Is the stmduino VL53L1 library only supposed to be used for a single sensor?

[gramcracker]

Using this library, I can configure 2 sensors at once, but if I call VL53L1_StartMeasurement for both sensors then I get errors when trying to get ranging data from either of them.
These errors:

#define VL53L1_ERROR_ZONE_STREAM_COUNT_CHECK_FAIL      ((VL53L1_Error) - 20)
/*!<  Zone dynamic config stream count check failed - API out of sync */
#define VL53L1_ERROR_ZONE_GPH_ID_CHECK_FAIL            ((VL53L1_Error) - 21)
/*!<  Zone dynamic config GPH ID check failed - API out of sync */

I already confirmed that I can set up and read from each one individually.

[fpistm]

Hi @gramcracker
Probably @cparata could answer this.

[cparata]

Hello @gramcracker ,
you can give a look at this example. First of all, you need to disable both sensors calling VL53L1_Off(); then you must assign a different I2C address to each sensor to avoid hardware conflicts, passing a different parameter to the InitSensor().
Best Regards,
Carlo

[gramcracker]

How can I get access to the 800 cm ranging? I have the vl53l1cbv0fy/1?

[gramcracker]

@cparata Initializing the sensors using that example doesn't seem to be working for me. It works with a single sensor, but not two.
It doesn't give any errors from the setup, even when I give this code only one sensor on the bus...
Here is my code:
`bool DoubleSensor::Initialize(Uart &port)
{

Log.info("Initializing Double Sided Sensor");
m_pModbus = new ModbusClient();

if (m_pModbus == nullptr)
{
    Log.errorln("Failed to create Modbus client");
    return false;
}

if (m_pModbus->Initialize(port) == false)
{
    Log.errorln("Failed to initialize Modbus client");
    return false;
}

DEV_I2C.begin();
DEV_I2C.setClock(400000);

// Configure TOF 1 as the front sensor
m_tofFront.xshut_pin = TOF1_XSHUT;
m_tofFront.address = TOF1_ADDRESS;
m_tofFront.name = "TOF Front";
m_tofFront.sensor_object = new VL53L1(&DEV_I2C, m_tofFront.xshut_pin);
m_tofFront.sensor_object->begin();
ShutdownSensor(m_tofFront);
delay(20);

// Configure TOF 2 as the back sensor
m_tofBack.xshut_pin = TOF2_XSHUT;
m_tofBack.address = TOF2_ADDRESS;
m_tofBack.name = "TOF Back";
m_tofBack.sensor_object = new VL53L1(&DEV_I2C, m_tofBack.xshut_pin);
m_tofBack.sensor_object->begin();
Log.noticeln("Shutting down Sensor %s", m_tofBack.name);
m_tofBack.sensor_object->VL53L1_Off();
delay(20);

Log.noticeln("Initializing Time-of-Flight sensors...");
pinMode(STATUS_LED, OUTPUT);
digitalWrite(STATUS_LED, HIGH);

// --- Configure sensors one by one ---
if (ConfigureSensor(m_tofFront) == false)
{
    return false;
}

if (ConfigureSensor(m_tofBack) == false)
{
    return false;
}

Log.noticeln("Device setup complete. Both sensors are ranging.");
digitalWrite(STATUS_LED, LOW);
return true;

}

bool Sensor::ConfigureSensor(TOF &tofSensor)
{
Log.noticeln("Configuring %s", tofSensor.name);

if (tofSensor.sensor_object == nullptr)
{
    return false;
}

VL53L1_Error status = tofSensor.sensor_object->InitSensor(tofSensor.address);
if (status != VL53L1_ERROR_NONE)
{
    Log.fatal("Failed to initialize %s. Status: %d. Halting.", tofSensor.name, status);
    while (1){;}
    return false;
}

Log.noticeln("%s address set to 0x%x", tofSensor.name, tofSensor.address);

status = tofSensor.sensor_object->VL53L1_SetDistanceMode(VL53L1_DISTANCEMODE_LONG);
if (status != VL53L1_ERROR_NONE)
{
    Log.errorln("Failed to set distance mode for %s", tofSensor.name);
    return false;
}

status = tofSensor.sensor_object->VL53L1_SetMeasurementTimingBudgetMicroSeconds(100000);
if (status != VL53L1_ERROR_NONE)
{
    Log.errorln("Failed to set timing budget for %s", tofSensor.name);
    return false;
}


VL53L1_RoiConfig_t roiConfig;
roiConfig.NumberOfRoi = 1; 

roiConfig.UserRois[0].TopLeftX = 6;
roiConfig.UserRois[0].TopLeftY = 9;
roiConfig.UserRois[0].BotRightX = 9;
roiConfig.UserRois[0].BotRightY = 6;

status = tofSensor.sensor_object->VL53L1_SetROI(&roiConfig);
if (status != VL53L1_ERROR_NONE)
{
    Log.errorln("Failed to set ROI for %s", tofSensor.name);
    return false;
}

status = tofSensor.sensor_object->VL53L1_StartMeasurement();
if (status != VL53L1_ERROR_NONE)
{
    Log.errorln("Failed to start measurement for %s", tofSensor.name);
    while (true)
    {
        ;
    }
    
    return false;
}

return true;

}

`

[cparata]

Hello @gramcracker ,
could you try this code:

#include <Arduino.h>
#include <Wire.h>
#include <vl53l1_class.h>
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdint.h>
#include <assert.h>
#include <stdlib.h>

#define DEV_I2C Wire
#define SerialPort Serial

#define LedPin 13
#define TOF1_FRONT_XSHUT 8
#define TOF1_BACK_XSHUT 7

// Components.
VL53L1 sensor_vl53l1_front(&DEV_I2C, TOF1_FRONT_XSHUT);
VL53L1 sensor_vl53l1_back(&DEV_I2C, TOF1_BACK_XSHUT);

/* Setup ---------------------------------------------------------------------*/

void setup()
{
   // Led.
   pinMode(LedPin, OUTPUT);

   // Initialize serial for output.
   SerialPort.begin(115200);
   SerialPort.println("Starting...");

   // Initialize I2C bus.
   DEV_I2C.begin();
   DEV_I2C.setClock(400000);

   // Configure VL53L1 top component.
   sensor_vl53l1_front.begin();

   // Switch off VL53L1 top component.
   sensor_vl53l1_front.VL53L1_Off();

   // Configure (if present) VL53L1 left component.
   sensor_vl53l1_back.begin();

   //Switch off (if present) VL53L1 left component.
   sensor_vl53l1_back.VL53L1_Off();

   //Initialize all the sensors
   sensor_vl53l1_front.InitSensor(0x10);
   sensor_vl53l1_back.InitSensor(0x12);

   // Start Measurements
   sensor_vl53l1_front.VL53L1_SetPresetMode(VL53L1_PRESETMODE_RANGING);
   sensor_vl53l1_front.VL53L1_StartMeasurement();
   sensor_vl53l1_back.VL53L1_SetPresetMode(VL53L1_PRESETMODE_RANGING);
   sensor_vl53l1_back.VL53L1_StartMeasurement();
}

void loop()
{
   VL53L1_MultiRangingData_t MultiRangingData;
   VL53L1_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
   uint8_t NewDataReady = 0;
   int no_of_object_found = 0, j;
   char report[64];
   int status;

   do
   {
      status = sensor_vl53l1_front.VL53L1_GetMeasurementDataReady(&NewDataReady);
   } while (!NewDataReady);

   //Led on
   digitalWrite(LedPin, HIGH);

   if((!status)&&(NewDataReady!=0))
   {
      status = sensor_vl53l1_front.VL53L1_GetMultiRangingData(pMultiRangingData);
      no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
      snprintf(report, sizeof(report), "VL53L1 Top: Count=%d, #Objs=%1d ", pMultiRangingData->StreamCount, no_of_object_found);
      SerialPort.print(report);
      for(j=0;j<no_of_object_found;j++)
      {
         if(j!=0)SerialPort.print("\r\n                               ");
         SerialPort.print("status=");
         SerialPort.print(pMultiRangingData->RangeData[j].RangeStatus);
         SerialPort.print(", D=");
         SerialPort.print(pMultiRangingData->RangeData[j].RangeMilliMeter);
         SerialPort.print("mm");
         SerialPort.print(", Signal=");
         SerialPort.print((float)pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0);
         SerialPort.print(" Mcps, Ambient=");
         SerialPort.print((float)pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
         SerialPort.print(" Mcps");
      }
      SerialPort.println("");
      if (status==0)
      {
         status = sensor_vl53l1_front.VL53L1_ClearInterruptAndStartMeasurement();
      }
   }

   digitalWrite(LedPin, LOW);

   NewDataReady = 0;
   no_of_object_found = 0;

   do
   {
      status = sensor_vl53l1_back.VL53L1_GetMeasurementDataReady(&NewDataReady);
   } while (!NewDataReady);

   //Led on
   digitalWrite(LedPin, HIGH);

   if((!status)&&(NewDataReady!=0))
   {
      status = sensor_vl53l1_back.VL53L1_GetMultiRangingData(pMultiRangingData);
      no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
      snprintf(report, sizeof(report), "VL53L1 Left: Count=%d, #Objs=%1d ", pMultiRangingData->StreamCount, no_of_object_found);
      SerialPort.print(report);
      for(j=0;j<no_of_object_found;j++)
      {
         if(j!=0)SerialPort.print("\r\n                                ");
         SerialPort.print("status=");
         SerialPort.print(pMultiRangingData->RangeData[j].RangeStatus);
         SerialPort.print(", D=");
         SerialPort.print(pMultiRangingData->RangeData[j].RangeMilliMeter);
         SerialPort.print("mm");
         SerialPort.print(", Signal=");
         SerialPort.print((float)pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0);
         SerialPort.print(" Mcps, Ambient=");
         SerialPort.print((float)pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
         SerialPort.print(" Mcps");
      }
      SerialPort.println("");
      if (status==0)
      {
         status = sensor_vl53l1_back.VL53L1_ClearInterruptAndStartMeasurement();
      }
   }

   digitalWrite(LedPin, LOW);
}

adapting the LedPin, TOF1_FRONT_XSHUT and TOF1_BACK_XSHUT defines to your hardware setup.
It should work without any issue.
Best Regards,
Carlo

[gramcracker]

Yes that code works.

VL53L1 Top: Count=198, #Objs=1 status=0, D=558mm, Signal=2.43 Mcps, Ambient=0.24 Mcps
VL53L1 Left: Count=198, #Objs=1 status=0, D=28mm, Signal=35.06 Mcps, Ambient=0.01 Mcps
VL53L1 Top: Count=199, #Objs=1 status=0, D=552mm, Signal=2.40 Mcps, Ambient=0.24 Mcps

I cannot get that to work using a separate class. When I do, the status returned from NumberOfObjectsFound is always either -21 or -20 when using 2 sensors, and it says that there is 255 objects detected.

[gramcracker]

I figured it out. It was the addresses
I had this:

const uint8_t TOF1_ADDRESS =  0x2A;
const uint8_t TOF2_ADDRESS = 0x2B;

Which didn't work. This did:

const uint8_t TOF1_ADDRESS =  0x30;
const uint8_t TOF2_ADDRESS = 0x32;

[cparata]

I figured it out. It was the addresses I had this:

const uint8_t TOF1_ADDRESS =  0x2A;
const uint8_t TOF2_ADDRESS = 0x2B;

Which didn't work. This did:

const uint8_t TOF1_ADDRESS =  0x30;
const uint8_t TOF2_ADDRESS = 0x32;

Hello @gramcracker ,
this is normal. Consider that the I2C address is in 8bits format, so you cannot use 2 consecutive numbers because the even one is used to write and the odd one to read on the same device. So, to avoid conflicts, you must use 2 addresses with at least a difference of 2 units as you did in the second example.
Best Regards,
Carlo