Quick Start Guide

Hardware Overview

X-NUCLEO-53L4A2 Hardware Description

The X-NUCLEO-53L4A2 is a Time-of-Flight sensor with extended range measurement and development board designed around the VL53L4CX sensor based on ST FlightSense™ patented technology.

The VL53L4CX communicates with the STM32 Nucleo developer board host microcontroller through an I2C link available on the Arduino UNO R3 connector.

Key Products on board

• VL53L4CX Time-of-Flight (ToF) sensor with extended range measurement
• 0.25, 0.5 and 1mm spacers to simulate air gaps, with the cover glasses

Breakout boards

SATEL-VL53L4CX breakout boards can be purchased separately.

Visual Description: The X-NUCLEO-53L4A2 is a blue printed circuit board featuring the VL53L4CX sensor module, various connectors (CN6, CN8, CN5, CN9, J3, J4), test points (TP1, TP2), and mounting holes. It is designed to be plugged into an STM32 Nucleo development board. The included accessories are small circular spacers (0.25mm, 0.5mm, 1mm) and cover glasses. The SATEL-VL53L4CX breakout boards are smaller boards with the VL53L4CX sensor and connectors.

Order Code: X-NUCLEO-53L4A2

Latest information available at www.st.com/x-nucleo-53l4a2

X-NUCLEO-53L4A2 expansion board

VL53L4CX devices can be integrated into custom applications using the expansion board or an external VL53L4CX breakout. The breakout boards are delivered separately.

The X-NUCLEO-53L4A2 is also available as a NUCLEO Pack (P-NUCLEO-53L4A2).

The X-NUCLEO-53L4A2 expansion board can be ordered as part of a NUCLEO Pack with the STM32 Nucleo board from www.st.com.

Order code for NUCLEO Pack: P-NUCLEO-53L4A2 includes the X-NUCLEO-53L4A2 expansion board and the NUCLEO-F401RE full features board.

VL53L4CX breakout boards can be ordered separately.

Order code for breakout boards: SATEL-VL53L4CX. This pack contains two breakout boards.

Visual Description: Images show the X-NUCLEO-53L4A2 expansion board, the NUCLEO-F401RE development board, and the P-NUCLEO-53L4A2 pack which combines both. Also shown are the SATEL-VL53L4CX breakout boards, each with the VL53L4CX sensor and pin headers.

STM32Cube Software Overview

X-CUBE-TOF1 software description

The X-CUBE-TOF1 software package is a STM32Cube expansion for the Time-of-Flight product family expansion boards (including the X-NUCLEO-53L4A2) for STM32. The source code is based on STM32Cube to facilitate portability and code sharing across different STM32 MCU families.

A sample implementation is available for the STM32 Nucleo ranging sensor expansion board (X-NUCLEO-53L4A2) when plugged onto an STM32 Nucleo development board (NUCLEO-F401RE or NUCLEO-L476RG).

Key features

• Driver layer (VL53L4CX driver) for comprehensive management of the VL53L4CX sensor with extended range measurement, integrated into the X-NUCLEO-53L4A2 expansion board.
• Easy portability across different MCU families, facilitated by STM32Cube.
• Free, user-friendly license terms.
• Sample code for ranging measurement.

Visual Description: A diagram illustrates the STM32Cube software environment, showing an 'Application' layer for 'Ranging measurement example', a 'Hardware Abstraction' layer for 'STM32Cube Hardware Abstraction Layer (HAL)', and a 'Hardware' layer listing 'STM32 Nucleo expansion board' (including X-NUCLEO-53L3A2, X-NUCLEO-53L5A1, X-NUCLEO-53L1A2, X-NUCLEO-53L4A2) and 'STM32 Nucleo development board'.

Latest Software available at www.st.com/x-cube-tof1

Setup & Demo Examples

HW prerequisites

• 1x High accuracy ToF sensor expansion board based on VL53L4CX (X-NUCLEO-53L4A2).
• 1x STM32 Nucleo development board (e.g., NUCLEO-F401RE).
• 1x Laptop/PC with Windows operating system.
• 1x USB type A to Mini-B USB cable.

If an STM32 Nucleo development board is not available, a Nucleo pack (P-NUCLEO-53L4A2) can be ordered, which includes the X-NUCLEO-53L4A2 expansion board and the NUCLEO-F401RE board together.

Visual Description: Images display the X-NUCLEO-53L4A2 expansion board, the NUCLEO-F401RE development board, and the P-NUCLEO-53L4A2 pack.

SW prerequisites

• STSW-IMG029: Bare driver for VL53L4CX
• STSW-IMG030: P-NUCLEO-53L4A2 Graphical User Interface (GUI) for Windows 7 and 10
• STSW-IMG031: Linux driver for VL53L4CX
• X-CUBE-TOF1: Time-of-Flight sensors software expansion for STM32Cube.

Upon installation of X-CUBE-TOF1, the installer also provides the directory containing example projects. For instance: C:\Users\user_name\STM32Cube\Repository\Packs\STMicroelectronics\X-CUBE-TOF1\4.0.0\Projects\STM32F401RE-Nucleo\Examples\53L4A2\53L4A2_SimpleRanging.

NUCLEO Kit driver installation

Step 1: Connect the P-NUCLEO to the PC through USB. Wait for the board to be recognized; drivers are typically installed automatically.

If Windows cannot install the STLINK driver automatically, proceed to Step 2.

Step 2: Install the PC USB port driver to detect the Nucleo board.

• Download STSW-LINK009 from www.st.com.
• Unzip the downloaded file and double-click on "stlink_winusb_install.bat" to install the driver.

Visual Description: An image shows a NUCLEO board connected to a computer via USB. Another image displays a file explorer window listing driver files, including stlink_winusb_install.bat, dpinst_amd64.exe, and configuration files.

VL53L4CX GUI software installation

The Graphical User Interface (GUI) is the primary and most accessible tool for evaluating the device.

Steps:

• Perform hardware installation and connect the VL53L4CX expansion board and Nucleo F401RE to the PC.
• Install the GUI software for VL53L4CX Demo and configuration settings. This is available as STSW-IMG030, downloadable from www.st.com.
• Run the installer with Administrator privileges.

The Graphical User Interface capabilities include:

• Performing offset and Xtalk calibration, and visualizing calibration data.
• Changing key parameters of the VL53L4CX.
• Displaying real-time data such as distance, signal strength, and ambient rate.
• Getting data logging and replaying a datalog file (e.g., .csv).

Visual Description: A screenshot of the VL53L4CX GUI application is shown. It features tabs for 'Ranging', 'Calibration', 'Data Log', and 'About'. The 'Ranging' tab displays a graph titled 'Multi Object Ranging' showing distance over time, along with detected objects and signal rates. Controls for 'Timing Budget', 'Distance Mode', and 'Output Mode' are also visible.

X-CUBE-TOF1 software installation

Steps:

• Perform hardware installation and connect the NUCLEO kit (P-NUCLEO-53L4A2) to the PC.
• Install the X-CUBE-TOF1 software package. This can be downloaded from www.st.com (version 4.0.0 or newer).
• The X-CUBE-TOF1 is installed via the STM32CubeMx software, using the 'manage software installation' section.
• Once installed, navigate to the project directory: C:\Users\user_name\STM32Cube\Repository\Packs\STMicroelectronics\X-CUBE-TOF1\4.0.0-B1\Projects\STM32F401RE-Nucleo\Examples\53L4A2\53L4A2_SimpleRanging.

X-CUBE software package contents: API SW + SW examples

The package includes directories for Documentation (Generic Nucleo & SW installation guide), Drivers (VL53L4CX API), Projects (e.g., NUCLEO-F401RE), and Examples. The Examples folder contains subfolders for different sensor models (e.g., 53L1A2, 53L3A2, 53L4A1, 53L4A2). The 53L4A2 folder includes subfolders like 53L4A2_MultiSensorRanging and 53L4A2_SimpleRanging, containing binary files and precompiled projects for various IDEs (STM32CubeIDE, Keil, IAR).

Visual Description: A file tree structure is shown, detailing the contents of the X-CUBE-TOF1 package, including API documentation and project examples for different STM32 Nucleo boards and sensor configurations.

Evaluation code example (.bin) using X-CUBE-TOF1 and a NUCLEO Pack

To use the evaluation code, refer to the document UM2923: "How to use the VL53L4CX with STMicroelectronics' X-CUBE-TOF1 Time-of-Flight sensor software packages for STM32CubeMX". Follow the instructions provided in UM2923.

Process: Binary files (e.g., 53L4A2_MultiSensorRanging.bin, 53L4A2_SimpleRanging.bin) are typically copied or 'dragged and dropped' onto the NUCLEO development board, which appears as a removable drive (e.g., NODE_F401RE (D:)) on the computer.

Visual Description: Diagrams illustrate the process of copying binary files from the X-CUBE-TOF1 project structure to the NUCLEO development board, which is mounted as a drive on the computer.

Start programming with code examples using X-CUBE-TOF1 and a NUCLEO Pack

Refer to UM2923 for detailed instructions on using the VL53L4CX with STMicroelectronics' X-CUBE-TOF1 software packages for STM32CubeMX.

You can open project examples for Multi Sensor ranging and modify, build, and apply the software.

Similar folder structures and files are available for other project examples and different STM32 Nucleo boards (e.g., NUCLEO-L476RG).

Visual Description: The page shows the project structure for different IDEs (IAR, Keil, STM32CubeIDE), highlighting project files (e.g., .ewp, .uvprojx, .cproject) and startup files. It indicates that similar structures exist for other projects and boards.

Documents & Related Resources

Comprehensive documentation is available on the STMicroelectronics website.

Visit: https://www.st.com/en/imaging-and-photonics-solutions/VL53L4CX

All documents can be found in the 'Documentation' tab of the related products webpage.

VL53L4CX: Product Folder

• DS13805: Time-of-Flight sensor with extended range measurement - data sheet

X-NUCLEO-53L4A2: Product Folder

• DB462: Time-of-Flight sensor with extended range measurement expansion board based on VL53L4CX for STM32 Nucleo – data brief
• X-NUCLEO-53L4A2 Quick start guide: Time-of-Flight sensor with extended range measurement - this document
• UM2976: Getting started with X-NUCLEO-53L4A2 Time-of-Flight sensor with extended range measurement based on the VL53L4CX for STM32 Nucleo - user manual

P-NUCLEO-53L4A2: Product Folder

• DBxxxx: VL53L4CX Nucleo pack with X-NUCLEO-53L4A2 expansion board and STM32F401RE Nucleo board - data brief

SATEL-VL53L4CX: Product Folder

• DB4632: VL53L4CX breakout board Time-of-Flight sensor with extended range measurement – data brief

STSW-IMG029: Bare driver for VL53L4CX folder

• DB4583: Application Programming Interface (API) for the VL53L4CX – data brief

STSW-IMG030: Graphical User Interface (GUI) Folder

• DB4584: P-NUCLEO-53L4A2 pack graphical user interface (GUI) – data brief
• Software setup file

X-CUBE-TOF1: Software package for STM32Cube

• DB4449: Time-of-Flight sensors software expansion for STM32Cube – data brief
• UMxxxx: Getting started with the STMicroelectronics X-CUBE-TOF1, Time-of-Flight sensors, software package for STM32CubeMX - User Manual
• Software setup file

STM32 ODE Ecosystem

FAST, AFFORDABLE PROTOTYPING AND DEVELOPMENT

The STM32 Open Development Environment (ODE) is an open, flexible, easy, and affordable platform for developing innovative devices and applications based on the STM32 32-bit microcontroller family. It integrates with other ST components via expansion boards, enabling fast prototyping with leading-edge components that can be quickly transformed into final designs.

The STM32 ODE includes five key elements:

• STM32 Nucleo development boards: Affordable boards for all STM32 microcontroller series, offering unified expansion capability and integrated debugger/programmer.
• STM32 Nucleo expansion boards: Boards that add functionality (sensing, control, connectivity, power, audio, etc.) by plugging onto Nucleo development boards. Complex functionalities can be achieved by stacking multiple expansion boards.
• STM32Cube software: Free tools and embedded software bricks, including a Hardware Abstraction Layer (HAL), middleware, and the STM32CubeMX PC-based configurator and code generator, for fast and easy STM32 development.
• STM32Cube expansion software: Expansion software provided free of charge for use with STM32 Nucleo expansion boards, compatible with the STM32Cube software framework.
• STM32Cube Function Packs: Sets of function examples for common application cases, built using the modularity and interoperability of STM32 Nucleo development boards and expansions, along with STM32Cube software.

The STM32 Open Development Environment is compatible with various development environments, including STM32CubeIDE, IAR EWARM, Keil MDK-ARM, and GCC/LLVM-based IDEs. It can also integrate components like STM32CubeMX, STM32CubeProgrammer, or STM32CubeMonitor.

Visual Description: A diagram shows the STM32 ODE ecosystem, illustrating the relationship between STM32 Nucleo development boards, STM32 Nucleo expansion boards (X-NUCLEO), STM32Cube development boards, STM32Cube expansion software (X-CUBE), and Function Packs.

STM32 Open Development Environment: all that you need

The combination of expandable boards and modular software, from driver to application level, enables fast prototyping of ideas that can be smoothly transformed into final designs.

To start your design:

• Choose the appropriate STM32 Nucleo development board (NUCLEO) and expansion (X-NUCLEO) boards (sensors, connectivity, audio, motor control, etc.) based on your required functionality.
• Select your development environment (e.g., IAR EWARM, Keil MDK, GCC/LLVM-based IDEs) and utilize free STM32Cube tools and software such as STM32CubeMX, STM32CubeProgrammer, STM32CubeMonitor, or STM32CubeIDE.
• Download the necessary software to run the desired functionality on the selected STM32 Nucleo expansion boards.
• Compile your design and upload it to the STM32 Nucleo development board.
• Begin developing and testing your application.

Software developed using STM32 Open Development Environment prototyping hardware can be directly used in advanced prototyping boards or end-product designs, utilizing the same commercial ST components or those from the same family as found on STM32 Nucleo boards.

Visual Description: A diagram outlines the STM32 ODE process: 'The building blocks' (Sense, Connect, HMI, Move, Power, Process, Software) map to 'Your need' (Collect, Transmit, Access, Actuate, Power, Process) and 'Our answer' (STM32 Open Development Environment, STM32 Nucleo, STM32 Cube). It also shows physical components like the STM32 microcontroller, ST-LINK probe, ST morpho extension header, and Arduino UNO R3 extension headers, highlighting the complete product range from ultra-low power to high-performance.