How to add VL53L0x drivers to STM32 Project

[Ehsan Habib]

I need to simply add VL53L0x API STSW-IMG005 to my project without any compilation errors. And need to know the necessary functions to get the distance.

Regard

[S.Ma]

Well, done that for the long range version starting from STSW-IMG009

Add to the project the following files:

+ VLxx_plateform.c/h

+ vlxx_types.h

+ vlxx_api.c/h

+ vlxx_calibration.c/h

In the plateform file, you'll have to implement the I2C HW driver function.

In my case, it's homecooked bitbang I2C by GPIO.

And on top of this, something like this:

I2C_SlaveDevice_t VL53L1SD = { &gI2C_STMod, 0x52, 0 };
I2C_SlaveDevice_t * pVL = &VL53L1SD;
 
 
VL53L1_Dev_t                   dev; // this is the structure
VL53L1_DEV                     Dev = &dev; // this is the pointer to the structure
VL53L1_Dev_t*                  pVL53L1 = &dev; // the cleaner version to use from now
uint8_t byteData;
uint16_t wordData;
 
 
 
int32_t VL53L1_Init(void) { NOPs(1); return 0;}
 
int32_t VL53L1_IsPlugged(void) {
  
  int status=0;
  
  pVL53L1->pSD = &VL53L1SD; 
  
/* Those basic I2C read functions can be used to check your own I2C functions */
  status = VL53L1_RdByte(&dev, 0x010F, &pVL53L1->ModelID); // printf("VL53L1X Model_ID: %X\n", byteData);
  status = VL53L1_RdByte(&dev, 0x0110, &pVL53L1->ModuleType); // printf("VL53L1X Module_Type: %X\n", byteData);
  status = VL53L1_RdWord(&dev, 0x010F, &wordData); // printf("VL53L1X: %X\n", wordData);
  while(pVL53L1->sensorState==0){
	status = VL53L1X_BootState(dev, &pVL53L1->sensorState);
	HAL_Delay(2);
  }
  
  /* This function must to be called */
  status = VL53L1X_SensorInit(dev);
 
  /* Optional functions to set specific parameters here before start ranging */
//  status = VL53L1X_SetDistanceMode(dev, 1); /* 1=short, 2=long */
//  status = VL53L1X_SetTimingBudgetInMs(dev, 100); /* in ms possible values [20, 50, 100, 200, 500] */
//  status = VL53L1X_SetInterMeasurementInMs(dev, 200); /* in ms, IM must be >= TB+ 5ms, otherwise IM*2 */
//  status = VL53L1X_SetOffset(dev,20); /* offset compensation in mm */
//  status = VL53L1X_SetROI(dev, 16, 16); /* minimum ROI 4,4 */
//	status = VL53L1X_CalibrateOffset(dev, 140, &offset); /* may take few second to perform the offset cal*/
//	status = VL53L1X_CalibrateXtalk(dev, 1000, &xtalk); /* may take few second to perform the xtalk cal */
//  printf("VL53L1X Ultra Lite Driver Example running ...\n");
  status = VL53L1X_StartRanging(dev);   /* This function has to be called to enable the ranging */
 
  return status;
}
 
 
int32_t VL53L1_50ms(void) {
 
  int status;
  uint8_t dataReady;
  
  status = VL53L1X_CheckForDataReady(dev, &dataReady);  
  if(dataReady == 0)
    return 0;
 
  HAL_Delay(2);
  status = VL53L1X_GetRangeStatus(dev, &pVL53L1->RangeStatus);
  status = VL53L1X_GetDistance(dev, &pVL53L1->Distance);
  status = VL53L1X_GetSignalRate(dev, &pVL53L1->SignalRate);
  status = VL53L1X_GetAmbientRate(dev, &pVL53L1->AmbientRate);
  status = VL53L1X_ClearInterrupt(dev); /* clear interrupt has to be called to enable next interrupt*/
  NOPs(1); // breakpoint hook point
  return status;
}
 
int32_t VL53L1_Report(ByteVein_t* pL) {
  
  BTEL_Printf(pL,"*A%d", pVL53L1->Distance); // distance in mm
  
  return 0;
}

 This version of the baseline code is Application Minded, no blocking function, poll method for "data ready" which by I2C takes less than 1 msec.

Previous implementation (IMG007) was blocking for long time, which wouldn't be practical beyond RTOS use.

[Ehsan Habib]

I guess this is for VL53L1x 400 cm ToF. I have already used and implemented VL53L1x using the following method provided by digikey. Here is the link https://www.digikey.com/eewiki/display/microcontroller/Adding+the+VL53L1X+Driver+to+an+STM32Cube+Project. I have already tried using this method for VL53L0x 200 cm ToF but failed to compile it. It gives errors missing file "windows.h" etc.

[S.Ma]

No experience in VL53L0x, only VL53L1x running ok on STM32L4R5 bare metal.

[John E KVAM · Accepted solution]

​The STSW-IMG005 software is an API containing all the calls you need to make - but it stops at the I2C call. You need to supply the platform layer between the I2C_read/write functions and your MCU. Refer to the platform.c file (which is where you put your functions).

Attached is a platform.c file I developed for an STM32 to give you the idea. Adapt it as you require.

As for what is in the main, try something like:

status=VL53L0X_StaticInit(&VL53L0XDevs[i]);
            if( status ){
                debug_printf("VL53L0X_StaticInit %d failed\n",i);
            }
 
            status = VL53L0X_PerformRefCalibration(&VL53L0XDevs[i], &VhvSettings, &PhaseCal);
			if( status ){
			   debug_printf("VL53L0X_PerformRefCalibration failed\n");
			}
 
			status = VL53L0X_PerformRefSpadManagement(&VL53L0XDevs[i], &refSpadCount, &isApertureSpads);
			if( status ){
			   debug_printf("VL53L0X_PerformRefSpadManagement failed\n");
			}
 
            status = VL53L0X_SetDeviceMode(&VL53L0XDevs[i], VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode
            if( status ){
               debug_printf("VL53L0X_SetDeviceMode failed\n");
            }
 
            status = VL53L0X_SetLimitCheckEnable(&VL53L0XDevs[i], VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1); // Enable Sigma limit
			if( status ){
			   debug_printf("VL53L0X_SetLimitCheckEnable failed\n");
			}
 
			status = VL53L0X_SetLimitCheckEnable(&VL53L0XDevs[i], VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1); // Enable Signa limit
			if( status ){
			   debug_printf("VL53L0X_SetLimitCheckEnable failed\n");
			}

To set things up, then to run:

status = VL53L0X_PerformSingleRangingMeasurement(&VL53L0XDevs[SingleSensorNo],&RangingMeasurementData);
            if( status ==0 ){
            	/* Push data logging to UART */
            	trace_printf("%d,%u,%d,%d,%d\n", VL53L0XDevs[SingleSensorNo].Id, TimeStamp_Get(), RangingMeasurementData.RangeStatus, RangingMeasurementData.RangeMilliMeter, RangingMeasurementData.SignalRateRtnMegaCps);

But there are lots of ways to configure and run - so do read the user's guide

[Ehsan Habib]

Thanks John for your reply. I need to know which files needs to add in the Code,along with platform.c . Cause their is a file called "vl53l0x_i2c_win_serial_comms", I don't think i need to add this file in my code right ??

Then their is this file "vl53l0x_platform_log" ,Do i need to add this file ???

So if possible just tell me the files name i need to add in the project.. And for your information i am using STM32F446ZET6 Nucleo Board for my Project. I am using CubeMx & True Studio

[John E KVAM]

As delivered the code runs on a PC. I have no idea who chose that. It was an odd choice. You don’t need any “win�? files. The platform_log file is for logging. You can take that out and just use printf to debug. Enclosed is what my code structure looks like. Maybe that will help. [sensor2]VL53L1X – Time of Flight Sensor John KVAM | Tel: (408) 919-8502 | Mobile: (650) 521-2084 STMicroelectronics | 2755 Great America Way, 3rd Floor | Santa Clara, CA 95054 Introduction to Time-of-Flight<> and SensorExpo Time-of-Flight<>

[Julien NGUYEN]

​Hello Eshan,

It seems to me that you are familiar with STM32 Cube that you have used for VL53L1X. I would suggest you to use the same SW environment to run the VL53L0X, see link below.

https://www.st.com/en/ecosystems/x-cube-53l0a1.html

Thanks,

Julien