VL53L3CX ToF Distance Ranging Sensor Breakout Board Wiki - DFRobot

Introduction

The VL53L3CX is the latest Time-of-Flight (ToF) product from STMicroelectronics and embeds ST’s third generation FlightSense technology. While improving the detection accuracy, the sensor features 25~3000mm sensing range, automatic smudge correction, and glass cross-talk immunity. With special algorithms and ingenious module construction, the VL53L3CX is also able to detect different objects within the field of view (FoV) with depth understanding.

NOTE:

  1. The product has only been verified on M0 and ESP32 due to the large size of its algorithm files.
  2. Multi-target distance measurement can only be triggered under certain conditions. Please refer to their official Web for more details.
  3. The detection range of 25mm-3000mm comes from the datasheet of STMicroelectronics Rev 2. The actual sensing distance varies with the environment. For measurement environment information, please refer to document AN5561 at the end of Wiki.

Features

Application

Specification

Dimension

Measuring Accuracy

Accuracy

Board Overview

Pinout

Num Label Description
1 + Power+
2 - Power-
3 SCL I2C Clock Line
4 SDA I2C Data line
5 XSHUT Reset
6 GPIO1 Interrupt

Tutorial

Requirements

If you’re gonna use ESP32 to drive VL53L3CX, you need to change the I2C buffer size in the following way:

  1. Enter the file Directory
    %USERPROFILE%\AppData\Local\Arduino15\packages\DFRobot\hardware\esp32\0.2.1\libraries\Wire\src

  2. Open the Wire.h file

  3. Change the I2C_BUFFER_LENGTH macro value to 256

    • API Function List

For more details, please refer to the chapter 4 of the User Manual. 

/**********Status**********/
#define  VL53LX_RANGESTATUS_RANGE_VALID       0
/*!<The Range is valid. */
#define  VL53LX_RANGESTATUS_SIGMA_FAIL        1
/*!<Sigma Fail. */
#define  VL53LX_RANGESTATUS_SIGNAL_FAIL       2
/*!<Signal fail. */
#define  VL53LX_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED 3
/*!<Target is below minimum detection threshold. */
#define  VL53LX_RANGESTATUS_OUTOFBOUNDS_FAIL      4
/*!<Phase out of valid limits -  different to a wrap exit. */
#define  VL53LX_RANGESTATUS_HARDWARE_FAIL     5
/*!<Hardware fail. */
#define  VL53LX_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL  6
/*!<The Range is valid but the wraparound check has not been done. */
#define VL53LX_RANGESTATUS_WRAP_TARGET_FAIL     7
/*!<Wrapped target - no matching phase in other VCSEL period timing. */
#define VL53LX_RANGESTATUS_PROCESSING_FAIL      8
/*!<Internal algo underflow or overflow in lite ranging. */
#define VL53LX_RANGESTATUS_XTALK_SIGNAL_FAIL      9
/*!<Specific to lite ranging. */
#define VL53LX_RANGESTATUS_SYNCRONISATION_INT     10
/*!<1st interrupt when starting ranging in back to back mode. Ignore data. */
#define VL53LX_RANGESTATUS_RANGE_VALID_MERGED_PULSE   11
/*!<All Range ok but object is result of multiple pulses merging together.
 * Used by RQL for merged pulse detection
 */
#define VL53LX_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL  12
/*!<Used  by RQL  as different to phase fail. */
#define VL53LX_RANGESTATUS_MIN_RANGE_FAIL     13
/*!<Unexpected error in SPAD Array.*/
#define VL53LX_RANGESTATUS_RANGE_INVALID      14
/*!<lld returned valid range but negative value ! */
#define  VL53LX_RANGESTATUS_NONE        255

/**********Count**********/
uint8_t StreamCount;
/*!< 8-bit Stream Count. */

/*#Objs*/
uint8_t NumberOfObjectsFound;
/*!< Indicate the number of objects found.
 * This is used to know how many ranging data should be get.
 * NumberOfObjectsFound is in the range 0 to
 * VL53LX_MAX_RANGE_RESULTS.
 */

/**********D**********/
int16_t RangeMinMilliMeter;
/*!< Tells what is the minimum detection distance of the object
 * in current setup and environment conditions (Filled when
 *  applicable)
 */

/**********Signal**********/
FixPoint1616_t SignalRateRtnMegaCps;
/*!< Return signal rate (MCPS)\n these is a 16.16 fix point
 *  value, which is effectively a measure of target
 *   reflectance.
 */

/**********Ambient**********/
FixPoint1616_t AmbientRateRtnMegaCps;
/*!< Return ambient rate (MCPS)\n these is a 16.16 fix point
 *  value, which is effectively a measure of the ambien
 *  t light.
 */

Connection Diagram

Connection

Sample Code

Read the current sensor data.

/**
 ******************************************************************************
 * @file    VL53L3CX_Sat_HelloWorld.ino
 * @author  SRA
 * @version V1.0.0
 * @date    30 July 2020
 * @brief   Arduino test application for the STMicrolectronics VL53L3CX
 *          proximity sensor satellite based on FlightSense.
 *          This application makes use of C++ classes obtained from the C
 *          components' drivers.
 ******************************************************************************
 * @attention
 *
 * <h2><center>© COPYRIGHT(c) 2020 STMicroelectronics</center></h2>
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *   1. Redistributions of source code must retain the above copyright notice,
 *      this list of conditions and the following disclaimer.
 *   2. Redistributions in binary form must reproduce the above copyright notice,
 *      this list of conditions and the following disclaimer in the documentation
 *      and/or other materials provided with the distribution.
 *   3. Neither the name of STMicroelectronics nor the names of its contributors
 *      may be used to endorse or promote products derived from this software
 *      without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 ******************************************************************************
 */
/*
 * To use this sketch you need to connect the VL53L3CX satellite sensor directly to the Nucleo board with wires in this way:
 * pin 1 (Interrupt) of the VL53L3CX satellite connected to pin A2 of the Nucleo board 
 * pin 2 (SCL_I) of the VL53L3CX satellite connected to pin D15 (SCL) of the Nucleo board with a Pull-Up resistor of 4.7 KOhm
 * pin 3 (XSDN_I) of the VL53L3CX satellite connected to pin A1 of the Nucleo board
 * pin 4 (SDA_I) of the VL53L3CX satellite connected to pin D14 (SDA) of the Nucleo board with a Pull-Up resistor of 4.7 KOhm
 * pin 5 (VDD) of the VL53L3CX satellite connected to 3V3 pin of the Nucleo board
 * pin 6 (GND) of the VL53L3CX satellite connected to GND of the Nucleo board
 * pins 7, 8, 9 and 10 are not connected.
 */
/* Includes ------------------------------------------------------------------*/
#include <Arduino.h>
#include <Wire.h>
#include <vl53lx_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

#ifndef LED_BUILTIN
#define LED_BUILTIN 13
#endif
#define LedPin LED_BUILTIN

// Components.
VL53LX sensor_vl53lx_sat(&DEV_I2C, A1);


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

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

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

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

   // Configure VL53LX satellite component.
   sensor_vl53lx_sat.begin();

   // Switch off VL53LX satellite component.
   sensor_vl53lx_sat.VL53LX_Off();

   //Initialize VL53LX satellite component.
   sensor_vl53lx_sat.InitSensor(0x12);

   // Start Measurements
   sensor_vl53lx_sat.VL53LX_StartMeasurement();
}

void loop()
{
   VL53LX_MultiRangingData_t MultiRangingData;
   VL53LX_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
   uint8_t NewDataReady = 0;
   int no_of_object_found = 0, j;
   char report[64];
   int status;

   do
   {
      status = sensor_vl53lx_sat.VL53LX_GetMeasurementDataReady(&NewDataReady);
   } while (!NewDataReady);

   //Led on
   digitalWrite(LedPin, HIGH);

   if((!status)&&(NewDataReady!=0))
   {
      status = sensor_vl53lx_sat.VL53LX_GetMultiRangingData(pMultiRangingData);
      no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
      snprintf(report, sizeof(report), "VL53LX Satellite: 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_vl53lx_sat.VL53LX_ClearInterruptAndStartMeasurement();
      }
   }

   digitalWrite(LedPin, LOW);
}

Expected Results

Result

Sample Code - Interrupt

Sensor interrupt output.

/**
 ******************************************************************************
 * @file    VL53L3CX_Sat_HelloWorld_Interrupt.ino
 * @author  SRA
 * @version V1.0.0
 * @date    30 July 2020
 * @brief   Arduino test application for the STMicrolectronics VL53L3CX
 *          proximity sensor satellite based on FlightSense.
 *          This application makes use of C++ classes obtained from the C
 *          components' drivers.
 ******************************************************************************
 * @attention
 *
 * <h2><center>© COPYRIGHT(c) 2020 STMicroelectronics</center></h2>
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *   1. Redistributions of source code must retain the above copyright notice,
 *      this list of conditions and the following disclaimer.
 *   2. Redistributions in binary form must reproduce the above copyright notice,
 *      this list of conditions and the following disclaimer in the documentation
 *      and/or other materials provided with the distribution.
 *   3. Neither the name of STMicroelectronics nor the names of its contributors
 *      may be used to endorse or promote products derived from this software
 *      without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 ******************************************************************************
 */


//On some boards like the Arduino Uno the pin used by the sensor to raise interrupts (A2)
//can't be mapped as an interrupt pin. For this this reason this sketch will not work
//unless some additional cabling is done and the interrupt pin is changed.
/*
 * To use this sketch you need to connect the VL53L3CX satellite sensor directly to the Nucleo board with wires in this way:
 * pin 1 (Interrupt) of the VL53L3CX satellite connected to pin A2 of the Nucleo board 
 * pin 2 (SCL_I) of the VL53L3CX satellite connected to pin D15 (SCL) of the Nucleo board with a Pull-Up resistor of 4.7 KOhm
 * pin 3 (XSDN_I) of the VL53L3CX satellite connected to pin A1 of the Nucleo board
 * pin 4 (SDA_I) of the VL53L3CX satellite connected to pin D14 (SDA) of the Nucleo board with a Pull-Up resistor of 4.7 KOhm
 * pin 5 (VDD) of the VL53L3CX satellite connected to 3V3 pin of the Nucleo board
 * pin 6 (GND) of the VL53L3CX satellite connected to GND of the Nucleo board
 * pins 7, 8, 9 and 10 are not connected.
 */
/* Includes ------------------------------------------------------------------*/
#include <Arduino.h>
#include <Wire.h>
#include <vl53lx_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

#ifndef LED_BUILTIN
#define LED_BUILTIN 13
#endif
#define LedPin LED_BUILTIN

#define interruptPin A2

// Components.
VL53LX sensor_vl53lx_sat(&DEV_I2C, A1);

volatile int interruptCount=0;

void measure()
{
   interruptCount=1;
}

void setup()
{
   VL53LX_Error status;
   // Led.
   pinMode(LedPin, OUTPUT);
   pinMode(interruptPin, INPUT_PULLUP);
   attachInterrupt(interruptPin, measure, FALLING);

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

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

   // Configure VL53LX satellite component.
   sensor_vl53lx_sat.begin();

   // Switch off VL53LX satellite component.
   sensor_vl53lx_sat.VL53LX_Off();

   // Initialize VL53LX satellite component.
   status = sensor_vl53lx_sat.InitSensor(0x12);
   if(status)
   {
      SerialPort.println("Init sensor_vl53lx_sat failed...");
   }

   sensor_vl53lx_sat.VL53LX_StartMeasurement();
}

void loop()
{
   VL53LX_MultiRangingData_t MultiRangingData;
   VL53LX_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
   uint8_t NewDataReady = 0;
   int no_of_object_found = 0, j;
   char report[64];
   if (interruptCount)
   {
      int status;

      interruptCount=0;
      // Led blinking.
      digitalWrite(LedPin, HIGH);

      status = sensor_vl53lx_sat.VL53LX_GetMeasurementDataReady(&NewDataReady);
      if((!status)&&(NewDataReady!=0))
      {
         status = sensor_vl53lx_sat.VL53LX_GetMultiRangingData(pMultiRangingData);
         no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
         snprintf(report, sizeof(report), "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_vl53lx_sat.VL53LX_ClearInterruptAndStartMeasurement();
         }
      }

      digitalWrite(LedPin, LOW);
   }
}

Expected Result

Result 2

FAQ

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