USB-C LiDAR Node (VL53L9)

A compact and low-cost USB device with integrated LiDAR sensor and IMU. This hardware node packages STMicroelectronics' VL53L9 advanced direct Time-of-Flight (dToF) matrix LiDAR with a 6-axis IMU into a plug-and-play USB-C device. Designed for mobile robotics, micro-UAVs, and academic SLAM research. The hardware is designed in KiCad 10.

System Architecture

Feature	Detail	Datasheet
LiDAR	ST VL53L9CX dToF module with up to 54×42 (2.3 k) discrete ranging zones, 5 cm–8.8 m range	link
IMU	ST LSM6DSV 6-axis IMU with embedded sensor fusion engine, orientation quaternions generated on-chip	link

Data Format

Raw binary packet framing is used instead of verbose text formats (JSON/CSV) to stay well within the 12 Mbps USB Full-Speed ceiling while imposing zero processing overhead on the MCU.

Per the VL53L9CX datasheet (DS14879, Table 2), the I3C interface is specified for a 12.5 MHz bus clock and a 12.5 Mbps output data rate. Full resolution is hard-limited to 30 Hz. Two pre-configured profiles are available:

Profile	Output Matrix	Frame Rate
Full Resolution (default)	54 × 42 zones	30 Hz
Binned Navigation (high-velocity)	24 × 20 zones	60 Hz

Mechanical Specs

The PCB measures 34 × 30 mm and has 4× M3 mounting holes on a 20 mm square pitch, fitting small drone frame stacks.