Spatial-Mapping-System

A cost-effective and efficient embedded spatial mapping system using a VL53L1X Time-of-Flight (ToF) sensor, stepper motor, and microcontroller to generate 3D visualizations of indoor environments.

📄 Complete Project Report

For a comprehensive explanation of the design, implementation, testing, and results, https://github.com/GitMustafaCode/Spatial-Mapping-System/blob/main/2DX3_Project_Report.pdf.

Read this document for a detailed description

https://github.com/GitMustafaCode/Spatial-Mapping-System/blob/main/2023_2024_2DX3_Project_Specification.pdf

Demonstration

Setup

3D visualisation of hallway scan

Circuit Schematic

Getting Started

Prerequisites

• Texas Instruments MSP432E401Y Microcontroller
• VL53L1X Time-of-Flight Sensor
• 28BYJ-48 Stepper Motor with ULN2003 Driver Board
• A Windows/Linux system with Python 3.8+
• Required libraries: pyserial, open3d, numpy

Setup

Hardware Setup

1. Connect the VL53L1X ToF sensor to the microcontroller via I2C (SCL to PB2, SDA to PB3).
2. Connect the Stepper motor to the microcontroller through the ULN2003 driver board.
3. Configure the onboard push button (PJ1) for initiating scans.
4. Verify LED status indicators (PN0, PN1) are correctly wired.

Software Setup

1. Clone this repository:

   git clone https://github.com/YourUsername/SpatialMapping.git
   cd SpatialMapping

2. Open Keil uVision and load the provided project files.
3. Compile and upload the firmware to the MSP432E401Y microcontroller.
4. Install required Python libraries:

   pip install pyserial open3d numpy

5. Modify the Python script (2DX_pythonCode_shahim45.py) to match your system's UART port.
6. Run the Python script to start capturing spatial data:

   python 2DX_pythonCode_shahim45.py

Project Overview

This project creates a 3D spatial map by rotating a ToF sensor mounted on a stepper motor. The system collects distance data at every 11.25° step and transmits it to a computer for visualization.

How It Works

1. Press PJ1 to start scanning.
2. The stepper motor rotates 360°, taking measurements every 11.25°.
3. Data is sent to the MSP432E401Y via I2C.
4. The microcontroller transmits the data to the PC via UART.
5. The Python script processes data into 3D models using Open3D.

Code Structure

Embedded System Components (C Code - Keil uVision)

VL53L1X_api.c / VL53L1X_api.h

• Interfaces with the ToF sensor using I2C.
• Retrieves distance measurements in millimeters.
• Sends data to the microcontroller memory.

uart.c / uart.h

• Manages UART communication between microcontroller and PC.
• Sends measured distances to the Python script.

SysTick.c / SysTick.h

• Configures timing delays for sensor sampling and stepper motor control.

PLL.c / PLL.h

• Configures the system clock speed based on student parameters.

onboardLEDs.c / onboardLEDs.h

• Controls status LEDs for data collection feedback.

Python Components (Data Processing & Visualization)

2DX_pythonCode_shahim45.py

• Reads data from the MSP432E401Y via UART.
• Converts raw distance readings into (x, y, z) coordinates.
• Generates a 3D point cloud using Open3D.

Features

✔️ Time-of-Flight Sensor for precise distance measurement
✔️ Stepper Motor Integration for automated scanning
✔️ Real-time 3D Visualization using Open3D
✔️ UART Communication between microcontroller and PC
✔️ Modular Code Design for easy expansion