STMicroelectronics VL53L4CD User Manual

UM3108
User manual
How to use STMicroelectronics' X-CUBE-TOF1 Time-of-Flight sensor software
packages for STM32CubeMX
Introduction
The X-CUBE-TOF1 expansion software package for STM32Cube runs on the STM32. It includes drivers that recognize the
sensors, and it performs simple ranging on single or multiple devices.
The expansion is built on STM32Cube software technology to ease portability across different STM32 microcontrollers.
The software comes with a sample implementation of the drivers, running on different Time-of-Flight sensor evaluation boards,
connected to a featured STM32 Nucleo development board.
This user manual gives an overview of the use of the STM32CubeMX with the following Time-of-Flight ranging sensors:
VL53L4CX, VL53L4CD, VL53L7CX, and VL53L8CX. For further information on the Time-of-Flight sensors supported by the XCUBE-TOF1, please refer to the software page on www.st.com.
The evaluation boards supported by the X-CUBE-TOF1 expansion software package include:
•
•
X-NUCLEO expansion board
SATEL breakout board
The X-CUBE-TOF1 software provides some sample applications for the Time-of-Flight sensors listed above.
Visit the STM32Cube ecosystem web page on www.st.com for further information.
UM3108 - Rev 2 - June 2023
For further information contact your local STMicroelectronics sales office.
www.st.com
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Acronyms and abbreviations
1
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Acronyms and abbreviations
Acronym
Definition
API
application programming interface
BSP
board support package
HAL
hardware abstraction layer
I²C
inter-integrated circuit
IDE
integrated development environment
MCU
microcontroller unit
NVIC
nested vector interrupt control
PCB
printed circuit board
SDK
software development kit
ToF
Time-of-Flight sensor
USB
universal serial bus
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X-CUBE-TOF1 software expansion for STM32Cube
2
X-CUBE-TOF1 software expansion for STM32Cube
2.1
Overview
The X-CUBE-TOF1 software package expands the STM32Cube functionality. The key features are:
•
•
•
•
•
•
•
2.2
Complete software to build applications using the evaluation boards listed in the "Introduction".
Several application examples to show the innovative technology for the accurate distance ranging
capability.
Sample application to transmit real-time sensor data to a PC.
Precompiled binaries available on all evaluation boards (listed in the "Introduction") connected to a
NUCLEO-F401RE or NUCLEO-L476RG development board.
Package compatible with STM32CubeMX, can be downloaded from, and installed directly into,
STM32CubeMX.
Easy portability across different MCU families, thanks to the STM32Cube.
Free, user-friendly license terms.
Architecture
This software is a fully compliant expansion of the STM32Cube. It enables the development of applications using
Time-of-Flight sensors.
The software is based on the hardware abstraction layer for the STM32 microcontroller, STM32CubeHAL. The
package extends the STM32Cube by providing a board support package (BSP) for the sensor expansion board,
and a sample application for serial communication with a PC.
The software layers used by the application software to access the sensor expansion board are:
•
•
The STM32Cube HAL driver layer. It provides a simple, generic, and multi-instance set of APIs (application
programming interfaces) to interact with the upper layers (application, libraries, and stacks). It includes
generic and extension APIs and is based on a generic architecture. This allows the layers that are built on
it (such as the middleware layer) to implement their functionalities without dependence on the specific
hardware configuration of a given microcontroller unit (MCU). This structure improves library code
reusability and guarantees high portability across other devices.
The BSP layer. It provides supporting software for the peripherals on the STM32 Nucleo board, except for
the MCU. It has a set of APIs to provide a programming interface for certain board-specific peripherals (for
example, the LED and the user button). The BSP layer allows identification of the specific board version.
For the sensor expansion board, it provides the programming interface for various Time-of-Flight sensors,
and support for initializing and reading sensor data.
Figure 1. X-CUBE-TOF1 software architecture
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Folder structure
2.3
Folder structure
Figure 2. X-CUBE-TOF1 package folder structure
The following folders are included in the software package:
•
•
The Documentation folder contains the current user manual and detailed documentation regarding the
software components and APIs. In the .chm file, you can find a list of pin resources used for the
XNUCLEO. It is updated when a new board is released.
The Drivers folder contains:
–
–
•
•
2.4
HAL drivers
Board-specific drivers for each supported board or hardware platform. This includes drivers for the
on-board components and the CMSIS layer (which is a vendor-independent hardware abstraction
layer for the Cortex®-M processor series).
The Projects folder contains several examples and applications for NUCLEO-L476RG and NUCLEOF401RE platforms. They show the use of sensor APIs provided with three development environments:
–
IAR Embedded Workbench for Arm
–
MDK-ARM® microcontroller development kit
–
STM32CubeIDE
The STM32CubeMX folder contains all the templates used by the CubeMX ToF pack.
APIs
Detailed technical information about the APIs available to the user can be found in the compiled HTML file "XCUBE-TOF1.chm". This file is in the Documentation folder of the software package. All the functions and
parameters are fully described.
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System setup guidelines
3
System setup guidelines
3.1
Hardware description
In this section, the VL53L7CX hardware is used as an example. For each sensor listed in the introduction, the
same hardware is available.
3.1.1
STM32 Nucleo
STM32 Nucleo development boards provide an affordable and flexible way for users to test solutions and build
prototypes with any STM32 microcontroller line.
The Arduino® connectivity support and ST morpho connectors make it easy to expand the functionality of the
STM32 Nucleo open development platform. They have a wide range of specialized expansion boards to choose
from. The STM32 Nucleo board does not require separate probes as it integrates the ST-LINK/V2-1 debugger/
programmer.
The STM32 Nucleo board comes with the comprehensive STM32 software HAL library, together with various
packaged software examples for different IDEs:
•
•
•
•
IAR EWARM®
Keil® MDK-ARM®
STM32CubeIDE
Mbed™ and GCC/LLVM Arm
All STM32 Nucleo users have free access to the Mbed™ online resources (compiler, C/C++ SDK, and developer
community) at www.mbed.org to easily build complete applications.
Figure 3. STM32 Nucleo board
Information regarding the STM32 Nucleo board is available at www.st.com/stm32nucleo.
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Hardware description
3.1.2
X-NUCLEO expansion boards
The X-NUCLEO expansion boards are for use with any Nucleo 64 development board. Figure 4. Example of an
X-NUCLEO-53L7A1 expansion board with a cover glass is an example of the X-NUCLEO-53L7A1 expansion
board, with a cover glass and spacers. They provide a complete evaluation kit allowing anyone to learn, evaluate,
and develop their applications using the Time-of-Flight ranging sensor.
The X-NUCLEO expansion boards are delivered with a cover glass holder. It contains three different spacers of
0.25, 0.5, and 1 mm height. They can be fitted below the cover glass to simulate various air gaps.
The X-NUCLEO expansion boards are compatible with the STM32 Nucleo board family, and with the Arduino®
UNO R3 connector layout.
Several STMicroelectronics' X-NUCLEO expansion boards can be superposed through the Arduino connectors. It
allows the development of applications with Bluetooth or Wi-Fi interfaces.
Figure 4. Example of an X-NUCLEO-53L7A1 expansion board with a cover glass
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Software description
3.1.3
SATEL breakout boards
The SATEL breakout boards can be used for easy integration into customer devices. Thanks to the voltage
regulator, the breakout boards can be used in any application in the supply range 2.8 V to 5 V.
The PCB section supporting the module is perforated so that developers can break off the mini-PCB for use in a
2V8 or 3V3 supply application using flying leads. This makes it easier to integrate the SATEL breakout boards into
development and evaluation devices due to their small form factor.
Figure 5. Example of a SATEL-VL53L7CX breakout board
3.2
Software description
The following software components are required to establish a suitable development environment for creating
applications for the STM32 Nucleo equipped with the sensor expansion board:
•
•
X-CUBE-TOF1: an STM32Cube expansion for sensor application development. The X-CUBE-TOF1
firmware and associated documentation is available on www.st.com.
Development tool-chain and compiler: The STM32Cube expansion software supports the following three
environments:
–
–
–
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IAR Embedded Workbench for Arm(EWARM) toolchain + STLINK
RealView microcontroller development kit (MDK-ARM-STR) toolchain + STLINK
STM32CubeIDE for STM32 + STLINK
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Hardware setup
3.3
Hardware setup
The following hardware components are required:
1.
One STM32 Nucleo development platform (suggested order code: NUCLEO-F401RE or NUCLEO-L476RG)
2.
An X-NUCLEO expansion board or a SATEL breakout board
3.
One USB type A to mini-B USB cable to connect the STM32 Nucleo to a PC
3.3.1
Setup using an STM32 Nucleo and an X-NUCLEO expansion board
The STM32 Nucleo board integrates the ST-LINK/V2-1 debugger/programmer. Developers can download the
relevant version of the ST-LINK/V2-1 USB driver by searching STSW-LINK008 or STSW-LINK009 (depending on
your version of Windows) on www.st.com.
The X-NUCLEO expansion boards can be easily connected to the STM32 Nucleo board through the Arduino
UNO R3 extension connector. They can also interface with the external STM32 microcontroller (on the STM32
Nucleo) via the inter-integrated circuit (I²C) transport layer.
Figure 6. Sensor expansion board plugged to STM32 Nucleo board
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Hardware setup
3.3.2
Setup using an STM32 Nucleo board and a SATEL breakout board
The SATEL breakout boards can be connected to the STM32 Nucleo board through flying wires. They can
interface with the external STM32 microcontroller on the STM32 Nucleo board via the I²C transport layer.
Figure 7. Example of the connection between an STM32 Nucleo board and a SATEL shows the connection
between the SATEL-53L7CX and the STM32 Nucleo board.
Refer to the Time-of-Flight application notes on st.com, which explain how to connect each product SATEL to the
Nucleo board.
Figure 7. Example of the connection between an STM32 Nucleo board and a SATEL
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Sample application examples
4
Sample application examples
The X-CUBE-TOF1 package comes with several examples for each sensor. For each example, you can either:
•
•
use the precompiled file delivered in the binary folder, or
configure the project to build the binary file used to configure the system.
This section describes two ways of running a sampling application using the evaluation boards and a
STM32F401RE Nucleo board.
The same method can be used for each sensor listed in the introduction.
Note that information concerning the examples is in the readme.html file, which is delivered with the examples.
Figure 8. SimpleRanging folder architecture
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SimpleRanging singular form using an STM32 Nucleo board and an X-Nucleo expansion board
4.1
4.1.1
SimpleRanging singular form using an STM32 Nucleo board and an X-Nucleo
expansion board
Loading a prebuilt binary file
Figure 9. NUCLEO-F401RE folder architecture with an X-NUCLEO expansion board shows the folder architecture
for the X-CUBE-TOF1 package examples. It is based on version 3.3.0 of the X-CUBE-TOF1, but can be used for
all versions.
Figure 9. NUCLEO-F401RE folder architecture with an X-NUCLEO expansion board
The binary file is placed in the "Binary" folder (see Figure 9. NUCLEO-F401RE folder architecture with an XNUCLEO expansion board).
Follow the steps below to run a SimpleRanging on a VL53L7CX sensor using the precompiled file:
1.
Set up the hardware (see Section 3.3.1 Setup using an STM32 Nucleo and an X-NUCLEO expansion
board).
2.
Flash the NUCLEO-F401RE board with the prebuilt binary by dragging and dropping the binary file onto the
NODE drive. You can call the disk name “NOD” or “NODE” depending on the Nucleo board variant.
Figure 10. NODE drive
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SimpleRanging singular form using an STM32 Nucleo board and an X-Nucleo expansion board
3.
Open a Tera Term and configure the settings.
Figure 11. Tera Term serial port setup
Note that speed is defined in the stm32f4xx_nucleo.c file as "Init.BaudRate = 460800". Speed is also defined
in the readme.html file in the examples directory (Figure 8. SimpleRanging folder architecture).
Figure 12. Tera Term terminal setup
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SimpleRanging singular form using an STM32 Nucleo board and an X-Nucleo expansion board
4.
Wave your hand in front of the sensor to display the ranging data on the serial terminal, as shown below.
Figure 13. VL53L7CX ranging results
5.
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Use the same method for the different X-CUBE-TOF1 package examples present in the “Examples” folder.
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SimpleRanging singular form using an STM32 Nucleo board and an X-Nucleo expansion board
4.1.2
Configuring the STM32CubeMX project
The following two examples are presented:
•
•
4.1.2.1
SimpleRanging
ThresholdDetection
How to generate the SimpleRanging example with the STM32CubeMX
1.
Create a new STM32 project.
Figure 14. Create a new STM32 project
2.
3.
Open STM32CubeIDE and follow the instructions to create a workspace area.
Select the NUCLEO-F401RE board using the “Board selector” field.
Figure 15. Choose the NUCLEO-F401RE board
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SimpleRanging singular form using an STM32 Nucleo board and an X-Nucleo expansion board
4.
Give the project a name and a location.
Figure 16. Give the project name
Click "Finish" and choose the “default configuration” when it pops up.
The purpose is now to choose the right software pack.
5.
Click on "Middleware and Software Packs".
Figure 17. Middleware and software packs selection
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SimpleRanging singular form using an STM32 Nucleo board and an X-Nucleo expansion board
6.
Click on “X-CUBE-TOF1”. Choose the “53L7A1 board”, then the “53L7A1_SimpleRanging” application, then
verify the green ticks.
Figure 18. Board and application choices
The next step is to configure the hardware.
7.
Configure the GPIOs for the application. Click on “System Core” then “GPIO”.
Figure 19. GPIO selection
For this particular application, configure the I2C_RST, LPn, PWR_EN, and INT pins.
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SimpleRanging singular form using an STM32 Nucleo board and an X-Nucleo expansion board
8.
Select the “PB3” pin by clicking on it.
Figure 20. PB3 pin selection
9.
Make the PB3 a “GPIO_Output".
Figure 21. GPIO_output choice
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SimpleRanging singular form using an STM32 Nucleo board and an X-Nucleo expansion board
10. Do the same for PB0, PB4, and PA4.
Figure 22. PA4, PB0, and PB4 GPIOs selection
PB0 and PB4 have to be defined as “GPIO_output”. PA4 has to be defined as “GPIO_EXT4”. Consequently,
add the GPIOs to the GPIO table as shown Figure 23. GPIO table.
Figure 23. GPIO table
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11.
Next, configure the GPIO output level, GPIO mode, GPIO pull-up/pull-down, and the user label. Click on PA4
and give it a “User Label".
Figure 24. PA4 configuration
Do the same for the other GPIOs as per Figure 25. GPIO pin names and configuration. For each GPIO,
configure the:
–
–
–
GPIO output level
GPIO pull-up/pull-down
user label
Figure 25. GPIO pin names and configuration
12. Activate the NVIC interrupt vector as shown below by clicking on “NVIC” and checking “Enabled".
Figure 26. NVIC interrupt activation
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SimpleRanging singular form using an STM32 Nucleo board and an X-Nucleo expansion board
13. Next, configure the I²C. Click on PB9 and change it to “I2C1_SDA”. Click on PB8 and change it to
“I2C1_SCL".
Figure 27. PB9 and PB8 selection
14. Click on "Connectivity" and then on "I2C1".
Figure 28. Connectivity and I2C1 selection
15. Enable I2C1 by clicking on “I²C".
Figure 29. I2C1 enabling
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SimpleRanging singular form using an STM32 Nucleo board and an X-Nucleo expansion board
16. Set SCL and SDA in “Pull-up".
Figure 30. Pull-up SDA and SCL
17. Configure the I²C speed in “Fast Mode".
Figure 31. I²C speed mode configuration
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SimpleRanging singular form using an STM32 Nucleo board and an X-Nucleo expansion board
18. Next, tell the application where the dedicated pins are. Click on “Middleware and Software Packs”, then on
“X-CUBE-TOF1”, and choose “Platform Settings".
Figure 32. Platform settings
19. Choose “Board Extension” and “Device TOF1 Applications".
Figure 33. Board and application choice
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SimpleRanging singular form using an STM32 Nucleo board and an X-Nucleo expansion board
20. Click on “Platform Settings” and assign pins as per Figure 34. Hardware and software pin assignment.
Figure 34. Hardware and software pin assignment
21. Verify the green tick.
Figure 35. Check of the platform setting
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SimpleRanging singular form using an STM32 Nucleo board and an X-Nucleo expansion board
22. Next, generate and build the application. Click on the generate icon, then the hammer icon.
Figure 36. Generate and build the code
23. Next, run the debugger. Click on the bug.
Figure 37. Launch the debugger
You may have to upgrade your STLINK. If so:
–
–
–
–
Open in upgrade mode
Click on "Upgrade"
Close the upgrade window
Restart the debugger
Figure 38. Upgrade STLINK
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SimpleRanging singular form using an STM32 Nucleo board and an X-Nucleo expansion board
24. Start a serial port terminal emulation by adapting the baud rate as per Figure 11. Tera Term serial port setup.
The result should look like Figure 39. Results.
Figure 39. Results
The above steps for the VL53L7CX can be used for other sensors. The pin connection is described in the
X_CUBE_TOF1.chm file in the "Documentation" folder.
The above steps for the VL53L7CX can be used for other sensors. The pin connection is described in the
X_CUBE_TOF1.chm file in the "Documentation" folder.
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SimpleRanging singular form using an STM32 Nucleo board and an X-Nucleo expansion board
4.1.2.2
How to generate the 53L7A1_ThresholdDetection example with the STM32CubeMX
The steps for generating the 53L7A1_ThresholdDetection example with the STM32CubeMX are almost identical
to those in Section 4.1.2.1 How to generate the SimpleRanging example with the STM32CubeMX. Steps 6, 20,
and 24 are different. They are described below respectively.
•
Step 6: Choose the "ThresholdDetection Application".
Figure 40. ThresholdDetection application
•
Step 20: Assign pins.
Figure 41. Pin assignment for the ThresholdDetection example
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•
Step 24: Start a serial port terminal emulation with a baud rate as per Figure 11. Tera Term serial port
setup. The result should look like Figure 42. Result of the ThresholdDetection example.
Figure 42. Result of the ThresholdDetection example
An interrupt occurs if the target distance (d) = [200 mm and 600 mm] as shown in Figure 43. Interrupt.
Figure 43. Interrupt
Other examples can be found for the different sensors. Do not hesitate to check in the "Examples” folder.
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SimpleRanging examples using an STM32 Nucleo board and a SATEL breakout board
4.2
SimpleRanging examples using an STM32 Nucleo board and a SATEL breakout
board
For each Time-of-Flight sensor present in the X-CUBE-TOF1 pack, a simple ranging example is delivered in the
“CUSTOM” folder. This example is for use with a NUCLEO-F401RE or a NUCLEO-L476RG as per
Figure 44. Customer folder of the SimpleRanging example using a SATEL breakout board.
Figure 44. Customer folder of the SimpleRanging example using a SATEL breakout board
4.2.1
Loading a prebuilt binary file
Use the same steps given in Section 4.1.1 Loading a prebuilt binary file by loading the binary file in the CUSTOM/
<Sensor_Name>_SimpleRanging/Binary folder (see Figure 45. Binary folder for the SimpleRanging example
using a SATEL breakout board).
Figure 45. Binary folder for the SimpleRanging example using a SATEL breakout board
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SimpleRanging examples using an STM32 Nucleo board and a SATEL breakout board
4.2.2
Configuring the STM32CubeMX for the SimpleRanging example
The steps for configuring the STM32CubeMX for the SimpleRanging example using an STM32 Nucleo board and
a SATEL board are almost identical to those in Section 4.1.2.1 How to generate the SimpleRanging example with
the STM32CubeMX. Steps 6 and 19 are different. They are described below respectively.
•
Step 6: Choose the right application. It is called <Sensor_Name>_SimpleRanging. For the current example
with a VL53L7CX sensor, choose "VL53L7CX_SimpleRanging".
Figure 46. SimpleRanging application example for the SATEL breakout board
•
Step 19: Choose “Board Extension” and “Device TOF1 Applications”.
Figure 47. Choice of boards and application
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Revision history
Table 1. Document revision history
Date
Version
27-Apr-2023
1
21-Jun-2023
2
Changes
Initial release
Section 3.1 Hardware description: added a preamble.
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Updated Figure 4. Example of an X-NUCLEO-53L7A1 expansion board with a
cover glass.
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Contents
Contents
1
Acronyms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2
X-CUBE-TOF1 software expansion for STM32Cube . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
3
2.1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.2
Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.3
Folder structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.4
APIs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
System setup guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3.1
4
Hardware description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3.1.1
STM32 Nucleo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3.1.2
X-NUCLEO expansion boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3.1.3
SATEL breakout boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.2
Software description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.3
Hardware setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.3.1
Setup using an STM32 Nucleo and an X-NUCLEO expansion board . . . . . . . . . . . . . . . . . 8
3.3.2
Setup using an STM32 Nucleo board and a SATEL breakout board . . . . . . . . . . . . . . . . . . 9
Sample application examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
4.1
4.2
SimpleRanging singular form using an STM32 Nucleo board and an X-Nucleo
expansion board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.1.1
Loading a prebuilt binary file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.1.2
Configuring the STM32CubeMX project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
SimpleRanging examples using an STM32 Nucleo board and a SATEL breakout board . . 28
4.2.1
Loading a prebuilt binary file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.2.2
Configuring the STM32CubeMX for the SimpleRanging example . . . . . . . . . . . . . . . . . . . 29
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
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IMPORTANT NOTICE – READ CAREFULLY
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