Data Sheet

I2C commands for tinyLiDAR (cont’d)
W Write custom VL53L0X config 0x57…
Write new VL53L0X configuration parameters.
Parameters are written in the following order: Signal Limit, Sigma Limit, Time Budget, VCSEL Period
selection. This command requires a sequence of steps which are best understood by following the code from
the tinyLiDAR
Terminal GUI sketch shown in Appendix A.
P_ Preset Ranging mode 0x50…
Set tinyLiDAR
to one of 4 Ranging modes: L,S,H,T as described below.
Note that this command will cause tinyLiDAR
to write this mode to non-volatile memory and reboot. Therefore
please allow some time for it to reboot.
PL
: long range mode (up to 2m, 33ms)
PS
: high speed mode (up to 1.2m, 20ms)
PH
: high accuracy mode (up to 1.2m, 200ms)
PT
: tinyLiDAR mode (up to 2m, 18ms)
CD Auto-Calibrate Distance Offset 0x43 0x44…
Perform Offset Distance Calibration on tinyLiDAR.
Before using this calibration command, please set tinyLiDAR to
Continuous, High Accuracy
mode by issuing
the commands “MC” and “PH”. See example code in Appendix A for details.
ST recommends to use a distance of
100mm
to a white target. Therefore, place a white target 100mm away
from tinyLiDAR
before running this calibration.
Must specify calibration distance in mm.
The new offset correction distance will be placed in non-volatile memory and used for all subsequent
operations. This calibration takes about 10 seconds to run and the LED will flash slowly during the calibration.
You can reset to our factory defaults by executing the “RESET” command.
CX Auto-Calibrate Crosstalk 0x43 0x58…
Perform Crosstalk Calibration on tinyLiDAR. This correction factor is typically not used as it is meant to try and
correct for crosstalk from thin cover windows placed infront of the sensor. The tinyLiDAR
module does not
ship with a cover window hence it does not require crosstalk correction by default.
Before using this calibration command, please set tinyLiDAR to
Continuous, High Accuracy
mode by issuing
the commands “MC” and “PH”.
ST recommends to use a distance of 400mm to a gray (17% reflectivity) target. Therefore, place a gray
target 400mm away from tinyLiDAR
before running this calibration.
Must specify calibration distance in mm.
The crosstalk factor will be placed in non-volatile memory and used for all subsequent operations. This
calibration takes about 10seconds to run and the blue LED will flash slowly during the calibration. You can
clear this calibration out by running the “RESET” command.
tinyLiDAR Reference Manual rev1.26 9