Microprocesser-Systems-Project-

3D Indoor Mapping System using ToF Sensor and Microcontroller

This project implements a cost-effective 3D indoor mapping system using a Time-of-Flight (ToF) sensor (VL53L1X), a Texas Instruments MSP432E401Y microcontroller, and a 28BYJ-48 stepper motor.

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🚀 Project Overview

The system scans an indoor environment by rotating a ToF sensor mounted on a stepper motor, capturing distance data, and transmitting it to a PC. Python scripts process the data and generate a 3D point cloud visualization of the scanned area.

• Hardware Used

  • TI MSP432E401Y (ARM Cortex-M4 @ 120 MHz, 3.3V logic)
  • VL53L1X Time-of-Flight sensor (max 4m range, I2C communication)
  • 28BYJ-48 stepper motor with ULN2003 driver
  • Custom wiring and 3D-printed sensor mount

• Software Used

  • C (Keil uVision) for microcontroller firmware
  • Python 3.11.9 for PC data handling and visualization
    • PySerial for UART communication
    • Open3D for 3D visualization

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📡 System Communication

• I2C: (100 kHz clock, ~167 kbps effective): VL53L1X → MSP432E401Y
• UART: MSP432E401Y → PC (115200 baud)
• Visualization: Python + Open3D to render .xyz point cloud files

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📊 Workflow

1. ToF sensor collects distance measurements every 11.25° (32 points per rotation).
2. Stepper motor rotates the sensor for a full 360° scan.
3. Data sent via I2C to microcontroller → relayed to PC over UART.
4. Python processes raw data into (x, y, z) coordinates.
5. Open3D generates a 3D visualization of the scanned room.

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📸 Results

• Generated Point Cloud Visualization

  Preview of 3D visualization

  3D Data Visualization

  Live image we imitated

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The setup for running this project and all other detailed information is provided in the report: Final Report (PDF)