User Manual

4 Ranging results
The VL53L4CD ULD API contains several functions in order to tune the sensor, depending on the usecase. All
functions available in the driver are described in the following sections.
4.1 Getting ranging results
During the ranging session, there are two ways to know if new ranging data are available :
• Polling mode: Continuously use of function VL53L4CD_CheckForDataReady(). The argument gives if a new
data is ready.
• Interrupt mode: Wait for a physical interrupt on PIN GPIO1
4.2 Available data
An extensive list of data are output from the VL53L4CD. The following table explains the parameters available to
the user.
Table 6. Description of available output using VL53L4CD sensor
Element Format Unit Description
Status unsigned 8 bits None
Measurements validity. See Table 7. List of
available status for more information.
Distance unsigned 16 bits Millimeter Measured distance of the target in millimeters.
Ambient rate unsigned 16 bits Kcps
Ambient rate measurement performed on the
return array, with no active photon emission, to
measure the ambient signal rate due to noise.
Signal unsigned 16 bits Kcps
Quantity of photons measured during the VCSEL
pulse.
Number of SPADs
enabled
unsigned 16 bits None
Number of SPADs enabled for the current
measurement. A far or low reflective target will
activate more SPADs.
Sigma unsigned 16 bits Millimeter
Sigma estimator for the noise in the reported
target distance.
UM2931
Ranging results
UM2931 - Rev 1
page 11/15