Question
VL53L3CX and ESP32 weird ranging data
Hi,
I am using an esp32 to read out the sensor data of a VL53L3CX. I've tried the example code for the distance sensor and slightly modified it by commenting the if statement out which checks if the distance changed to get continiously data:
#define XSHUT_PIN 6
#define INT_PIN 7
#define SERIAL_BAUD_RATE 115200
#define DEVICE_I2C_ADDR 0x12
VL53LX vl53lx(&Wire, XSHUT_PIN);
// Holds latest measured distances (up to 4)
#define MAX_OBJECTS 4
uint16_t dist[MAX_OBJECTS];
//----------------------------------------
// intaISR - Interrupt handler
//----------------------------------------
portMUX_TYPE syncINTA = portMUX_INITIALIZER_UNLOCKED; // For handling ISR entry/exit
bool intaINT = false; // True = Interrupt occured
unsigned long intervalTimer; // Timer used for checking for lost interrupts
void IRAM_ATTR intaISR() {
portENTER_CRITICAL(&syncINTA);
intaINT = true; // Signal that MCP INTA occured
portEXIT_CRITICAL(&syncINTA);
}
void setup()
{
int i;
VL53LX_Error rc;
VL53LX_Version_t ver;
uint8_t ProductRevisionMajor, ProductRevisionMinor, byteData;
VL53LX_DeviceInfo_t devInfo;
uint64_t Uid;
Serial.begin(SERIAL_BAUD_RATE, SERIAL_8N1);
while (!Serial);
delay(5000);
Serial.println("Starting...");
// Initialize the array
for (i=0; i<MAX_OBJECTS; i++)
dist[i] = 0;
// Initialize the I2C bus
Wire.begin(4,5);
Wire.setClock(400000);
// Configure the VL53LX
vl53lx.begin();
vl53lx.VL53LX_Off();
vl53lx.InitSensor(DEVICE_I2C_ADDR);
// Print chip info
rc = vl53lx.VL53LX_GetVersion(&ver);
Serial.printf("GetVersion: rc=%d, Build=%d, Major=%d, Minor=%d, Revision=%d\n", rc, ver.build, ver.major, ver.minor, ver.revision);
rc = vl53lx.VL53LX_GetProductRevision(&ProductRevisionMajor, &ProductRevisionMinor);
Serial.printf("GetProductRevision: rc=%d, Major=%d, Minor=%d\n", rc, ProductRevisionMajor, ProductRevisionMinor);
rc = vl53lx.VL53LX_GetDeviceInfo(&devInfo);
Serial.printf("GetDeviceInfo: rc=%d, ModuleType(0xAA?)=0x%X, ProdRevMajor=%d, ProdRevMinor=%d\n", rc, devInfo.ProductType, devInfo.ProductRevisionMajor, devInfo.ProductRevisionMinor);
rc = vl53lx.VL53LX_GetUID(&Uid);
Serial.printf("GetUID: rc=%d, UID=0x%llX\n", rc, Uid);
// To enable using the below I2CRead function, you need to move its definition in vl53lx_class.h from the Protected section to the Public section
rc = vl53lx.VL53LX_I2CRead(DEVICE_I2C_ADDR, 0x010F, &byteData, 1);
Serial.printf("I2CRead 0x010F: rc=%d, Model_ID=0x%02X\n", rc, byteData);
rc = vl53lx.VL53LX_I2CRead(DEVICE_I2C_ADDR, 0x0110, &byteData, 1);
Serial.printf("I2CRead 0x0110: rc=%d, Module_Type=0x%02X\n", rc, byteData);
pinMode(INT_PIN, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(INT_PIN), intaISR, FALLING);
intervalTimer = millis(); // Set timer
vl53lx.VL53LX_ClearInterruptAndStartMeasurement();
Serial.println("Ready...");
}
void loop()
{
VL53LX_MultiRangingData_t MultiRangingData;
VL53LX_MultiRangingData_t *rangingData = &MultiRangingData;
uint8_t NewDataReady = 0;
int objectsFound = 0, j, status;
bool dataChanged = false;
if (intaINT) {
status = vl53lx.VL53LX_GetMeasurementDataReady(&NewDataReady);
if (status == 0 && NewDataReady != 0) {
status = vl53lx.VL53LX_GetMultiRangingData(rangingData);
objectsFound = rangingData->NumberOfObjectsFound;
if (objectsFound > 0) {
for(j = 0; j < objectsFound; j++) {
// Check only if status is OK
if (rangingData->RangeData[j].RangeStatus == 0) {
// Only consider changes of over 10 mm
//if (abs(rangingData->RangeData[j].RangeMilliMeter - dist[j]) > 10) {
// Movement happened
dist[j] = rangingData->RangeData[j].RangeMilliMeter;
dataChanged = true;
//}
}
}
// Clear rest of values
for (j=objectsFound; j < MAX_OBJECTS; j++)
dist[j] = 0;
if (dataChanged) {
dataChanged = false;
Serial.printf("%d %d %d %d\n", dist[0], dist[1], dist[2], dist[3]);
}
}
}
intaINT = false;
vl53lx.VL53LX_ClearInterruptAndStartMeasurement();
intervalTimer = millis();
} else {
// Did we lose an interrupt?
if ((millis() - intervalTimer) > 2000) {
Serial.println("Lost interrupt?");
vl53lx.VL53LX_ClearInterruptAndStartMeasurement();
intervalTimer = millis();
}
}
}
This is my test setup:
![IMG_1667[13579].jpg](https://uploads-eu-west-1.insided.com/stmicroelectronics-en/attachment/6862e306-1d28-597b-6def-5d2717f37fa4.jpg "IMG_1667[13579].jpg")
The output looks like that:
571 0 0 0
584 0 0 0
575 0 0 0
581 0 0 0
578 0 0 0
Which clearly isn't correct.
1. There is only one object detected. 2. The distance isn't even correct for one of the objects that are ~50cm and 76cm away from the sensor.
Furthermore i am expecting that it continuously getting data but sometimes it is stuck and then after ~10sec it continues getting data...
My schematic of the PCB looks like that:
Has anybody an idea what i am doing wrong??
Thanks for your help!