    Vl53l0x sensor;

    public MeadowApp()
    {
        var i2cBus = Device.CreateI2cBus(I2cBusSpeed.FastPlus);
        sensor = new Vl53l0x(Device, i2cBus);

        sensor.Updated += SensorUpdated;
        sensor.StartUpdating();
    }

    private void SensorUpdated(object sender, Meadow.Peripherals.Sensors.Distance.DistanceConditionChangeResult e)
    {
        if (e.New == null || e.New.Distance == null)
        {
            return;
        }

        Console.WriteLine($"{e.New.Distance.Value}mm");
    }
}

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 FilterableChangeObservableBase<DistanceConditionChangeResult, DistanceConditions> > Vl53l0x
Implements	System.IObservable<DistanceConditionChangeResult> IRangeFinder
Inherited Members	FilterableChangeObservableBase<DistanceConditionChangeResult, DistanceConditions>._observers FilterableChangeObservableBase<DistanceConditionChangeResult, DistanceConditions>.NotifyObservers(DistanceConditionChangeResult) FilterableChangeObservableBase<DistanceConditionChangeResult, DistanceConditions>.Subscribe(IObserver<DistanceConditionChangeResult>) System.Object.ToString() System.Object.Equals(System.Object) System.Object.Equals(System.Object, System.Object) System.Object.ReferenceEquals(System.Object, System.Object) System.Object.GetHashCode() System.Object.GetType() System.Object.MemberwiseClone()
Namespace	Meadow.Foundation.Sensors.Distance
Assembly	Vl53l0x.dll

Syntax

public class Vl53l0x : FilterableChangeObservableBase<DistanceConditionChangeResult, DistanceConditions>, IObservable<DistanceConditionChangeResult>, IRangeFinder

Constructors

Vl53l0x(IIODevice, II2cBus, IPin, Byte, Vl53l0x.UnitType)

Declaration

public Vl53l0x(IIODevice device, II2cBus i2cBus, IPin shutdownPin, byte address = 41, Vl53l0x.UnitType units = Vl53l0x.UnitType.mm)

Parameters

Type	Name	Description
IIODevice	device
II2cBus	i2cBus	I2C bus
IPin	shutdownPin
System.Byte	address	VL53L0X address
Vl53l0x.UnitType	units	Unit of measure

Vl53l0x(IIODevice, II2cBus, Byte, Vl53l0x.UnitType)

Declaration

public Vl53l0x(IIODevice device, II2cBus i2cBus, byte address = 41, Vl53l0x.UnitType units = Vl53l0x.UnitType.mm)

Parameters

Type	Name	Description
IIODevice	device
II2cBus	i2cBus
System.Byte	address
Vl53l0x.UnitType	units

Fields

AlgoPartToPartRangeOffsetMm

Declaration

protected const byte AlgoPartToPartRangeOffsetMm = 40

Field Value

Type	Description
System.Byte

AlgoPhasecalConfigTimeout

Declaration

protected const byte AlgoPhasecalConfigTimeout = 48

Field Value

Type	Description
System.Byte

AlgoPhasecalLim

Declaration

protected const byte AlgoPhasecalLim = 48

Field Value

Type	Description
System.Byte

CrosstalkCompensationPeakRateMcps

Declaration

protected const byte CrosstalkCompensationPeakRateMcps = 32

Field Value

Type	Description
System.Byte

DefaultI2cAddress

Declaration

public const byte DefaultI2cAddress = 41

Field Value

Type	Description
System.Byte

DynamicSpadNumRequestedRefSpad

Declaration

protected const byte DynamicSpadNumRequestedRefSpad = 78

Field Value

Type	Description
System.Byte

DynamicSpadRefEnStartOffset

Declaration

protected const byte DynamicSpadRefEnStartOffset = 79

Field Value

Type	Description
System.Byte

FinalRangeConfigMinCountRateRtnLimit

Declaration

protected const byte FinalRangeConfigMinCountRateRtnLimit = 68

Field Value

Type	Description
System.Byte

FinalRangeConfigMinSnr

Declaration

protected const byte FinalRangeConfigMinSnr = 103

Field Value

Type	Description
System.Byte

FinalRangeConfigTimeoutMacropHi

Declaration

protected const byte FinalRangeConfigTimeoutMacropHi = 113

Field Value

Type	Description
System.Byte

FinalRangeConfigTimeoutMacropLo

Declaration

protected const byte FinalRangeConfigTimeoutMacropLo = 114

Field Value

Type	Description
System.Byte

FinalRangeConfigValidPhaseHigh

Declaration

protected const byte FinalRangeConfigValidPhaseHigh = 72

Field Value

Type	Description
System.Byte

FinalRangeConfigValidPhaseLow

Declaration

protected const byte FinalRangeConfigValidPhaseLow = 71

Field Value

Type	Description
System.Byte

FinalRangeConfigVcselPeriod

Declaration

protected const byte FinalRangeConfigVcselPeriod = 112

Field Value

Type	Description
System.Byte

GlobalConfigRefEnStartSelect

Declaration

protected const byte GlobalConfigRefEnStartSelect = 182

Field Value

Type	Description
System.Byte

GlobalConfigSpadEnablesRef0

Declaration

protected const byte GlobalConfigSpadEnablesRef0 = 176

Field Value

Type	Description
System.Byte

GlobalConfigSpadEnablesRef1

Declaration

protected const byte GlobalConfigSpadEnablesRef1 = 177

Field Value

Type	Description
System.Byte

GlobalConfigSpadEnablesRef2

Declaration

protected const byte GlobalConfigSpadEnablesRef2 = 178

Field Value

Type	Description
System.Byte

GlobalConfigSpadEnablesRef3

Declaration

protected const byte GlobalConfigSpadEnablesRef3 = 179

Field Value

Type	Description
System.Byte

GlobalConfigSpadEnablesRef4

Declaration

protected const byte GlobalConfigSpadEnablesRef4 = 180

Field Value

Type	Description
System.Byte

GlobalConfigSpadEnablesRef5

Declaration

protected const byte GlobalConfigSpadEnablesRef5 = 181

Field Value

Type	Description
System.Byte

GlobalConfigVcselWidth

Declaration

protected const byte GlobalConfigVcselWidth = 50

Field Value

Type	Description
System.Byte

GpioHvMuxActiveHigh

Declaration

protected const byte GpioHvMuxActiveHigh = 132

Field Value

Type	Description
System.Byte

HistogramConfigInitialPhaseSelect

Declaration

protected const byte HistogramConfigInitialPhaseSelect = 51

Field Value

Type	Description
System.Byte

HistogramConfigReadoutCtrl

Declaration

protected const byte HistogramConfigReadoutCtrl = 85

Field Value

Type	Description
System.Byte

I2CSlaveDeviceAddress

Declaration

protected const byte I2CSlaveDeviceAddress = 138

Field Value

Type	Description
System.Byte

IdentificationModelId

Declaration

protected const byte IdentificationModelId = 192

Field Value

Type	Description
System.Byte

IdentificationRevisionId

Declaration

protected const byte IdentificationRevisionId = 194

Field Value

Type	Description
System.Byte

MsrcConfigControl

Declaration

protected const byte MsrcConfigControl = 96

Field Value

Type	Description
System.Byte

MsrcConfigTimeoutMacrop

Declaration

protected const byte MsrcConfigTimeoutMacrop = 70

Field Value

Type	Description
System.Byte

OscCalibrateVal

Declaration

protected const byte OscCalibrateVal = 248

Field Value

Type	Description
System.Byte

PowerManagementGo1PowerForce

Declaration

protected const byte PowerManagementGo1PowerForce = 128

Field Value

Type	Description
System.Byte

PreRangeConfigMinSnr

Declaration

protected const byte PreRangeConfigMinSnr = 39

Field Value

Type	Description
System.Byte

PreRangeConfigSigmaThreshHi

Declaration

protected const byte PreRangeConfigSigmaThreshHi = 97

Field Value

Type	Description
System.Byte

PreRangeConfigSigmaThreshLo

Declaration

protected const byte PreRangeConfigSigmaThreshLo = 98

Field Value

Type	Description
System.Byte

PreRangeConfigTimeoutMacropHi

Declaration

protected const byte PreRangeConfigTimeoutMacropHi = 81

Field Value

Type	Description
System.Byte

PreRangeConfigTimeoutMacropLo

Declaration

protected const byte PreRangeConfigTimeoutMacropLo = 82

Field Value

Type	Description
System.Byte

PreRangeConfigValidPhaseHigh

Declaration

protected const byte PreRangeConfigValidPhaseHigh = 87

Field Value

Type	Description
System.Byte

PreRangeConfigValidPhaseLow

Declaration

protected const byte PreRangeConfigValidPhaseLow = 86

Field Value

Type	Description
System.Byte

PreRangeConfigVcselPeriod

Declaration

protected const byte PreRangeConfigVcselPeriod = 80

Field Value

Type	Description
System.Byte

PreRangeMinCountRateRtnLimit

Declaration

protected const byte PreRangeMinCountRateRtnLimit = 100

Field Value

Type	Description
System.Byte

RangeStart

Declaration

protected const byte RangeStart = 0

Field Value

Type	Description
System.Byte

ResultCoreAmbientWindowEventsRef

Declaration

protected const byte ResultCoreAmbientWindowEventsRef = 208

Field Value

Type	Description
System.Byte

ResultCoreAmbientWindowEventsRtn

Declaration

protected const byte ResultCoreAmbientWindowEventsRtn = 188

Field Value

Type	Description
System.Byte

ResultCoreRangingTotalEventsRef

Declaration

protected const byte ResultCoreRangingTotalEventsRef = 212

Field Value

Type	Description
System.Byte

ResultCoreRangingTotalEventsRtn

Declaration

protected const byte ResultCoreRangingTotalEventsRtn = 192

Field Value

Type	Description
System.Byte

ResultInterruptStatus

Declaration

protected const byte ResultInterruptStatus = 19

Field Value

Type	Description
System.Byte

ResultPeakSignalRateRef

Declaration

protected const byte ResultPeakSignalRateRef = 182

Field Value

Type	Description
System.Byte

ResultRangeStatus

Declaration

protected const byte ResultRangeStatus = 20

Field Value

Type	Description
System.Byte

SoftResetGo2SoftResetN

Declaration

protected const byte SoftResetGo2SoftResetN = 191

Field Value

Type	Description
System.Byte

SystemHistogramBin

Declaration

protected const byte SystemHistogramBin = 129

Field Value

Type	Description
System.Byte

SystemIntermeasurementPeriod

Declaration

protected const byte SystemIntermeasurementPeriod = 4

Field Value

Type	Description
System.Byte

SystemInterruptClear

Declaration

protected const byte SystemInterruptClear = 11

Field Value

Type	Description
System.Byte

SystemInterruptConfigGpio

Declaration

protected const byte SystemInterruptConfigGpio = 10

Field Value

Type	Description
System.Byte

SystemRangeConfig

Declaration

protected const byte SystemRangeConfig = 9

Field Value

Type	Description
System.Byte

SystemSequenceConfig

Declaration

protected const byte SystemSequenceConfig = 1

Field Value

Type	Description
System.Byte

SystemThreahHigh

Declaration

protected const byte SystemThreahHigh = 12

Field Value

Type	Description
System.Byte

SystemThreshLow

Declaration

protected const byte SystemThreshLow = 14

Field Value

Type	Description
System.Byte

VcselPeriodFinalRange

Declaration

protected const int VcselPeriodFinalRange = 1

Field Value

Type	Description
System.Int32

VcselPeriodPreRange

Declaration

protected const int VcselPeriodPreRange = 0

Field Value

Type	Description
System.Int32

VhvConfigPadSclSdaExtsupHv

Declaration

protected const byte VhvConfigPadSclSdaExtsupHv = 137

Field Value

Type	Description
System.Byte

Properties

Conditions

Declaration

public DistanceConditions Conditions { get; protected set; }

Property Value

Type	Description
DistanceConditions

CurrentDistance

Declaration

public float CurrentDistance { get; }

Property Value

Type	Description
System.Single

IsSampling

Is the sensor sampling

Declaration

public bool IsSampling { get; protected set; }

Property Value

Type	Description
System.Boolean	true if sampling; otherwise, false.

IsShutdown

Declaration

public bool IsShutdown { get; }

Property Value

Type	Description
System.Boolean

MaximumDistance

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

Declaration

public float MaximumDistance { get; }

Property Value

Type	Description
System.Single

MinimumDistance

Minimum valid distance in mm.

Declaration

public float MinimumDistance { get; }

Property Value

Type	Description
System.Single

Units

Declaration

public Vl53l0x.UnitType Units { get; set; }

Property Value

Type	Description
Vl53l0x.UnitType

Methods

GetRange()

Returns the current distance/range

Declaration

protected Task<float> GetRange()

Returns

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

GetRawRangeData()

Declaration

protected Task<int> GetRawRangeData()

Returns

Type	Description
System.Threading.Tasks.Task<System.Int32>

GetSpadInfo()

Declaration

protected Tuple<int, bool> GetSpadInfo()

Returns

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

Initialize()

Initializes the VL53L0X

Declaration

protected Task Initialize()

Returns

Type	Description
System.Threading.Tasks.Task

PerformSingleRefCalibration(Byte)

Declaration

protected void PerformSingleRefCalibration(byte vhvInitByte)

Parameters

Type	Name	Description
System.Byte	vhvInitByte

RaiseChangedAndNotify(DistanceConditionChangeResult)

Declaration

protected void RaiseChangedAndNotify(DistanceConditionChangeResult changeResult)

Parameters

Type	Name	Description
DistanceConditionChangeResult	changeResult

Read()

Declaration

public Task<DistanceConditions> Read()

Returns

Type	Description
System.Threading.Tasks.Task<DistanceConditions>

Read(Byte)

Declaration

protected byte Read(byte address)

Parameters

Type	Name	Description
System.Byte	address

Returns

Type	Description
System.Byte

Read16(Byte)

Declaration

protected int Read16(byte address)

Parameters

Type	Name	Description
System.Byte	address

Returns

Type	Description
System.Int32

SetAddress(Byte)

Set a new I2C address

Declaration

public void SetAddress(byte newAddress)

Parameters

Type	Name	Description
System.Byte	newAddress

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
System.Threading.Tasks.Task

StartUpdating(Int32)

Declaration

public void StartUpdating(int standbyDuration = 1000)

Parameters

Type	Name	Description
System.Int32	standbyDuration

StopUpdating()

Declaration

public void StopUpdating()

Subscribe(IObserver<DistanceConditionChangeResult>)

Declaration

public IDisposable Subscribe(IObserver<DistanceConditionChangeResult> observer)

Parameters

Type	Name	Description
System.IObserver<DistanceConditionChangeResult>	observer

Returns

Type	Description
System.IDisposable

Update()

Read the sensor output and convert the sensor readings into acceleration values.

Declaration

public Task Update()

Returns

Type	Description
System.Threading.Tasks.Task

Events

Updated

Declaration

public event EventHandler<DistanceConditionChangeResult> Updated

Event Type

Type	Description
System.EventHandler<DistanceConditionChangeResult>