VL53L9 Working Linux Implementation

[jonferran]

Hey there,

I have made a working implementation of the VL53L9 tof lidar sensor for linux.

You can find it here:

https://github.com/jonferran/vl53l9cx-pi-lidar

 

Jon

[Bin]

Hi:

Thanks for sharing. Appreciate it.

Best regards,

Bin FAN

[irraei_pe]

​@jonferran Can you share the wiring diagram?
Did you only connect scl sda gnd and 3v3?

[JVin]

I tried to use the repo above with rpi zero w and STEVAL-VL53L9
It is preconfigured for mipi so you need to connect the sensor via 22p flex cable, scl, sda, gnd and 3v3 is connected via flex so no need for additional wiring because of i2c

However, I had to put XSHUT pin high and also provide 12mhz clock on AP_CLK pin (unless onboard oscillator is enabled which requires some of the resistors to be removed)
In my case I provided clock using pigpiod on pin 4 via command pigs hc 4 12000000 (not persistent)
I also had to enable i2c on rpi via raspi-config and also enable csi i2c by adding dtparam=i2c_vc=on to config.txt

 

In case of insmod I had to execute following commands first, otherwise it failed:
sudo modprobe videodev
sudo modprobe v4l2_async
sudo modprobe v4l2_fwnode

Also insmod isn’t persistent so you won’t see /dev/v4l-subdev0 after reboot