Adafruit VL53L0X Time of Flight Micro-

LIDAR Distance Sensor Breakout

Created by lady ada

https://learn.adafruit.com/adafruit-vl53l0x-micro-lidar-distance-sensor-breakout

Last updated on 2022-12-01 02:50:57 PM EST

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 Table of Contents

Overview 3
• Sensing Capablities

Pinouts 7
• Power Pins:
• I2C Logic pins:
• Control Pins:

Assembly 9
• Prepare the header strip:
• Solder!

Arduino Code 12
• Download Adafruit_VL53L0X
• Load Demo
• Connecting Multiple Sensors

Python & CircuitPython 16

• CircuitPython Microcontroller Wiring
• Python Computer Wiring
• CircuitPython Installation of VL53L0X Library
• Python Installation of VL53L0X Library
• CircuitPython & Python Usage
• Full Example Code

Python Docs 21

Downloads 21
• Files & Datasheets
• Schematic & Fabrication Print - STEMMA QT Version
• Schematic & Fabrication Print - Original Version

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 Overview

The VL53L0X is a Time of Flight distance sensor like no other you've used! The
sensor contains a very tiny invisible laser source, and a matching sensor. The
VL53L0X can detect the "time of flight", or how long the light has taken to bounce
back to the sensor. Since it uses a very narrow light source, it is good for determining
distance of only the surface directly in front of it. Unlike sonars that bounce ultrasonic
waves, the 'cone' of sensing is very narrow. Unlike IR distance sensors that try to
measure the amount of light bounced, the VL53L0x is much more precise and doesn't
have linearity problems or 'double imaging' where you can't tell if an object is very far
or very close.

This is the 'big sister' of the VL6180X ToF sensor, and can handle about 50 - 1200 mm
of range distance. If you need a smaller/closer range, check out the VL6180X which
can measure 5mm to 200mm.

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 The sensor is small and easy to use in any robotics or interactive project. Since it
needs 2.8V power and logic we put the little fellow on a breakout board with a
regulator and level shifting. You can use it with any 3-5V power or logic
microcontroller with no worries. Each order comes with a small piece of header.
Solder the header onto your breakout board with your iron and some solder and wire
it up for instant distance-sensing-success!

As if that weren't enough, we've also added SparkFun qwiic () compatible STEMMA

QT () connectors for the I2C bus so you don't even need to solder. Just wire up to
your favorite micro with a plug-and-play cable to get 6-DoF data ASAP. For a no-
solder experience, just wire up to your favorite micro, like the STM32F405 Feather () u

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 sing a STEMMA QT adapter cable. () The Stemma QT connectors also mean the
VL53L0X can be used with our various associated accessories. ()

There are two versions of this board - the STEMMA QT version shown above, and
the original header-only version shown below. Code works the same on both!

Communicating to the sensor is done over I2C with an API written by ST, so its not too
hard to port it to your favorite microcontroller. We've written a wrapper library for
Arduino so you can use it with any of your Arduino-compatible boards.

Sensing Capablities
The sensor can measure approximately 50mm to 1.2 meter in default mode.

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 In 'long range' mode you can detect as far as 1.5 to 2 meters on a nice white reflective
surface.

Depending on ambient lighting and distance, you'll get 3 to 12% ranging accuracy -
better lighting and shiny surfaces will give you best results. Some experimentation will
be necessary since if the object absorbs the laser light you won't get good readings.

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 Pinouts
The VL53L0X is a I2C sensor. That means it uses the two I2C data/clock wires
available on most microcontrollers, and can share those pins with other sensors as
long as they don't have an address collision.

For future reference, the default I2C address is 0x29. You can change it, but only in
software. That means you have to wire the SHUTDOWN pin and hold all but one
sensor in reset while you reconfigure one sensor at a time

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 Power Pins:
• Vin - this is the power pin. Since the chip uses 2.8 VDC, we have included a
voltage regulator on board that will take 3-5VDC and safely convert it down. To
power the board, give it the same power as the logic level of your
microcontroller - e.g. for a 5V micro like Arduino, use 5V
• 2v8 - this is the 2.8V output from the voltage regulator, you can grab up to
100mA from this if you like
• GND - common ground for power and logic

I2C Logic pins:

• SCL - I2C clock pin, connect to your microcontrollers I2C clock line.
• SDA - I2C data pin, connect to your microcontrollers I2C data line.
• STEMMA QT () - These connectors allow you to connectors to dev boards with S
TEMMA QT connectors or to other things with various associated accessories ().

Control Pins:
• GPIO - this is a pin that is used by the sensor to indicate that data is ready. It's
useful for when doing continuous sensing. Note there is no level shifting on this
pin, you may not be able to read the 2.8V-logic-level voltage on a 5V
microcontroller (we could on an arduino UNO but no promises). Our library
doesn't make use of this pin but for advanced users, it's there!

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 • SHDN - the shutdown pin for the sensor. By default it's pulled high. There's a
level-shifting diode so you can use 3-5V logic on this pin. When the pin is pulled
low, the sensor goes into shutdown mode.

Assembly
Don't forget to remove the protective cover off the sensor, it may be a clear or
slightly tinted plastic! Otherwise you will get incorrect readings

This page shows the VL53L0X or VL6180X sensor - the procedure is identical!

Prepare the header strip:

 

Cut the strip to length if necessary. It will

be easier to solder if you insert it into a
breadboard - long pins down

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 Place the Breakout board on top so the
shorter ends of the pins line up though all
the pads

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 Solder!
 

Be sure to solder all pins for reliable

electrical contact.

(For tips on soldering, be sure to check out

our Guide to Excellent Soldering ()).

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 OK You're done! Check your work over
and continue on to the next steps

Arduino Code
You can easily wire this breakout to any microcontroller, we'll be using an Arduino. For
another kind of microcontroller, just make sure it has I2C, then port the API code. We
strongly recommend using an Arduino to start though!

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 Connect Vin to the power supply, 3-5V is
fine (red wire on STEMMA QT version).
Use the same voltage that the
microcontroller logic is based off of. For
most Arduinos, that is 5V
Connect GND to common power/data
ground (black wire on STEMMA QT
version)
Connect the SCL pin to the I2C clock SCL
pin on your Arduino (yellow wire on
STEMMA QT version). On an UNO & '328
based Arduino, this is also known as A5,
on a Mega it is also known as digital 21
and on a Leonardo/Micro, digital 3
Connect the SDA pin to the I2C data SDA
pin on your Arduino (blue wire on STEMMA
QT version). On an UNO & '328 based
Arduino, this is also known as A4, on a
Mega it is also known as digital 20 and on
a Leonardo/Micro, digital 2

The VL53L0X has a default I2C address of 0x29!

You can change it, but only in software. That means you have to wire the SHUTDOWN
pin and hold all but one sensor in reset while you reconfigure one sensor at a time

Download Adafruit_VL53L0X
To begin reading sensor data, you will need to install the Adafruit_VL53L0X Library ().

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 The easiest way to do that is to open up the Manage Libraries... menu in the Arduino
IDE

Then search for Adafruit VL53L0X and click Install

We also have a great tutorial on Arduino library installation at:

http://learn.adafruit.com/adafruit-all-about-arduino-libraries-install-use ()

Load Demo
Open up File->Examples->Adafruit_VL53L0X->vl53l0x and upload to your Arduino
wired up to the sensor

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 Thats it! Now open up the serial terminal window at 115200 speed to begin the test.

Move your hand up and down to read the sensor data. Note that when nothing is
detected, it will say the reading is out of range

Don't forget to remove the protective plastic cover from the sensor before using!

Connecting Multiple Sensors

I2C only allows one address-per-device so you have to make sure each I2C device
has a unique address. The default address for the VL53L0X is 0x29 but you can
change this in software.

To set the new address you can do it one of two ways. During initialization, instead of
calling lox.begin(), call lox.begin(0x30) to set the address to 0x30. Or you can,
later, call lox.setAddress(0x30) at any time.

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 The good news is its easy to change, the annoying part is each other sensor has to
be in shutdown. You can shutdown each sensor by wiring up to the XSHUT pin to a
microcontroller pin. Then perform something like this pseudo-code:

1. Reset all sensors by setting all of their XSHUT pins low for delay(10), then set all
XSHUT high to bring out of reset
2. Keep sensor #1 awake by keeping XSHUT pin high
3. Put all other sensors into shutdown by pulling XSHUT pins low
4. Initialize sensor #1 with lox.begin(new_i2c_address) Pick any number but 0x29
and it must be under 0x7F. Going with 0x30 to 0x3F is probably OK.
5. Keep sensor #1 awake, and now bring sensor #2 out of reset by setting its
XSHUT pin high.
6. Initialize sensor #2 with lox.begin(new_i2c_address) Pick any number but 0x29
and whatever you set the first sensor to
7. Repeat for each sensor, turning each one on, setting a unique address.

Note you must do this every time you turn on the power, the addresses are not
permanent!

Python & CircuitPython

It's easy to use the VL53L0X sensor with Python and CircuitPython, and the Adafruit
CircuitPython VL53L0X () module.  This module allows you to easily write Python code
that reads the range from the sensor.

You can use this sensor with any CircuitPython microcontroller board or with a
computer that has GPIO and Python thanks to Adafruit_Blinka, our CircuitPython-for-
Python compatibility library ().

CircuitPython Microcontroller Wiring

First wire up a VL53L0X to your board exactly as shown on the previous pages for
Arduino.   Here's an example of wiring a Feather M0 to the sensor with an I2C
connection:

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 Board 3V to sensor VIN (red wire on
STEMMA QT version)
Board GND to sensor GND (black wire on
STEMMA QT version)
Board SCL to sensor SCL (yellow wire on
STEMMA QT version)
Board SDA to sensor SDA (blue wire on
STEMMA QT version)

Python Computer Wiring

Since there's dozens of Linux computers/boards you can use we will show wiring for
Raspberry Pi. For other platforms, please visit the guide for CircuitPython on Linux to
see whether your platform is supported (). 

Here's the Raspberry Pi wired with I2C:

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 Pi 3V3 to sensor VIN (red wire on STEMMA
QT version)
Pi GND to sensor GND (black wire on
STEMMA QT version)
Pi SCL to sensor SCL (yellow wire on
STEMMA QT version)
Pi SDA to sensor SDA (blue wire on
STEMMA QT version)

CircuitPython Installation of VL53L0X

Library
You'll need to install the Adafruit CircuitPython VL53L0X () library on your
CircuitPython board.

First make sure you are running the latest version of Adafruit CircuitPython () for your
board.

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 Next you'll need to install the necessary libraries to use the hardware--carefully follow
the steps to find and install these libraries from Adafruit's CircuitPython library bundle 
().  Our introduction guide has a great page on how to install the library bundle () for
both express and non-express boards.

Remember for non-express boards like the, you'll need to manually install the
necessary libraries from the bundle:

• adafruit_vl53l0x.mpy
• adafruit_bus_device

You can also download the adafruit_vl53l0x.mpy from its releases page on Github ().

Before continuing make sure your board's lib folder or root filesystem has the adafruit
_vl53l0x.mpy, and adafruit_bus_device files and folders copied over.

Next connect to the board's serial REPL  ()so you are at the CircuitPython >>> prompt.

Python Installation of VL53L0X Library

You'll need to install the Adafruit_Blinka library that provides the CircuitPython
support in Python. This may also require enabling I2C on your platform and verifying
you are running Python 3. Since each platform is a little different, and Linux changes
often, please visit the CircuitPython on Linux guide to get your computer ready ()!

Once that's done, from your command line run the following command:

• sudo pip3 install adafruit-circuitpython-vl53l0x

If your default Python is version 3 you may need to run 'pip' instead. Just make sure
you aren't trying to use CircuitPython on Python 2.x, it isn't supported!

CircuitPython & Python Usage

To demonstrate the usage of the sensor we'll initialize it and read the range and more
from the board's Python REPL.

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 Run the following code to import the necessary modules and initialize the I2C
connection with the sensor:

import board
import busio
import adafruit_vl53l0x
i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_vl53l0x.VL53L0X(i2c)

Now you're ready to read values from the sensor using any of these properties:

• range - The distance in millimeter to an object in front of the sensor.

print('Range: {}mm'.format(sensor.range))

In addition you can adjust the measurement timing budget to change the speed and
accuracy of the sensor.  Get and set the measurement_timing_budget property with a
value in nanoseconds.  For example to increase the timing budget to a more accurate
but slower 200ms value:

sensor.measurement_timing_budget = 200000

See the simpletest.py example () for a complete demo of printing the range every
second.  Save this as code.py on the board and examine the REPL output to see the
range printed every second.

That's all there is to using the VL53L0X with CircuitPython!

Full Example Code

# SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries
# SPDX-License-Identifier: MIT

# Simple demo of the VL53L0X distance sensor.

# Will print the sensed range/distance every second.
import time

import board

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 import busio

import adafruit_vl53l0x

# Initialize I2C bus and sensor.

i2c = busio.I2C(board.SCL, board.SDA)
vl53 = adafruit_vl53l0x.VL53L0X(i2c)

# Optionally adjust the measurement timing budget to change speed and accuracy.
# See the example here for more details:
# https://github.com/pololu/vl53l0x-arduino/blob/master/examples/Single/Single.ino
# For example a higher speed but less accurate timing budget of 20ms:
# vl53.measurement_timing_budget = 20000
# Or a slower but more accurate timing budget of 200ms:
# vl53.measurement_timing_budget = 200000
# The default timing budget is 33ms, a good compromise of speed and accuracy.

# Main loop will read the range and print it every second.
while True:
print("Range: {0}mm".format(vl53.range))
time.sleep(1.0)

Python Docs
Python Docs ()

Downloads
Files & Datasheets
• Datasheet for the VL53L0X ()
• ST product page () with more details including API downloads
• Fritzing object in Adafruit Fritzing library ()
• EagleCAD PCB files in GitHub ()

• Adafruit VL53L0X library ()

• Pololu Vl53L0X library ()

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 Schematic & Fabrication Print - STEMMA QT
Version

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 Schematic & Fabrication Print - Original
Version

Use M2.5 or #2-56 screws to mount

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