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Unreasonable Data from VL53L8CX Sensor
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2025-04-10 5:44 AM - last edited on 2025-04-10 12:04 PM by Peter BENSCH
Hello Everyone,
I am currently using the vl53lmz_uld_api tto process data measured by the VL53L8CX sensor. I have also used the "example_12_cnh_data" to retrieve data from my sensor. However, the incoming data seems completely incorrect, and I don't know where the issue lies. When I hold my sensor 20-25 cm in front of an obstacle, I receive highly unreasonable data:
Zone : 40, Status : 0, Distance : 1383 mm
Zone : 41, Status : 13, Distance : 1892 mm
Zone : 42, Status : 5, Distance : 1371 mm
Zone : 43, Status : 5, Distance : 1367 mm
Zone : 44, Status : 5, Distance : 1347 mm
Zone : 45, Status : 5, Distance : 1370 mm
Zone : 46, Status : 5, Distance : 2448 mm
Zone : 47, Status : 9, Distance : 2262 mm
Zone : 48, Status : 4, Distance : 2977 mm
Zone : 49, Status : 0, Distance : 1398 mm
Zone : 50, Status : 5, Distance : 1381 mm
Can someone please help me to understand what i am doing wrong here is my main.c:
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_I2C1_Init();
MX_DMA_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
// UartComm_Restart();
//__________MY CODE ___________
p_dev.platform.address = 0x52;
Reset_Sensor();
if (status != VL53LMZ_STATUS_OK){
printf("vl53lmz_init failed : %d\n");
return status;
}
/* (Mandatory) Initialise the VL53LMZ sensor */
status = vl53lmz_init(&p_dev);
if(status)
{
printf("VL53LMZ ULD Loading failed\n");
return status;
}
printf("VL53LMZ ULD ready ! (Version : %s)\n",
VL53LMZ_API_REVISION);
status = vl53lmz_set_resolution(&p_dev, 64);
status |= vl53lmz_set_ranging_mode(&p_dev, VL53LMZ_RANGING_MODE_AUTONOMOUS);
status |= vl53lmz_set_ranging_frequency_hz(&p_dev, 5);
status |= vl53lmz_set_integration_time_ms(&p_dev, 20);
if(status)
{
printf("ERROR - Failed basic configuration sequence, status=%u\n", status);
return status;
}
status = vl53lmz_cnh_init_config( &cnh_config,
0, /* StartBin */
18, /* NumBins */
1); /* SubSample */
if (status != VL53LMZ_STATUS_OK){
printf("VL53LMZ CNH init config failed\n");
return status;
}
status = vl53lmz_cnh_create_agg_map( &cnh_config,
64, /* Resolution. Must match value used in vl53lmz_set_resolution() */
0, /* StartX */
0, /* StartY */
1, /* MergeX */
1, /* MergeY */
8, /* Cols */
8 ); /* Rows */
if (status != VL53LMZ_STATUS_OK){
printf("VL53LMZ CNH set aggregate map failed\n");
return status;
}
status = vl53lmz_cnh_calc_required_memory( &cnh_config, &cnh_data_size );
if (status != VL53LMZ_STATUS_OK){
printf("VL53LMZ CNH calc required memory failed\n");
if (cnh_data_size < 0){
printf("Required memory is too high : %d. Maximum is %d!\n", (int)-cnh_data_size, (int)VL53LMZ_CNH_MAX_DATA_BYTES);
}
return status;
}
/* Send this CNH configuration to the sensor. */
status = vl53lmz_cnh_send_config(&p_dev,&cnh_config);
if (status != VL53LMZ_STATUS_OK){
printf("VL53LMZ CNH send config failed\n");
return status;
}
/* First create the standard data upload(output) configuration. */
status = vl53lmz_create_output_config(&p_dev);
if (status != VL53LMZ_STATUS_OK){
printf("VL53LMZ CNH create output config failed\n");
return status;
}
/* Next, add the CNH data block, sized correctly for the configuration we are using. */
union Block_header cnh_data_bh;
cnh_data_bh.idx = VL53LMZ_CNH_DATA_IDX;
cnh_data_bh.type = 4;
cnh_data_bh.size = cnh_data_size / 4;
status = vl53lmz_add_output_block(&p_dev, cnh_data_bh.bytes);
if (status != VL53LMZ_STATUS_OK){
printf("VL53LMZ CNH add output block failed\n");
return status;
}
status = vl53lmz_send_output_config_and_start(&p_dev);
printf("Started ranging\n");
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
// __________________ MY CODE _______________
uint8_t buffer[512];
uint8_t *ptr = buffer;
size_t buffer_index = 0; // To keep track of the actual size of the data
status = vl53lmz_check_data_ready(&p_dev, &isReady);
if (isReady)
{
vl53lmz_get_ranging_data(&p_dev, &Results);
printf("Print data no : %3u\n", p_dev.streamcount);
for (i = 0; i < 64; i++)
{
uint16_t zone = i;
uint16_t distance = Results.distance_mm[VL53LMZ_NB_TARGET_PER_ZONE * i];
/*
memcpy(ptr + buffer_index, &zone, sizeof(uint16_t));
buffer_index += sizeof(uint16_t);
memcpy(ptr + buffer_index, &distance, sizeof(uint16_t));
buffer_index += sizeof(uint16_t);
*/
printf("Zone : %3d, Status : %3u, Distance : %4d mm\n",
i,
Results.target_status[VL53LMZ_NB_TARGET_PER_ZONE * i],
distance);
}
status = vl53lmz_results_extract_block(&p_dev, VL53LMZ_CNH_DATA_IDX, (uint8_t *)cnh_data_buffer, cnh_data_size);
if (status != VL53LMZ_STATUS_OK)
{
printf("ERROR at %s(%d) : vl53lmz_results_extract_block failed : %d\n", __func__, __LINE__, status);
return status;
}
for (agg_id = 0; agg_id < cnh_config.nb_of_aggregates; agg_id++)
{
vl53lmz_cnh_get_block_addresses(&cnh_config,
agg_id,
cnh_data_buffer,
&(p_hist), &(p_hist_scaler),
&(p_ambient), &(p_ambient_scaler));
amb_value = ((float)*p_ambient) / (2 << *p_ambient_scaler);
printf("Agg, %2d, Ambient, % .1f, Bins, ", agg_id, amb_value);
for (bin_num = 0; bin_num < cnh_config.feature_length; bin_num++)
{
bin_value = ((float)p_hist[bin_num]) / (2 << p_hist_scaler[bin_num]);
printf("% .1f, ", bin_value);
}
/*
uint16_t Agg_id = agg_id;
float ambient = amb_value;
float bins_val = bin_value;
memcpy(ptr + buffer_index, &Agg_id, sizeof(uint16_t)); buffer_index += sizeof(uint16_t);
memcpy(ptr + buffer_index, &ambient, sizeof(float)); buffer_index += sizeof(float);
memcpy(ptr + buffer_index, &bins_val, sizeof(float)); buffer_index += sizeof(float);
*/
// Now transmit only the actual data in the buffer
//HAL_UART_Transmit(&huart2, sizeof(buffer) , buffer, HAL_MAX_DELAY) ;
printf("\n");
}
loop++;
}
// Wait a few ms to avoid too high polling
// WaitMs(&(p_dev.platform), 5);
HAL_MAX_DELAY;
}
}
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