ST X-NUCLEO-53L4A2 User manual
Introduction
The X-NUCLEO-53L4A2 is an expansion board for any STM32 Nucleo development board equipped with the Arduino R3
connectors. It provides a complete evaluation kit that allows you to learn, evaluate, and develop applications using the
VL53L4CX Time-of-Flight sensor with extended range measurement.
The expansion board is delivered with a cover glass holder in which you can fit three different spacers of 0.25, 0.5, and 1 mm
height below the cover glass to simulate various air gaps. A small oval cover glass fitting the sensor is included.
Several ST expansion boards can be stacked through the Arduino connectors, which allow, for example, the development of
VL53L4CX applications with Bluetooth or Wi-Fi interfaces.
Figure 1. X-NUCLEO-53L4A2 expansion board, spacers, cover glass holder, and oval cover glass
Getting started with the X-NUCLEO-53L4A2 expansion board for STM32 Nucleo
based on the VL53L4CX
UM2976
User manual
UM2976 - Rev 1 - December 2021
For further information contact your local STMicroelectronics sales office. www.st.com
1Getting started
1.1 Safety considerations
1.1.1 Electrostatic precautions
Warning:
Take electrostatic precautions, including ground straps, when using the X-NUCLEO-53L4A2
expansion board. Failure to prevent electrostatic discharge could damage the device.
Figure 2. Electrostatic logo
1.1.2 Laser safety considerations
The VL53L4CX contains a laser emitter and the corresponding drive circuitry.
The laser output is designed to remain within Class 1 laser safety limits under all reasonable foreseeable
conditions, including single faults, in compliance with the IEC 60825-1:2014 (third edition).
The laser output remains within Class 1 limits as long as you use the STMicroelectronics recommended device
settings and respect the operating conditions specified in the data sheet.
The laser output power must not be increased and no optics should be used with the intention of focusing the
laser beam.
Figure 3. Class 1 laser product label
1.2 Features
•VL53L4CX Time-of-Flight sensor with extended range measurement
• Accurate absolute ranging distance, independent of the reflectance of the target
• 0.25, 0.5, and 1 mm spacers to simulate air gaps
• Two different cover windows to protect the sensor from dust
• Compatible with STM32 Nucleo development boards
• Equipped with Arduino UNO R3 connectors
• Full system software supplied, including code examples and graphical user interface
• RoHS, CE, UKCA, and China RoHS compliant
UM2976
Getting started
UM2976 - Rev 1 page 2/22
1.3 Spacers and covers
The X-NUCLEO-53L4A2 expansion board is delivered with:
•three spacers of 0.25 mm, 0.5 mm, and 1 mm height, used to simulate different air gaps between the
VL53L4CX and the rectangular-shaped cover glass;
• an oval-shaped cover glass to simulate the integration of the VL53L4CX into the customer's final product;
• two six-pin headers that allow connecting the two breakout boards to the X-NUCLEO-53L4A2 expansion
board.
Attention: The VL53L4CX is delivered with a liner to prevent potential foreign material from piercing the module holes
during the assembly process. Remove this liner before use.
UM2976
Spacers and covers
UM2976 - Rev 1 page 3/22
1.4 Simplified schematic
Figure 4. X-NUCLEO-53L4A2 expansion board - simplified schematic
D7 / PA8 8
7
6
5
4
3
2
1
D6 / PB10
D5 / PB4
D4 / PB5
D3 / PB3
D2 / PA10
D1 / PA2
D0 / PA3
CN9
ARDUINO HEADERS
1
2
3
4
5
6
7
8
9
10
D15 / PB8
D14 / PB9
D13 / PA5
D12 / PA6
D11 / PA7
D9 / PC7
D10 / PB6
D8 / PA9
CN5
GND
SCL
SDA
6
5
4
3
2
1
A0 / PA0
A1 / PA1
A2 / PA4
A3 / PB0
A4 / PC1
A5 / PC0
CN8
6
5
4
3
2
1
7
8
CN6
GND
GND
+5V
+3V3
ARDUINO/F401RE
AVDD
VIN
NRST
IOREF
NC
SDA
SCL
3.3V
GND
XSHUT
GPIO1
SDA
SCL
3.3V
GND
GPIO1
XSHUT
1
2
3
4
6
5
SDA
SCL
3.3V
GND
GPIO1
XSHUT
1
2
3
4
6
5
NUCLEO-F401RE
J4_Left
Satellite
Left header
J4_Right
Satellite
Right header 1
2
3
4
U1
VL53L4CX
UM2976
Simplified schematic
UM2976 - Rev 1 page 4/22
2Using the expansion board
The X-NUCLEO-53L4A2 expansion board allows the user to test the VL53L4CX sensor functionality, to program it
and to understand how to develop an application using this sensor.
The X-NUCLEO-53L4A2 integrates:
• the VL53L4CX sensor;
• Arduino UNO R3 connectors;
• Connectors for SATEL-VL53L4CX optional breakout boards;
Important: Program a microcontroller to control the VL53L4CX through the I2C bus.
The application software and an example of the C-ANSI source code are available on the sensor web page.
The X-NUCLEO-53L4A2 expansion board can be connected to the STM32 Nucleo development board through
the Arduino UNO R3 connectors (CN5, CN6, CN8, and CN9) as shown in Figure 4.
UM2976
Using the expansion board
UM2976 - Rev 1 page 5/22
3Breakout boards
The X-NUCLEO-53L4A2 package does not include the VL53L4CX breakout boards.
You can purchase them in a pack of two PCBs as SATEL-VL53L4CX.
The X-NUCLEO-53L4A2 supplies the VL53L4CX breakout boards at 3.3 V (see Figure 4).
For mechanical integration purposes, it could be interesting to use the mini PCB by breaking the SATEL-
VL53L4CX along the red line as shown in the figure below. It is easier to integrate this setup into a customer's
device thanks to its small size.
Figure 5. SATEL-VL53L4CX
The SATEL-VL53L4CX boards can be directly plugged onto the X-NUCLEO-53L4A2 through the two 6-pin
headers (see Figure 6).
As an alternative, they can be connected to the X-NUCLEO-53L4A2 by using the mini PCB through flying wires
(see Figure 7).
UM2976
Breakout boards
UM2976 - Rev 1 page 6/22
Figure 6. SATEL-VL53L4CX breakout boards connected to the X-NUCLEO-53L4A2 expansion board
UM2976
Breakout boards
UM2976 - Rev 1 page 7/22
Figure 7. VL53L4CX mini PCB flying wire connection to the X-NUCLEO-53L4A2 expansion board
UM2976
Breakout boards
UM2976 - Rev 1 page 8/22
4Graphical user interface (GUI) and programming example for the
X-NUCLEO-53L4A2
To evaluate the VL53L4CX device performance, use the related GUI or the X-CUBE-TOF1.
The X-NUCLEO-53L4A2 expansion board requires the NUCLEO-F401RE development board to use the GUI or
run the ranging examples included in the X-CUBE-TOF1.
Important:
Despite the fact that the X-NUCLEO-53L4A2 can be stacked on any STM32 Nucleo board equipped the Arduino R3
connectors, the GUI is designed to work with the NUCLEO-F401RE only.
Download the GUI (in the Tools and Software tab of the X-NUCLEO-53L4A2 web page) or the X-CUBE-TOF1 to
evaluate the VL53L4CX.
UM2976
Graphical user interface (GUI) and programming example for the X-NUCLEO-53L4A2
UM2976 - Rev 1 page 9/22
5Schematic diagrams
Figure 8. X-NUCLEO-53L4A2 circuit schematic (1 of 6)
SCL
SDA
XSHUT
GPIO1
Sensor.SchDoc
SDA
SCL
XSHUT
GPIO1
Right
Satellite Connector.SchDoc
SCL
SDA
XSHUT
GPIO1
Left
Satellite Connector.SchDoc
PA1
PA0
PA3
PA4
PA2
PA6
PA5
PA7
PA8
PA10
PA9
PC1
PC0
PC7
PB0
PB10
PB6
PB5
PB4
PB3
PB8
PB9
Host.SchDoc
3V3
R1
2.2k
R2
2.2k
LCD_SCL
LCD_SDA
Display Connector.SchDoc
3V3
R3
2.2k
R4
2.2k
Note: The display connector is an optional connector to connect an SSD1306 I2C OLED display to output the ranging
data or other meaningful information if required. The related application note and example code will be available
on st.com.
UM2976
Schematic diagrams
UM2976 - Rev 1 page 10/22
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