VL53L4CD time-of-flight distance (1.3 m) with ESP32

Supply 3.3-5 V Bus I2C I2C address 0x29 Measures distance

Pins and ESP32 wiring

Pin	Role	ESP32 pin	Notes
VIN	Power	3V3	Pin order differs between sellers: check the silkscreen
GND	Ground	GND
SCL	I2C clock (SCL)	D22
SDA	I2C data (SDA)	D21
GPIO1	Interrupt	D35	Interrupt output, optional
XSHUT	Input (the ESP32 drives it)	D25	Shutdown, active LOW. Optional

Suggested wiring for the 30-pin ESP32 DevKit, avoiding flash, input-only and strapping pins. BoardPilot checks it for you as you wire.

Starter code (Arduino)

#include <Wire.h>

void setup() {
  Serial.begin(115200);
  Wire.begin(21, 22);  // SDA = GPIO 21, SCL = GPIO 22
  Wire.beginTransmission(0x29);
  bool found = Wire.endTransmission() == 0;
  Serial.println(found ? "VL53L4CD time-of-flight distance (1.3 m) found at 0x29" : "Not found: check power, GND and SDA/SCL");
}

void loop() {}

Sources

ST VL53L4CD datasheet, Default I2C address 0x29; ranging 1 mm to 1300 mm

Try it in 3D in BoardPilot

BoardPilot Part data (JSON)

Part data: CC BY 4.0, free to reuse with credit to BoardPilot.

VL53L4CD time-of-flight distance (1.3 m) with ESP32

Pins and ESP32 wiring

Starter code (Arduino)

Sources

Try it in 3D in BoardPilot

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