Example Code for Arduino-Set distance threshold interrupt
Last revision 2025/12/18
This example introduces four interrupts under continuous range measuring mode
Hardware Preparation
- 1 x Arduino UNO control board
- 1 x ToF laser ranging sensor
- Several Dupont lines
Software Preparation
- Arduino IDE, click to download Arduino IDE
- Download and install the VL6180 Library and Sample Codes. (About how to install the library?)
Wiring Diagram
Other Preparation Work
- Enable the notification function of the INT pin
- Configure the range interrupt mode (out of window)
- Set the range measurement period
- Set threshold values
- Attach interrupt (depending on the board type)
- Start continuous range measuring mode
Sample Code
/**
* @file rangeContinuousInterruptMode.ino
* @brief The sensor can operate in four interrupt modes: 1. Trigger interrupt when below the L-threshold(lower threshold)
* @n 2. Trigger interrupt above the U-threshold(upper threshold)
* @n 3. Trigger interrupt when below the L-threshold or above the U-threshold
* @n 4. Trigger interrupt after the new sample value acquisition
* @n This example introduces four interrupts under continuous range measuring mode
* @copyright Copyright (c) 2010 DFRobot Co.Ltd (http://www.dfrobot.com)
* @licence The MIT License (MIT)
* @author [yangfeng]<[email protected]>
* @version V1.0
* @date 2021-03-08
* @get from https://www.dfrobot.com
* @url https://github.com/DFRobot/DFRobot_VL6180X
*/
#include <DFRobot_VL6180X.h>
DFRobot_VL6180X VL6180X;
uint8_t ret= 1;
uint8_t flag = 0;
void interrupt()
{
if(flag ==0){
flag = 1;
}
}
void setup() {
Serial.begin(9600);
while(!(VL6180X.begin())){
Serial.println("Please check that the IIC device is properly connected!");
delay(1000);
}
/** Enable the notification function of the INT pin
* mode：
* VL6180X_DIS_INTERRUPT Not enable interrupt
* VL6180X_LOW_INTERRUPT Enable interrupt, by default the INT pin outputs low level
* VL6180X_HIGH_INTERRUPT Enable interrupt, by default the INT pin outputs high level
* Note: When using the VL6180X_LOW_INTERRUPT mode to enable the interrupt, please use "RISING" to trigger it.
* When using the VL6180X_HIGH_INTERRUPT mode to enable the interrupt, please use "FALLING" to trigger it.
*/
VL6180X.setInterrupt(/*mode*/VL6180X_HIGH_INTERRUPT);
/** Set the interrupt mode for collecting ambient light
* mode
* interrupt disable : VL6180X_INT_DISABLE 0
* value < thresh_low : VL6180X_LEVEL_LOW 1
* value > thresh_high: VL6180X_LEVEL_HIGH 2
* value < thresh_low OR value > thresh_high: VL6180X_OUT_OF_WINDOW 3
* new sample ready : VL6180X_NEW_SAMPLE_READY 4
*/
VL6180X.rangeConfigInterrupt(VL6180X_OUT_OF_WINDOW);
/*Set the range measurement period*/
VL6180X.rangeSetInterMeasurementPeriod(/* periodMs 0-25500ms */1000);
/*Set threshold value*/
VL6180X.setRangeThresholdValue(/*thresholdL 0-255mm */40,/*thresholdH 0-255mm*/100);
#if defined(ESP32) || defined(ESP8266)||defined(ARDUINO_SAM_ZERO)
attachInterrupt(digitalPinToInterrupt(D9)/*Query the interrupt number of the D9 pin*/,interrupt,FALLING);
#else
/* The Correspondence Table of AVR Series Arduino Interrupt Pins And Terminal Numbers
* ---------------------------------------------------------------------------------------
* | | DigitalPin | 2 | 3 | |
* | Uno, Nano, Mini, other 328-based |--------------------------------------------|
* | | Interrupt No | 0 | 1 | |
* |-------------------------------------------------------------------------------------|
* | | Pin | 2 | 3 | 21 | 20 | 19 | 18 |
* | Mega2560 |--------------------------------------------|
* | | Interrupt No | 0 | 1 | 2 | 3 | 4 | 5 |
* |-------------------------------------------------------------------------------------|
* | | Pin | 3 | 2 | 0 | 1 | 7 | |
* | Leonardo, other 32u4-based |--------------------------------------------|
* | | Interrupt No | 0 | 1 | 2 | 3 | 4 | |
* |--------------------------------------------------------------------------------------
*/
/* The Correspondence Table of micro:bit Interrupt Pins And Terminal Numbers
* ---------------------------------------------------------------------------------------------------------------------------------------------
* | micro:bit | DigitalPin |P0-P20 can be used as an external interrupt |
* | (When using as an external interrupt, |---------------------------------------------------------------------------------------------|
* |no need to set it to input mode with pinMode)|Interrupt No|Interrupt number is a pin digital value, such as P0 interrupt number 0, P1 is 1 |
* |-------------------------------------------------------------------------------------------------------------------------------------------|
*/
attachInterrupt(/*Interrupt No*/0,interrupt,FALLING);//Enable the external interrupt 0, connect INT1/2 to the digital pin of the main control:
//UNO(2), Mega2560(2), Leonardo(3), microbit(P0).
#endif
/*Start continuous range measuring mode */
VL6180X.rangeStartContinuousMode();
}
void loop() {
if(flag == 1){
flag = 0;
/**Read and judge whether the generated interrupt is the same as the interrupt we set before
* No threshold events reported : 0
* value < thresh_low : VL6180X_LEVEL_LOW 1
* value > thresh_high: VL6180X_LEVEL_HIGH 2
* value < thresh_low OR value > thresh_high: VL6180X_OUT_OF_WINDOW 3
* new sample ready : VL6180X_NEW_SAMPLE_READY 4
*/
if(VL6180X.rangeGetInterruptStatus() == VL6180X_OUT_OF_WINDOW){
/*Get the measured distance data*/
uint8_t range = VL6180X.rangeGetMeasurement();
/*Get the judged result of the range value*/
uint8_t status = VL6180X.getRangeResult();
/*Clear interrupts generated by measuring range*/
VL6180X.clearRangeInterrupt();
String str1 = "Range: "+String(range) + " mm";
switch(status){
case VL6180X_NO_ERR:
Serial.println(str1);
break;
case VL6180X_EARLY_CONV_ERR:
Serial.println("RANGE ERR: ECE check failed !");
break;
case VL6180X_MAX_CONV_ERR:
Serial.println("RANGE ERR: System did not converge before the specified max!");
break;
case VL6180X_IGNORE_ERR:
Serial.println("RANGE ERR: Ignore threshold check failed !");
break;
case VL6180X_MAX_S_N_ERR:
Serial.println("RANGE ERR: Measurement invalidated!");
break;
case VL6180X_RAW_Range_UNDERFLOW_ERR:
Serial.println("RANGE ERR: RESULT_RANGE_RAW < 0!");
break;
case VL6180X_RAW_Range_OVERFLOW_ERR:
Serial.println("RESULT_RANGE_RAW is out of range !");
break;
case VL6180X_Range_UNDERFLOW_ERR:
Serial.println("RANGE ERR: RESULT__RANGE_VAL < 0 !");
break;
case VL6180X_Range_OVERFLOW_ERR:
Serial.println("RANGE ERR: RESULT__RANGE_VAL is out of range !");
break;
default:
Serial.println("RANGE ERR: Systerm err!");
break;
}
}
}
}
Result
Was this article helpful?