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 fast
development 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

References
1. VL53L0X Datasheet (DS11555)

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Contents UM2039

Contents

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 Reference SPADs calibration procedure . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.4 Ref (temperature) calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.4.1 Ref calibration procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.5 Offset calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.5.1 Offset calibration procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.6 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

3 Range profile phases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3.1 Initialization/calibration phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2 Ranging phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

4 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

5 Ranging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
5.1 Start a measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

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UM2039 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

6 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
6.8 Interrupt settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

7 Example API range profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

7.1 High accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
7.2 Long range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
7.3 High speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

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

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

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Overview UM2039

1 Overview

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 the
device.
Note: Full API documentation is available, as part of the API package, in chm and pdf formats.

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UM2039 Initial customer manufacturing calibration

2 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 (cover
glass, temperature & voltage) from the application.
The customer manufacturing calibration flow is described in Figure 2 below.

Figure 2. Customer manufacturing calibration flow

DataInit
Device
~40ms*
initialization
StaticInit

Calibration SPADs
data ~10ms*
calibration

Calibration Temperature
data ~40ms*
calibration

Offset
~300ms*
Calibration calibration
data

CrossTalk
~1sec*
Calibration calibration
data

Key

Host action Host calls API Target

function needed

Calibration Calibration
data - Host Data result

* : Timings are given for information only, they can vary

depending on the Host capabilities

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

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 UM2039

2.2 Static 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 re-
calibrated by the customer.
Reference SPAD calibration needs to be done only once during the initial manufacturing
calibration, calibration data should then be stored on the Host.
When calibration is performed and calibration data is available on the Host, the data can be
loaded 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 programmed
in 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 from
device

2.4 Ref (temperature) calibration

Ref calibration is the calibration of two parameters (VHV and phase cal) which are
temperature 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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UM2039 Initial customer manufacturing calibration

2.4.1 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 is
stored into the device NVM.
For some cases, it can appear that the value programmed in the NVM is not correct. This
can happen when the customer is using a cover window. In this case, ranging can be
affected by an offset, due to the cover window and so the customer should perform a new
offset calibration on its manufacturing line.

2.5.1 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 for
loading calibration data from Host.

2.6 Cross-talk calibration

This section presents the effect of the cover window on ranging, and proposes a method for
cross-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 UM2039

Figure 3. Cover window impact on ranging

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

2.6.2 Cross-talk calibration distance

The calibration distance is dependent on the quality of the cover window. Low cross-talk or
high 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, the
correction 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 to
decrease).
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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UM2039 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:
• 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.
Note: 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 UM2039

3 Range 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 and
calibration flow.
Basic functions used in the ranging flow are described in Section 5: Ranging on page 15.

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UM2039 Range profile phases

Figure 5. Initialization flow

DataInit Device
~40ms*
initialization
StaticInit

Calibration
data

Calibration
Data Calibration data ~1ms*
loading
Calibration
data

Calibration
data

Additional or
Optional Settings
System settings ~1ms*
SetDeviceMode
SetGPIO

RANGING Key

Host action Host calls API

function

Calibration
data - Host

* : Timings are given for information only, they

can vary depending on the Host capabilities

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 Key

12/26
Host action Host calls API
Data result API internal action
function

CONTINUOUS /
CONTINUOUS & TIMED SINGLE
SINGLE
Range profile phases

POLLING POLLING / INTERRUPT

Polling/interrup t

POLLING
NG INTERRUPT
INT

INTERRUPT
HOST / API

StartContinuous StartContinuous
API POLLING HOST POLLING
API POLLING

GetMeasuremenDataReady Interrupt received

StartSingleRanging StartSingleMeas
HOST POLLING 1- StartSingleMeas
GetRangingMeasurementD 1- StartSingleMeas
2- WaitDataReady 2- WaitDataReady
ata (on Ranging Status)
GetRangingMeasurementD (on Ranging Status)
ata 3- GetValue
GetMeasuremenDataRead Interrupt received
Data
Data CONTINUE y

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Data
CONTINUE GetRangingMeasu reme
GetRangingMeasu rementD HOST POLLING nData
Interrupt cleared
ata
Clear interrupt
GetRangingMeasu rementD
ata Data
Data
Data
End

End Interru pt cleared

Figure 6. VL53L0X API ranging flow

GetRangingMeasu rementD
ata

GetStopCompletedStatus
Data
HOST POLLING
UM2039
UM2039 System initialization/calibration

4 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 the
number 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 and
enable 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 UM2039

Cross-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 a
measurement 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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UM2039 Ranging

5 Ranging

5.1 Start a measurement

The API allows to get a measurement in different ways, depending on the user
requirements:
• Start measurement only
• Start measurement and wait for data ready
• Start measurement, wait for data ready and report the data

5.1.1 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 for
data ready, by polling on the ranging status or on the interrupt status.
The 2 following API functions are called internally:
• VL53L0X_StartMeasurement()
• VL53L0X_GetMeasurementDataReady()

5.1.3 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:
• VL53L0X_PerformSingleMeasurement()
• VL53L0X_GetRangingMeasurementData()
• VL53L0X_ClearInterruptMask()

5.2 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 is
completed 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 ref
temperature 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 UM2039

5.3 Get a result

5.3.1 Host polling to get the result status

VL53L0X_GetMeasurementDataReady() function allows the Host to get a status on the
ongoing 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 RangeStatus
Comment
value String

0 Range Valid Ranging measurement is valid

Sigma fail will trigger particularly in ambient light, when the amount of ambient
1 Sigma Fail
light is adding too much noise onto the ranging measurement.
Signal fail will trigger when the return signal is too low to give enough
2 Signal Fail confidence on the range measured. The limit will be given by either the signal
limit or the RIT (Range Ignore Threshold).
3 Min Range Fail Not enabled as default.
Phase fail will trigger when wraparound conditions are detected or when noise
4 Phase Fail
on signal is too high.
5 Hardware Fail Hardware Fail will trigger if a VCSEL failure, or VHV fail are detected.
255 No Update 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 the
user wants to get the signal rate without crosstalk correction, they can call
VL53L0X_GetTotalSignalRate() function.

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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 is
enabled 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 expressed
in mm.
• Return Signal Rate
VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE
Return signal rate measurement, expressed in MCPS. This represents the amplitude of the
signal 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 the
housing.

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API useful additional functions UM2039

Use VL53L0X_SetLimitCheckEnable() and VL53L0X_GetLimitCheckEnable() to

enable/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 is
compared:
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 Enabled 18mm

Return Signal Enabled 0.25Mcps
N x Xtalk Mcps/spad
Range Ignore Threshold Disabled
where 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 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 state
API state string Comment
value

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 API error string Occurrence Possible root cause
value

0 No Error - -
Calibration
-1 Not implemented, cannot happen N/A
warning error
-2 Min clipped error Not implemented, cannot happen N/A
-3 Undefined error Not implemented, cannot happen N/A
Invalid parameters Parameter passed is invalid or Wrong API programming (wrong setting used), or
-4
error out of range I2C transaction corrupted
Not supported Function is not supported in Wrong API programming (non implemented
-5
error current mode or configuration function called), or I2C transaction corrupted
Wrong API programming (syntax error), or no
Device reports a ranging error
-6 Range error target present during offset calibration, or I2C
interrupt status
transaction corrupted
Device is functionally failing, or I2C transaction
-7 Time out error Aborted due to time out
corrupted
Mode not Requested mode is not Wrong API programming (non existent mode
-8
supported error supported by the device called), or I2C transaction corrupted
-9 Buffer too small Cannot happen N/A

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

API
error API error string Occurrence Possible root cause
value

User tried to set up a non-existing Wrong API programming (wrong setting used), or
-10 GPIO not existing
GPIO pin I2C transaction corrupted
GPIO functionality Wrong API programming (wrong setting used), or
-11 Unsupported GPIO functionality
not supported I2C transaction corrupted
Control Interface Error reported from IO functions
-20 I2C comm error
Error (comm error)
Invalid Command
-30 Cannot happen N/A
Error
Division by zero
-40 Cannot occur in cut1.1 N/A
Error
Bad NVM programming, module aperture blocked
Reference SPAD Error during reference SPAD
-50 with high reflective target, I2C transaction
Init Error initialization
corrupted (wrong programming)
Not implemented
-99 Not implemented N/A
error

6.6 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 the
functionality 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 Ranging mode GPIO state
> thresh_low - all no interrupt
thresh_low <
< thresh_low all interrupt at GPIO
254mm
Level Low thresh_low > continuous or
< thresh_low interrupt at GPIO
254mm continuous timed
thresh_low > no interrupt
< thresh_low single
254mm (limitation)
< thresh_high - all no interrupt
thresh_high <
> thresh_high all interrupt at GPIO
254mm
Level High thresh_high > continuous or
> thresh_high interrupt at GPIO
254mm continuous timed
thresh_high > no interrupt
> thresh_high single
254mm (limitation)

VL53L0X_SetInterruptThresholds()and
VL53L0X_GetInterruptThresholds()allow to set/get the interrupt thresholds.
After reading a measurement, host has to clear the interrupt by
using 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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7 Example API range profiles

There are 4 range profiles available via API example code.

Table 6. Example API range profiles

Typical max
Timing budget Typical application
range

Default mode 30ms 1.2m (white target) standard

High accuracy 200ms 1.2m (white target) precise measurement
long ranging, only for
Long range 33ms 2m (white target)
dark conditions
high speed where
High Speed 20ms 1.2m (white target)
accuracy is not priority

7.1 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);
}

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8 Acronyms and abbreviations

Table 7. Acronyms and abbreviations

Acronym/ abbreviation 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

Table 8. Document revision history

Date Revision Changes

02-Jun-2016 1 Initial release.

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