Qwiic Distance Sensor (VL53L1X) Hookup Guide

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Contributors: Englandsaurus
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Arduino Library Overview

Note: This example assumes you are using the latest version of the Arduino IDE on your desktop. If this is your first time using Arduino, please review our tutorial on installing the Arduino IDE. If you have not previously installed an Arduino library, please check out our installation guide.

First, you'll need the SparkFun VL53L1X Arduino library, which is an easy to use wrapper of ST's driver. You can obtain these libraries through the Arduino Library Manager. Search for Sparkfun VL53L1X Arduino Library to install the latest version. If you prefer downloading the libraries from the GitHub repository and manually installing it, you can grab them here:

Before we get started developing a sketch, let's look at the available functions of the library.

  • boolean init(); --- Initialize the sensor
  • void startRanging(); --- Starts taking measurements.
  • void stopRanging(); --- Stops taking measurements.
  • bool checkForDataReady(); --- Checks if a measurement is ready.
  • void setTimingBudgetInMs(uint16_t timingBudget) --- Set the timing budget for a measurement in ms. The timing budget is the amount of time over which a measurement is taken. This can be set to any of the following.
    • 15
    • 20
    • 33
    • 50
    • 100 (default)
    • 200
    • 500
  • uint16_t getTimingBudgetInMs(); --- Get's the current timing budget in ms.
  • void setDistanceModeLong(); --- Sets to 4M range.
  • void setDistanceModeShort(); --- Sets to 1.3M range
  • uint8_t getDistanceMode(); --- Returns 1 for short range, 2 for long range.
  • void setIntermeasurementPeriod(uint16_t intermeasurement); --- Set's the period in between measurements. Must be greater than or equal to the timing budget. Default is 100 ms.
  • uint16_t getIntermeasurementPeriod(); --- Returns the intermeasurement period in ms.
  • bool checkBootState(); --- Checks whether the device has been booted. Returns true if the device has been booted.
  • uint16_t getSensorID(); --- Get the sensor ID, should be 0xEEAC.
  • uint16_t getDistance(); --- Returns the results from the last measurement, distance in mm
  • uint16_t getSignalPerSpad(); --- Returns the average signal rate per SPAD (The sensitive pads that detect light, the VL53L1X has a 16x16 array of these) in kcps/SPAD, or kilo counts per second per SPAD.
  • uint16_t getAmbientPerSpad(); --- Returns the ambient noise when not measuring a signal in kcps/SPAD.
  • uint16_t getSignalRate(); --- Returns the signal rate in kcps. All SPADs combined.
  • uint16_t getSpadNb(); --- Returns the current number of enabled SPADs
  • uint16_t getAmbientRate(); --- Returns the total ambinet rate in kcps. All SPADs combined.
  • uint8_t getRangeStatus(); --- Returns the range status, which can be any of the following.
    • 0: No error
    • 1: Signal fail
    • 2: Sigma fail
    • 7: Wrapped target fail
  • void setOffset(int16_t offset); --- Manually set an offset for a measurement in mm.
  • int16_t getOffset(); --- Get the current offset in mm.
  • void setXTalk(uint16_t xTalk); --- Manually set the value of crosstalk in counts per second (cps), which is interference from any sort of window in front of your sensor.
  • uint16_t getXTalk(); --- Returns the current crosstalk value in cps.
  • void setDistanceThreshold(uint16_t lowThresh, uint16_t hiThresh, uint8_t window); --- Set bounds for the interrupt. lowThresh and hiThresh are the bounds of your interrupt while window decides when the interrupt should fire. The options for window are shown below.
    • 0: Interrupt triggered on measured distance below lowThresh.
    • 1: Interrupt triggered on measured distance above hiThresh.
    • 2: Interrupt triggered on measured distance outside of bounds.
    • 3: Interrupt triggered on measured distance inside of bounds.
  • uint16_t getDistanceThresholdWindow(); --- Returns distance threshold window option.
  • uint16_t getDistanceThresholdLow(); --- Returns lower bound in mm.
  • uint16_t getDistanceThresholdHigh(); --- Returns upper bound in mm
  • void setROI(uint16_t x, uint16_t y, uint8_t opticalCenter); --- Set the height and width of the ROI in SPADs, lowest possible option is 4. The center of the ROI you set is based on the table below. Set the opticalCenter as the pad above and to the right of your exact center.
128 136 144 152 160 168 176 184 192 200 208 216 224 232 240 248
129 137 145 153 161 169 177 185 193 201 209 217 225 233 241 249
130 138 146 154 162 170 178 186 194 202 210 218 226 234 242 250
131 139 147 155 163 171 179 187 195 203 211 219 227 235 243 251
132 140 148 156 164 172 180 188 196 204 212 220 228 236 244 252
133 141 149 157 165 173 181 189 197 205 213 221 229 237 245 253
134 142 150 158 166 174 182 190 198 206 214 222 230 238 246 254
135 143 151 159 167 175 183 191 199 207 215 223 231 239 247 255
127 119 111 103 95 87 79 71 63 55 47 39 31 23 15 7
126 118 110 102 94 86 78 70 62 54 46 38 30 22 14 6
125 117 109 101 93 85 77 69 61 53 45 37 29 21 13 5
124 116 108 100 92 84 76 68 60 52 44 36 28 20 12 4
123 115 107 99 91 83 75 67 59 51 43 35 27 19 11 3
122 114 106 98 90 82 74 66 58 50 42 34 26 18 10 2
121 113 105 97 89 81 73 65 57 49 41 33 25 17 9 1
120 112 104 96 88 80 72 64 56 48 40 32 24 16 8 0
  • uint16_t getROIX(); --- Returns the width of the ROI in SPADs
  • uint16_t getROIY(); --- Returns the height of the ROI in SPADs
  • void setSignalThreshold(uint16_t signalThreshold); --- Programs the necessary threshold to trigger a measurement. Default is 1024 kcps.
  • uint16_t getSignalThreshold(); --- Returns the signal threshold in kcps
  • void setSigmaThreshold(uint16_t sigmaThreshold); --- Programs a new sigma threshold in mm. (default=15 mm)
  • uint16_t getSigmaThreshold(); --- Returns the current sigma threshold.
  • void startTemperatureUpdate(); --- Recalibrates the sensor for temperature changes. Run this any time the temperature has changed by more than 8°C
  • void calibrateOffset(uint16_t targetDistanceInMm); --- Autocalibrate the offset by placing a target a known distance away from the sensor and passing this known distance into the function.
  • void calibrateXTalk(uint16_t targetDistanceInMm); --- Autocalibrate the crosstalk by placing a target a known distance away from the sensor and passing this known distance into the function.