UM2039
User Manual
World smallest Time-of-Flight ranging and gesture detection sensor
Application Programming Interface

Introduction
VL53L0X is a ranging and gesture detection sensor.
The purpose of this User Manual is to describe the Application Programming Interface(API), and the calibration procedures from a user perspective.
The API is a turnkey solution. It consists of a set of C functions which enables fastdevelopment of end user applications, without the complication of direct multiple register
access. The API is structured in a way that it can be compiled on any kind of platform
through a well isolated platform layer.
The API package allows the user to take full benefit of VL53L0X capabilities

Figure 1. VL53L0X ranging sensor module

References1.

June 2016

VL53L0X Datasheet (DS11555)

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Contents

UM2039Contents
1

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

2

Initial customer manufacturing calibration . . . . . . . . . . . . . . . . . . . . . . . 5
2.1

Data init . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2.2

Static Init . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2.3

Reference SPADs calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.3.1

2.4

Ref (temperature) calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.4.1

2.5

3

4

5

Offset calibration procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Cross-talk calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.6.1

Cover window impact on ranging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.6.2

Cross-talk calibration distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.6.3

Cross-talk calibration procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Range profile phases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.1

Initialization/calibration phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3.2

Ranging phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

System initialization/calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.1

Data init . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4.2

Static Init . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4.3

Load calibration data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.3.1

Reference SPADs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4.3.2

Ref calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4.3.3

Offset calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4.3.4

Cross-talk correction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4.4

Device mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

4.5

Polling and interrupt mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Ranging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
5.1

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Ref calibration procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Offset calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.5.1

2.6

Reference SPADs calibration procedure . . . . . . . . . . . . . . . . . . . . . . . . . 6

Start a measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

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7

Contents
5.1.1

Start measurement only . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

5.1.2

Start measurement and wait for data ready . . . . . . . . . . . . . . . . . . . . . . 15

5.1.3

Start measurement, wait for data ready and report the data . . . . . . . . . 15

5.2

Stop a measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

5.3

Get a result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
5.3.1

Host polling to get the result status . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

5.3.2

Get measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

API useful additional functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
6.1

Overall timing budget . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

6.2

Limit settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

6.3

Timed ranging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

6.4

API versions and product revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

6.5

API state and API error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

6.6

I2C device address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

6.7

Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

6.8Interrupt settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Example API range profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
7.1High accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

7.2

Long range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

7.3High speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

8

Acronyms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

9

Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

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Overview1

UM2039Overview
VL53L0X API is based on Photonic Abstraction Layer (PAL) specification. API is defined as
the implementation of the PAL.
The API exposes high level functions to be used by the customer application to control thedevice.

Note:

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Initial customer manufacturing calibration

Initial customer manufacturing calibration
There is an initial, once only, calibration step required that should be applied at customer
level during the manufacturing process. This flow takes into account all parameters (coverglass, temperature & voltage) from the application.
The customer manufacturing calibration flow is described in Figure 2 below.
Figure 2. Customer manufacturing calibration flow

DataInit

Deviceinitialization~40ms*

Calibration
data

SPADs
calibration~10ms*

Calibration
data

Temperature
calibration~40ms*

Offsetcalibration~300ms*

CrossTalk
calibration~1sec*

StaticInit

Calibrationdata

Calibration
data

Key
Host action

Host calls API
function

Calibration
data - Host

Calibration
Data result

Targetneeded* : Timings are given for information only, they can varydepending on the Host capabilities

The following sections detail the API function calls required to perform the initial systemcalibration.

2.1

Data init
VL53L0X_DataInit() function is called one time, and it performs the device initialization.
To be called once and only once after device is brought out of reset.

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Initial customer manufacturing calibration

2.2

UM2039Static Init
VL53L0X_StaticInit() function allows to load device settings specific for a given use
case.

2.3

Reference SPADs calibration
In order to optimize the dynamic of the system, the reference SPADs have to be calibrated.
This step is performed on the bare modules during Final Module Test at STMicroelectronics,
and the calibration data (SPAD numbers and type) are stored into the device NVM.
In case a cover glass is used on top of VL53L0X, the reference SPADs have to be recalibrated by the customer.
Reference SPAD calibration needs to be done only once during the initial manufacturingcalibration, calibration data should then be stored on the Host.
When calibration is performed and calibration data is available on the Host, the data can beloaded without re-performing the calibration.
These functions can be called after VL53L0X_StaticInit(). It has to be done before Ref
Calibration, VL53L0X_PerformRefCalibration().

2.3.1

Reference SPADs calibration procedure
No particular conditions have to be used. The calibration does not require specific target or
lighting conditions.
The following procedure has to be performed:••

Call VL53L0X_PerformRefSpadManagement()–

This function outputs the number and type of reference SPADs to be used.

–

At the end of this function, the reference SPADs number and type is programmedin the device.

Host has to store these 2 values. See Section 4.3.1 for loading calibration data from
Host.

Note:

If a highly reflective target is covering the VL53L0X module during reference SPAD
calibration, too much signal will be received on the reference array and the calibration may
fail, reporting a ‘-50’ status code. In this case, user has to remove the target away fromdevice2.4

Ref (temperature) calibration
Ref calibration is the calibration of two parameters (VHV and phase cal) which aretemperature dependent. These two parameters are used to set the device sensitivity.
Ref calibration allows the adjustment of the device sensitivity when temperature varies.
Ref calibration must be performed during initial manufacturing calibration, it should be
performed again when temperature varies more than 8degC compared to the initial
calibration temperature.
If temperature does not vary, the ref calibration data can be loaded without re-performing
the calibration procedure.

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2.4.1

Initial customer manufacturing calibration

Ref calibration procedure
User has two options:
1.

Perform the calibration after VL53L0X_PerformRefSPADManagement,by calling
VL53L0X_PerformRefCalibration().

2.

If user wants to improve the boot time, they can load only the calibration parameters
after VL53L0X_PerformRefSPADManagement by using
VL53L0X_SetRefCalibration(). This assumes that user has previously
performed a calibration and stored the two parameters in the Host memory. See
Section 4.3.2.

There is no specific setup needed to perform ref calibration. It has only to be done before
offset and cross-talk calibrations, after Reference SPADs management and before the first
ranging is performed.

2.5

Offset calibration
Range offset is performed during Final Module Test at STMicroelectronics, and the offset isstored into the device NVM.
For some cases, it can appear that the value programmed in the NVM is not correct. Thiscan happen when the customer is using a cover window. In this case, ranging can beaffected by an offset, due to the cover window and so the customer should perform a newoffset calibration on its manufacturing line.

2.5.1

2.6

Offset calibration procedure•

Recommendation is to use a white (88%reflectance) target at 100mm, in a dark
environment. Target distance can be changed depending on customer’s constraints,
but it has to be chosen in the linear part of the ranging curve.

•

Both Reference SPADs and Ref calibrations have to be performed before calling offset
calibration.

•

A dedicated API function has to be called to compute the offset:
VL53L0X_PerformOffsetCalibration().

•The output of this function is the offset calibration value, in micrometers.

•

Offset calibration value has to be stored into Host memory. See Section 4.3.3 forloading calibration data from Host.

Cross-talk calibration
This section presents the effect of the cover window on ranging, and proposes a method forcross-talk calibration.

2.6.1

Cover window impact on ranging
The ranging performance is dependent on the quality of the cover window. Figure 3 shows
the cover window impact on ranging with low, medium and high cross-talk.
The ideal curve (with no cover window) is the green dotted line.

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Initial customer manufacturing calibration

UM2039Figure 3. Cover window impact on ranging

The cross-talk correction is basically a weighted gain applied to the ranging data, based ona calibration result.
Correcting low cross-talk is easier than correcting high cross-talk.

2.6.2

Cross-talk calibration distanceThe calibration distance is dependent on the quality of the cover window. Low cross-talk orhigh cross-talk calibration cannot be performed at the same distance.
The starting point of the valid distance to perform cross-talk calibration is when the actual
signal starts to deviate from the ideal curve.
If the cross-talk calibration is performed in the linear area of the ranging curve, thecorrection factor will be too low, and the correction will have almost no effect.
The valid distance ends when the signal is starting to be too low (ranging distance starting todecrease).
Figure 4: Cross-talk calibration valid distances gives an example of exclusion areas where
the cross-talk correction should not be performed.
In this figure, the valid distance for cross-talk calibration is from point A to point B.

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Initial customer manufacturing calibration
Figure 4. Cross-talk calibration valid distances

2.6.3

Cross-talk calibration procedure
The following procedure has to be performed:

Note:

•

Perform Offset calibration, refer to Section 2.5: Offset calibration•

Choose the calibration distance, based on a ranging with cover window to be used, as
described in Section 2.6.2: Cross-talk calibration distance.

•

Use a grey 17% reflectance target.

•

Call the API calibration function: VL53L0X_PerformXTalkCalibration().

•

The input of this function is the calibration distance in millimeters.

•

The output is the cross-talk factor. This has to be stored on Host memory.

•

The function applies and enables the cross-talk correction.

•

Store the cross-talk factor on the Host memory. See Section 4.3.4 for loading
calibration data from Host.

The API function VL53L0X_PerformXTalkCalibration() performs several
measurements, means and computation. Nothing has to be done on the Host side, except
calling this function, all is performed by the API.

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Range profile phases

3

UM2039Range profile phases
This section describes the 3 phases that are required to perform the first range
measurement after reset, using the VL53L0X.
There are 3 phases:• Initialization & load calibration data
• Ranging• Digital housekeeping - see Section 6.2: Limit settings.

3.1

Initialization/calibration phase
The initialization/calibration flow is described in Figure 5: Initialization flow on page 11.
All initialization functions are defined in Section 4: System initialization/calibration on
page 13.
initialization/calibration phase should be run only after reset or system/setup change.

3.2

Ranging phase
The ranging flow is described in Figure 6: VL53L0X API ranging flow on page 12.
The first range measurement (after reset) has to be preceded by an initialization andcalibration flow.
Basic functions used in the ranging flow are described in Section 5: Ranging on page 15.

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Range profile phases
Figure 5. Initialization flow

DataInit

Deviceinitialization~40ms*

Calibration dataloading~1ms*

System settings~1ms*

StaticInit
Calibrationdata
Calibration
Data

Calibrationdata
Calibration
data
Additional or
Optional Settings

SetDeviceMode
SetGPIORANGINGKey
Host action

Host calls API
function

Calibration
data - Host

* : Timings are given for information only, theycan vary depending on the Host capabilities

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HOST POLLINGCONTINUE

GetStopCompletedStatus

End

Data

GetRangingMeasurementD
ata

HOST POLLING

GetMeasuremenDataReady

StartContinuous

POLLINGNG

INTERRUPT
INT

Data

End

Interrupt cleared

ata

CONTINUE

Data

GetRangingMeasu rementD
ata

GetRangingMeasurementD

Interrupt received

StartContinuous

Polling/interrup t

CONTINUOUS & TIMED

Clear interrupt

Data

1- StartSingleMeas
2- WaitDataReady(on Ranging Status)
3- GetValueAPI POLLINGCONTINUOUS /SINGLE

Data

GetRangingMeasu rementD
ata

1- StartSingleMeas
2- WaitDataReady(on Ranging Status)

API POLLINGHOST / API

StartSingleRanging

HOST POLLING

GetRangingMeasu rementD
ata
Data

Data result

POLLING / INTERRUPTHOST POLLING

function

Host calls API

GetMeasuremenDataReady

POLLINGSINGLE

Host action

KeyInterru pt cleared

Data

GetRangingMeasu remenDataInterrupt received

StartSingleMeas

INTERRUPT

API internal action

Range profile phases
UM2039Figure 6. VL53L0X API ranging flowUM2039

4

System initialization/calibration

System initialization/calibration
The following section shows the API function calls required to perform the system
initialization, before starting the first range measurement after reset.

4.1

Data init
VL53L0X_DataInit() function is called one time, and it performs the device initialization.
To be called once and only once after device is brought out of reset.

4.2

Static Init
VL53L0X_StaticInit() function allows to load device settings specific for a given use
case.

4.3

Load calibration data

4.3.1

Reference SPADs
VL53L0X_SetReferenceSpads() and VL53L0X_GetReferenceSpads() can be used
to set/get the number and type of reference SPADs.
If the calibration has not been performed (using
VL53L0X_PerformRefSpadManagement()), or if the Host has not programmed thenumber and type of SPADs (using VL53L0X_SetReferenceSpads()),
VL53L0X_GetReferenceSpads() will return the number and type of reference SPADs
programmed into the device NVM.

4.3.2

Ref calibration
Load calibration parameters by using VL53L0X_SetRefCalibration(). This assumes
that user has previously performed a calibration and stored the two parameters in the Host
memory.

4.3.3

Offset calibration
Host has to load the offset calibration data at each startup of the device.
The offset value expressed in micrometers has to be set in the device using API function:
VL53L0X_SetOffsetCalibrationDataMicroMeter()

4.3.4

Cross-talk correction
In a standard usage, the Host will have to program the cross-talk correction factor andenable the cross-talk correction.
The correction factor is the result of the calibration and has to be stored in the Host.

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System initialization/calibration

UM2039Cross-talk correction value can be set using the API function
VL53L0X_SetXTalkCompensationRateMegaCps(), and is enabled using
VL53L0X_SetXTalkCompensationEnable().

4.4

Device mode
VL53L0X_SetDeviceMode() selects one of the following modes of operation:•

Single Ranging•

Continuous Ranging•

Continuous Timed Ranging

VL53L0X_GetDeviceMode()is used to know which mode is actually programmed.
These modes are described in the VL53L0X datasheet.

4.5

Polling and interrupt mode
Once a measurement is ready, the Host either receives an interrupt or poll on ameasurement status.
VL53L0X_SetGPIOConfig() function configures the system interrupt mode.
Interrupt options and modes of operation are described in a Section 5: Ranging.

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Ranging5

Ranging

5.1

Start a measurement
The API allows to get a measurement in different ways, depending on the user
requirements:

5.1.1

•

Start measurement only•

Start measurement and wait for data ready•Start measurement, wait for data ready and report the data

Start measurement only
VL53L0X_StartMeasurement() function must be called to start a measurement. The
device will start a measurement using the chosen mode (single or continuous)

5.1.2

Start measurement and wait for data ready
VL53L0X_PerformSingleMeasurement() function starts a measurement and waits fordata ready, by polling on the ranging status or on the interrupt status.
The 2 following API functions are called internally:

•
•

5.1.3

VL53L0X_StartMeasurement()
VL53L0X_GetMeasurementDataReady()

Start measurement, wait for data ready and report the data
VL53L0X_PerformSingleRangingMeasurement() function starts a measurement,
waits for data ready (by polling on the ranging status or on the interrupt status) and reports
the data. This function also clears the interrupt after the measurement.
The 3 following API functions are called internally:

•
•
•

5.2

VL53L0X_PerformSingleMeasurement()
VL53L0X_GetRangingMeasurementData()
VL53L0X_ClearInterruptMask()

Stop a measurement
In continuous mode, Host can stop the measurement by calling
VL53L0X_StopMeasurement() function.
If the stop request occurs during a range measurement, then the measurement iscompleted before stopping. If it occurs during the inter-measurement period then the stop
command takes immediate effect.
If the user wants to call an additional API function after the stop command (for example reftemperature calibration if required - see Section 2.4), they have to ensure that the current
ranging measurement is finished first.
Therefore it is recommended to call VL53L0X_GetStopCompletedStatus() and poll
this function to ensure that the ranging measurement is completed, before calling additional
API functions.

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Ranging

UM20395.3

Get a result

5.3.1

Host polling to get the result status
VL53L0X_GetMeasurementDataReady() function allows the Host to get a status on theongoing measurement.

5.3.2

Get measurement
VL53L0X_GetRangingMeasurementData() function returns the ranging data.
The function returns a buffer which contains the following:
RangeMilliMeter
RangeDMaxMilliMeter:SignalRateRtnMegaCps
AmbientRateRtnMegaCps
EffectiveSpadRtnCount
RangeStatus: Refer to Table 1
Table 1. Range Status

RangeStatus
value

RangeStatus
String0

Range Valid

Ranging measurement is valid

1

Sigma Fail

Sigma fail will trigger particularly in ambient light, when the amount of ambient
light is adding too much noise onto the ranging measurement.

2

Signal Fail

Signal fail will trigger when the return signal is too low to give enoughconfidence on the range measured. The limit will be given by either the signal
limit or the RIT (Range Ignore Threshold).

3

Min Range Fail

4

Phase Fail

5

Hardware Fail255

No UpdateComment

Not enabled as default.
Phase fail will trigger when wraparound conditions are detected or when noise
on signal is too high.
Hardware Fail will trigger if a VCSEL failure, or VHV fail are detected.
This error should not trigger.

Ranging status string is available by calling VL53L0X_GetRangeStatusString()
function
Note:

VL53L0X_GetDeviceErrorStatus()function shall be called only for debug purposes. It
should not be used, unless requested by ST to customer.

Note:

SignalRateRtnMegaCps includes the crosstalk correction (if the correction is enabled). If theuser wants to get the signal rate without crosstalk correction, they can call
VL53L0X_GetTotalSignalRate() function.

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API useful additional functions

6

API useful additional functions

6.1

Overall timing budget
The timing budget is the time allocated by the user to perform one range measurement. The
API takes care of splitting this timing budget into dedicated sub steps in the ranging process.
The user only has to set the overall timing budget in micro seconds, and the function
allocates the timings internally. A check is performed to know which part of the scheduler isenabled or disabled, in order to maximize Final Range timing budget.
VL53L0X_SetMeasurementTimingBudgetMicroSeconds()and
VL53L0X_GetMeasurementTimingBudgetMicroSeconds()
The default timing budget value is 33ms, while the minimum is 20ms.
Example of use:
Status =VL53L0X_SetMeasurementTimingBudgetMicroSeconds(pMyDevice,66000) sets
the overall timing budget to 66ms.

Note:

Increasing the timing budget increases the range measurement accuracy.
That is: x N on timing budget => standard deviation / square root of N.
For example is the timing budget is increased by a factor of x 2, then the range
measurement standard deviation decreases by square root of 2.

6.2

Limit settings
User can enable/disable limit checks and values.
Disabling or relaxing these limits can allow longer ranging, in this case, standard deviation
will increase and measurement outliers will be received by the Host.
Applicable limits are:•Sigma:
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE

Sigma is the time difference (shift) between the reference and return SPAD arrays. As
Sigma represents time of flight and this translates to distance, this parameter is expressedin mm.
•

Return Signal Rate
VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE

Return signal rate measurement, expressed in MCPS. This represents the amplitude of thesignal reflected from the target and detected by the device.
•

Range Ignore Threshold
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD

Signal rate minimum threshold. Measurements with signal rates below this value are
ignored. This ensures that false measurements are not made due to reflection from thehousing.

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UM2039Use VL53L0X_SetLimitCheckEnable() and VL53L0X_GetLimitCheckEnable() toenable/disable a limit.
The limit value is set using VL53L0X_SetLimitCheckValue() and
VL53L0X_GetLimitCheckValue().
Two additional functions give access to the current value and state against which the limit iscompared:
VL53L0X_GetLimitCheckCurrent() and VL53L0X_GetLimitCheckStatus()
Table 2 gives the default limit states and values.
Table 2. Default limit states and values
Limit ID

Default limit state

Default limit value

Sigma

Enabled18mm

Return Signal

Enabled

0.25Mcps

Range Ignore Threshold

Disabled

N x Xtalk Mcps/spadwhere N = 1.5 by default

Example of use:

Status = VL53L0X_SetLimitCheckEnable(pMyDevice,
VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);
Status = VL53L0X_SetLimitCheckValue(pMyDevice,
VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 0.40*65536);
The current sigma value (the actual one, not the limit) can be accessed by calling:
Status = VL53L0X_GetLimitCheckCurrent(pMyDevice,
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, &Sigma);

6.3

Timed ranging
When the ranging mode is set to timed ranging, user has to define the period of time
between two consecutive measurements.
VL53L0X_SetInterMeasurementPeriodMilliSeconds()and
VL53L0X_GetInterMeasurementPeriodMilliSeconds()

6.4

API versions and product revision
User can get the API version and the PAL specification version.
VL53L0X_GetVersion()
VL53L0X_GetPalSpecVersion()
VL53L0X_GetProductRevision() functions returns the device cut ID.

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6.5

API useful additional functions

API state and API error
VL53L0X_GetPalState() function gives the state of the API. All different states are
given in Table 3.
VL53L0X_GetPalStateString() function returns the status string.
Table 3. API state description
API statevalue

API state string

Comment

0

POWERDOWN state

Device is in HW reset

1

Wait for StaticInit State

Device is initialized and wait for static initialization

2

STANDBY State

Device is in low power Standby mode

3

IDLE State

Not used

4

RUNNING State

Device is performing measurement

98

UNKNOWN State

Device is in unknown state and needs to be rebooted

99

ERROR State

Device is in error state and needs to be rebooted

An API error code is reported when any API function is called. Possible values for API errors
are described in Table 4.
VL53L0X_GetPalErrorString() function returns the error string.
Table 4. API error values and error strings description
API
error
value

API error string

Occurrence

Possible root cause

0

No Error---1

Calibration
warning error

Not implemented, cannot happen N/A-2

Min clipped error

Not implemented, cannot happen N/A-3

Undefined error

Not implemented, cannot happen N/A-4

Invalid parameters Parameter passed is invalid orerror
out of range

Wrong API programming (wrong setting used), or
I2C transaction corrupted-5

Not supported
error

Function is not supported incurrent mode or configuration

Wrong API programming (non implemented
function called), or I2C transaction corrupted-6

Range error

Device reports a ranging error
interrupt status

Wrong API programming (syntax error), or notarget present during offset calibration, or I2C
transaction corrupted-7

Time out error

Aborted due to time out

Device is functionally failing, or I2C transaction
corrupted-8Mode notsupported error

Requested mode is notsupported by the device

Wrong API programming (non existent mode
called), or I2C transaction corrupted-9

Buffer too small

Cannot happen

N/A

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UM2039

Table 4. API error values and error strings description (continued)
API
error
value

API error string-10

GPIO not existing

User tried to set up a non-existing Wrong API programming (wrong setting used), or
GPIO pin
I2C transaction corrupted-11

GPIO functionality
not supported

Unsupported GPIO functionality

Wrong API programming (wrong setting used), or
I2C transaction corrupted-20

Control Interface
Error

Error reported from IO functions(comm error)

I2C comm error-30

Invalid Command
Error

Cannot happen

N/A

-40

Division by zero
Error

Cannot occur in cut1.1

N/A

-50

Reference SPAD
Init Error

Error during reference SPAD
initialization

Bad NVM programming, module aperture blockedwith high reflective target, I2C transaction
corrupted (wrong programming)-99

Not implemented
error

Not implemented

N/A

6.6

Occurrence

Possible root cause

I2C device address
User can change the I2C address of the device.

VL53L0X_SetDeviceAddress()

6.7

Reset
This functions resets the device and waits for the boot up.
VL53L0X_ResetDevice()

6.8

Interrupt settings
Use VL53L0X_SetGpioConfig()and VL53L0X_GetGpioConfig() to set/get thefunctionality of the interrupt.
Options are:•

No Interrupt•

Level Low (value < thresh_low)•

Level High (value > thresh_high)•

Out Of Window (value < thresh_low OR value > thresh_high)There is a dedicated procedure embedded in the API for when the interrupt threshold is
programmed to be larger than 254mm and also set to continuous or continuous timed mode.
In this case some specific tuning parameters are loaded by the API at each ranging start
which will introduce a delay of a few milliseconds (depending on the host I2C performance)
to the very first ranging measurement.

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In single ranging mode, the maximum programmable threshold is 254mm.
The interrupt threshold behaviour is described in Table 5.
Table 5. Interrupt threshold behaviour
Interrupt options

Ranging distance Threshold value

Level Low

Level High

Ranging mode

GPIO state> thresh_low-

allno interrupt< thresh_low

thresh_low <
254mm

all

interrupt at GPIO

< thresh_low

thresh_low >254mm

continuous orcontinuous timed

interrupt at GPIO

< thresh_low

thresh_low >254mm

singleno interrupt(limitation)< thresh_high-allno interrupt> thresh_highthresh_high <
254mm

all

interrupt at GPIO

> thresh_highthresh_high >
254mm

continuous orcontinuous timed

interrupt at GPIO

> thresh_highthresh_high >254mm

singleno interrupt(limitation)

VL53L0X_SetInterruptThresholds()and
VL53L0X_GetInterruptThresholds()allow to set/get the interrupt thresholds.
After reading a measurement, host has to clear the interrupt byusing the following function.
VL53L0_ClearInterruptMask()
VL53L0X_ClearInterruptMask()and VL53L0X_GetInterruptMaskStatus()allow
to set/get the interrupt.
Example code is provided within the API release to help the implementation of interrupt
settings on the host.
Note:

In Table 5, ranging mode all = continuous, continuous timed and single ranging

Note:

There is no interrupt generated if no target is detected in threshold high mode (with any
threshold value).

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Example API range profiles

7

UM2039

Example API range profiles
There are 4 range profiles available via API example code.
Table 6. Example API range profiles

7.1

Timing budget

Typical max
range

Typical application

Default mode

30ms

1.2m (white target)

standard

High accuracy

200ms

1.2m (white target) precise measurement

Long range

33ms

2m (white target)

long ranging, only fordark conditions

High Speed

20ms

1.2m (white target)

high speed whereaccuracy is not priority

High accuracy
The following settings have to be applied, before ranging:if (Status == VL53L0_ERROR_NONE) {Status = VL53L0_SetLimitCheckValue(pMyDevice,
VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,(FixPoint1616_t)(0.25*65536));}
if (Status == VL53L0_ERROR_NONE) {Status = VL53L0_SetLimitCheckValue(pMyDevice,
VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE,(FixPoint1616_t)(18*65536));}
if (Status == VL53L0_ERROR_NONE) {Status =VL53L0_SetMeasurementTimingBudgetMicroSeconds(pMyDevice,200000);}

7.2

Long range
The following setting have to be applied, before ranging:if (Status == VL53L0_ERROR_NONE) {Status = VL53L0_SetLimitCheckValue(pMyDevice,
VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,(FixPoint1616_t)(0.1*65536));
}

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if (Status == VL53L0_ERROR_NONE) {Status = VL53L0_SetLimitCheckValue(pMyDevice,
VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE,(FixPoint1616_t)(60*65536));}
if (Status == VL53L0_ERROR_NONE) {Status =VL53L0_SetMeasurementTimingBudgetMicroSeconds(pMyDevice,
33000);}
if (Status == VL53L0_ERROR_NONE) {Status = VL53L0_SetVcselPulsePeriod(pMyDevice,
VL53L0_VCSEL_PERIOD_PRE_RANGE, 18);}
if (Status == VL53L0_ERROR_NONE) {Status = VL53L0_SetVcselPulsePeriod(pMyDevice,
VL53L0_VCSEL_PERIOD_FINAL_RANGE, 14);}7.3

High speed
The following setting have to be applied, before ranging:if (Status == VL53L0_ERROR_NONE) {Status = VL53L0_SetLimitCheckValue(pMyDevice,
VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,(FixPoint1616_t)(0.25*65536));}
if (Status == VL53L0_ERROR_NONE) {Status = VL53L0_SetLimitCheckValue(pMyDevice,
VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE,(FixPoint1616_t)(32*65536));}
if (Status == VL53L0_ERROR_NONE) {Status =VL53L0_SetMeasurementTimingBudgetMicroSeconds(pMyDevice,20000);}DocID029105 Rev 1

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Acronyms and abbreviations

8

UM2039Acronyms and abbreviations
Table 7. Acronyms and abbreviations
Acronym/ abbreviation

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Definition

I2C

Inter-integrated circuit (serial bus)

NVM

Non volatile memory

SPAD

Single photon avalanche diode

VCSEL

Vertical cavity surface emitting laser

PAL

Photonic Abstraction Layer

API

Application Program Interface

FMT

Final Module Test

XTALK

Cross-talk

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9

Revision history

Revision history
Table 8. Document revision history
Date

Revision

02-Jun-2016

1

Changes
Initial release.

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