V-LD1 data sheet

V-LD1
digital distance sensor

Features › Small and low cost digital 61GHz FMCW radar distance sensor
› Precise distance measurement with mm accuracy
› Can be combined with a plastic lens for higher detection distances
› Distance measurement up to 50m (depending on medium and used lens)
› Ultra small SMD form factor (12mm × 16mm)
› Single 1.8V power supply for simple integration
› Ultra low power consumption and fast start-up time
› Distance output over serial UART interface
› RAW data readout support (Distance spectrum, ADC values)
› Integrated bootloader for firmware update
› Evaluation kit available including plastic lens

Description The V-LD1 is an easy to use 61GHz FMCW distance radar sensor with integrated signal
processing. No special knowledge in analogue or digital signal processing is nee-
ded to adapt the module to different applications resulting in a fast time to market.
Transmit frequency and sweep bandwidth are controlled internally and a selection of
settings is available to adapt to your application requirements.

The beam width of the module itself is 170 × 60 degrees. However, RFbeam also offers
an evaluation kit in combination with a plastic lens that focuses the beam to 8 × 8
degrees, which is perfect for tank level gauging applications.

Block Diagram Figure 1: Block diagram

V-LD1 1.8 V supply

Rx signal processing unit

digital IO‘s
59 to 63 GHz
Tx /N

serial interface

PLL ramp
generator

80 MHz

RFbeam Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.Gallen | Switzerland | www.rfbeam.ch 05/2023 – Revision B | Page 1 / 21
V-LD1 data sheet

Characteristics

Parameter Conditions / Notes Symbol Min Typ Max Unit

Operating conditions
Supply voltage Vcc 1.71 1.8 1.89 V
Sleep current I cc 350 uA
Peak current I pp 200 250 mA
Charge per measurement Chirp integration = 1, Q Low 744 uC
Low precision mode
Charge per measurement Chirp integration = 1, Q High 984 uC
High precision mode
Operating temperature TOp -40 +85 °
C
Storage temperature TSt -40 +105 °
C
RF frontend
Transmitter frequency Range setting = 20m fTX20m 59 63 GHz
Transmitter frequency Range setting = 50m fTX50m 60 62 GHz
Output power EIRP P TX 5 dBm
Horizontal –6dB beam width E-Plane Wφ 60 °

Vertical –6dB beam width H-Plane Wθ 172 °

Spurious emissions According to ETSI 305 550 P Spur -30 dBm

Signal Processing
Modulation FMCW
Range processing 1024 point FFT
Distance range Range setting = 20m rdist20m 0.039 20.14 m
Distance range Range setting = 50m rdist50m 0.099 50.91 m
Resolution low precision mode Range setting = 20m ∆r20m 3.934 cm
Resolution low precision mode Range setting = 50m ∆r50m 9.943 cm
Resolution high precision mode For both range settings ∆rhighPrec 1 mm
Internal distance offset roffset -21 mm
Distance offset variation Without a housing ∆roffset +/-1 mm
Distance accuracy In high precision mode raccuracy +/-5 mm
Detection distance σ=10 m 2 (Water surface) r 20 m
Detection distance with lens σ=10 m 2 (Water surface), rlens 50 m
8 ° x 8 ° lens
Startup time t startup 5 ms
Processing time per frame Chirp integration = 1, t fameLow 15 ms
Low precision mode,
Short range filter off
Processing time per frame Chirp integration = 1, t frameHigh 21 ms
High precision mode,
Short range filter off
Additional time per chirp integ- ∆t chirpIntegration 3 ms
ration
Additional time for short range Added for every chirp integration ∆t shortRangeFilter 5 ms
filter
Interface
Digital output high level voltage VOH@4mA 1.25 VCC V
Digital output low level voltage VOL@4mA 0 0.4 V
Digital input high level voltage V IH 0.7xVCC VCC +0.3 V
Digital input low level voltage V IL -0.3 0.3xVCC V
Digital I/O source/sink current I OH , I OL -4 4 mA
Body
Outline dimensions 16 × 12 × 2 mm 3
Weight 0.6 g
Connector 30-pin, SMD mountable
ESD rating
Electrostatic discharge Human body model class 2 V ESD 2000 V

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V-LD1 data sheet

Table of contents 1 Antenna Diagram Characteristics  4

2 Pin configurations and functions  4
3 Theory of Operation  5
3.1 Overview  5
3.2 Signal processing  5
4 Application information  6
4.1 Host driven operation  6
4.2 Radar settings  6
4.3 Detection settings  8
5 Instruction set description  9
5.1 Hardware Layer  9
5.2 Communication Layer  9
5.3 Presentation Layer  10
5.4 Application  11
5.5 Bootloader  16
6 Integrators information  18
6.1 Installation Instruction  18
7 Package information  19
7.1 Outline Dimensions  19
7.2 Footprint  19
7.3 SMT Guidelines  20
7.4 Tape and reel information  20
8 Order information  21
9 Revision history  21

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V-LD1 data sheet

1 Antenna Diagram Characteristics

This diagram shows module sensitivity in both azimuth

and elevation directions. It incorporates the transmitter
and receiver antenna characteristics.

Figure 2: Overall antenna diagram

System radiation pattern

350° 0° 10°
340° 0 20°
330° 30°

320° -10 40°

60°
310° 50°
-20
300° 60°

-30
290° 70°

-40
280° 80°

270° -50 90°

172°
260° 100°

250° 110°

240° 120°

230° 130°

220° 140°

210° 150°
200° 160°
190° 180° 170°

Azimuth Elevation

2 Pin Configurations and Functions

Figure 3: V-LD1 bottom view

Table 1: Pin function description

Pin. No. Name Description

2, 3 VCC +1.8V power supply pins
1, 4, 7, 10, 13, 16, 20, 23, 26, 29 GND Ground pins
5, 6, 30 DNC Do not connect
24 nRESET Active low reset input with internal pullup. Can be left floating
15 MODE0 Reserved for future use, do not connect
17 MODE1 Reserved for future use, do not connect
11 UART_RX Serial interface receive pin
12 UART_TX Serial interface transmit pin
21 I2C_SCL/GPIO Reserved for future use, do not connect
22 I2C_SDA/GPIO Reserved for future use, do not connect
18 ADDR0/GPIO Reserved for future use, do not connect
19 ADDR1/GPIO Reserved for future use, do not connect
8 CAN_TX/GPIO Reserved for future use, do not connect
9 CAN_RX/GPIO Reserved for future use, do not connect
27 DIG_OUT0/GPIO Reserved for future use, do not connect
28 DIG_OUT1/GPIO Reserved for future use, do not connect
14 DAC_OUT/GPIO Reserved for future use, do not connect
25 ADC_IN/GPIO Reserved for future use, do not connect

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V-LD1 data sheet

3 Theory of Operation

3.1 Overview
The V-LD1 is a digital FMCW distance measurement sensor A range FFT is then calculated to measure the distance to all
and consists of an analogue RF frontend and a powerful signal targets inside of the antenna beam. The sensor can separate
processor with a fully digital serial interface. The RF frontend targets based on the distance resolution of the used distance
features a PLL controlled transmitter with a FMCW modulation setting. Further the signal processing is capable to compute a
mode and one receiver. The signal processing unit controls high accuracy distance of one target if this option is enabled.
the FMCW modulation and samples the ADC values for further
processing.
The distance zero point is at the top of the RF frontend

3.2 Signal processing

The signal processing of the V-LD1 uses different processing
stages to measure the distance to static objects by means of a
FMCW modulation. To get the full control in an application it is
possible to read out the data of each processing step over the
serial interface.

Raw ADC data (RADC)

› Controls the FMCW sweeps
› Samples ADC data of the RF frontend

Raw FFT data (RFFT)

› Calculates a range FFT based on the ADC data
› Implements the long integration mode
› Adds the threshold line to the RFFT data
› Can be filtered in distance

Raw target data (PDAT)

› Search all targets above a threshold in the FFT
› Calculates the distance to the first, strongest or last target
› Estimates the high precision distance with mm accuracy

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V-LD1 data sheet

4 Application Information 4.2 Radar settings

The V-LD1 features different parameters to adjust the functio-
4.1 Host driven operation nality of the sensor to the needs of different applications. All
The V-LD1 needs only a connection to a power supply and a parameters are stored in the radar parameter structure which
serial interface of a host (for example MCU or PC) to read out can be read and write over the serial interface. The structure
the distance measurement data and configure the sensor if and serial protocol are described in the chapter Instruction Set
needed. Further it is also possible to read out advanced pro- Description on page 10.
cessing data like the ADC or FFT values or to start a firmware
update over the integrated bootloader. 4.2.1 Distance range
The distance range parameter defines the maximum unambi-
Figure 4: MCU or PC connection example guous distance measurement range of the sensor. As long as
the high precision mode is enabled the sensor will have the
+1.8V
VCC same high precision distance resolution independent of the
TX RX distance range setting. If it is disabled the distance resolution
V-LD1 RX TX Host depends on the distance range setting.

Table 2: Distance range settings

As soon as the power supply is switched on, the sensor starts
up into a SLEEP mode with very low power consumption. The Max. distance Resolution low Resolution high
sensor remain in this mode until the host sends a request to precision precision

switch to the RUN mode. See chapter Data output on page 12 20m 3.934cm 1mm
50m 9.943cm 1mm
for a communication example.

The sensor does not measure continuously what allows the 4.2.2 TX power
host to define the update rate and average power consumption It is possible to reduce the output power of the sensor via a
depending on the requirements for the application. parameter. Reducing the output power may be useful when the
sensor is used in short range applications or in combination
with a focusing plastic lens (as presented in the V-LD1 evalua-
tion kit) to comply with regulations for different countries and
end applications.

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V-LD1 data sheet

4.2.3 Chirp integration count 4.2.4 Short range filter

The sensor features a chirp integration mode to reduce the FFT There is a high peak in the FFT data based on direct signal lea-
noise floor which results in a higher SNR. The integration is kage between the TX and RX antenna in the RF frontend. This
controllable by a parameter in the range of 1 to 100. leakage is clearly visible in the FFT from bin 0 to 4.

By default, a chirp integration of 1 is used, which means that Per default the leakage is filtered out by the minimum distance
one FMCW sweep is performed per measurement. If the para- filter which is set to bin 5 to filter it out by distance with the
meter is set to 10, the sensor integrates 10 FMCW sweeps per drawback that it is not possible to measure objects at short
measurement, which lowers the noise floor in the FFT with the distances.
disadvantage that each measurement takes longer and consu-
mes more power. The sensor features a short range filter what can be enabled
to filter out the direct leakage in the short range. This feature
Figure 5: Default integration mode vs. integration mode 10 can be used to enable short range distance measurements of
strong reflectors.

The filter is deactivated by default and can be activated via a

parameter. When activated, it makes sense to reduce the mini-
mum detection distance and the threshold offset to achieve the
best results.

When the filter is activated, an additional processing time of

approx. 5ms per measurement is added. In combination with
the chirp integration function, the additional time is added for
each additionally set chirp, which is why it is recommended to
activate the filter only when it is really needed.

To measure targets in the short range it is necessary

that the reflected signal of the target is stronger than
the direct leakage. This is true for water based liquids
in combination with a plastic lens.

Figure 6: Short range distance filter disabled vs. enabled

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V-LD1 data sheet

4.3 Detection settings 4.3.4 Distance filter

It is possible to limit the distance range in which the proces-
4.3.1 Target filter sing searches for targets via the distance filter in spectrum
The sensor can measure the distance to one target. The target V-LD1
points datasheet
(bins) of the FFT. The user can set a minimum and
filter is a parameter that allows the user to select which target maximum filter, which allows filtering out unwanted targets in
to use for distance measurement. areas5.3.4
that areDistance filter
not of interest.
It is possible to limit the distance range in which the processing searche
The target filter only considers targets that are not
V-LD1
spectrum
The real datasheet
points
filtered (bins)
distance of the on
depends FFT.
theThe
useduser can
range set a minimum and ma
setting
unwanted targets in areas that are not of interest.
and the distance offset of the sensor. It can be calculated with
filtered out by the distance filter.
5.3.4
realDistance
the following
The formula: filterdepends on the used range setting and the dis
filtered distance
calculated
It is possible with
to the
limitfollowing
the distance formula:
range in which the processing searche
spectrum points (bins) of the FFT. The user can set a minimum and ma
𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷
unwanted=targets 𝑏𝑏𝑏𝑏𝑏𝑏 ∗ ∆𝑟𝑟
in + 𝑟𝑟𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂
areas that are not of interest.
Table 3: Different target filters
The=real
𝑏𝑏𝑏𝑏𝑏𝑏 filtered
𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹 distance
𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 depends on the used range setting and the dis
[1 . . 511]
Setting Description
calculated
∆𝑟𝑟 = 𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅with the following formula:
𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟
Strongest first Measure the distance of the target with the 𝑟𝑟𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂 = 𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜
highest magnitude above the threshold 𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷 = 𝑏𝑏𝑏𝑏𝑏𝑏 ∗ ∆𝑟𝑟 + 𝑟𝑟𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂
Nearest first Measure the distance to the first target For example, the default minimum distance is calculated as follows:
above the threshold 𝑏𝑏𝑏𝑏𝑏𝑏 = 5 𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 [1 . . 511]
Farthest first Measure the distance of the last target ∆𝑟𝑟 = 3.934𝑐𝑐𝑐𝑐
For example, 𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅 𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟
the default @ 20𝑚𝑚 minimum
𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 distance is calculated as
above the threshold 𝑟𝑟
follows:
𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂 = 𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼
−21𝑚𝑚𝑚𝑚 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜

For example,
𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝑚𝑚𝑚𝑚𝑚𝑚 = 5 ∗the default−minimum
3.934𝑐𝑐𝑐𝑐 21𝑚𝑚𝑚𝑚 =distance
17.6𝑐𝑐𝑐𝑐 is calculated as follows:
𝑏𝑏𝑏𝑏𝑏𝑏 = 5
4.3.2 Precision ∆𝑟𝑟 = 3.934𝑐𝑐𝑐𝑐 @ 20𝑚𝑚 𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟
Figure 8: No distance filter vs. enabled distance filter
By default, the sensor operates in a high precision mode. This 𝑟𝑟𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂 = −21𝑚𝑚𝑚𝑚
means that after determining the distance via the FFT, an ad-
𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝑚𝑚𝑚𝑚𝑚𝑚 = 5 ∗ 3.934𝑐𝑐𝑐𝑐 − 21𝑚𝑚𝑚𝑚 = 17.6𝑐𝑐𝑐𝑐
ditional measurement is performed to obtain a more accurate
distance in the mm range.
Figure 8: No distance filter vs. enabled distance filter

The high precision mode can be switched off, which shortens Figure 8: No distance filter vs. enabled distance filter
the calculation time, resulting in a lower power consumption
per measurement.

4.3.3 Threshold offset

<< RFFT_data.png und Distance_filter.png >>
The threshold offset is adjustable and defines the distan-
ce in dB between the 0 dB floor of the raw FFT data and the 5.3.5 Distance average
threshold line. The processing in the V-LD1 searches only For a smooth output of an accurate distance measurement, it could be u
for targets that are above this threshold line. The smaller the measurements. The sensor already implements a distance average fea
<< RFFT_data.png
the output. und Distance_filter.png >>
offset the more sensitive the sensor will be. A higher offset
will reduce the sensitivity. 5.3.5
The userDistance
can changeaverage
the distance average parameter from 1 to a maxim
For a smooth output of an accurate distance measurement, it could be
Figure 7: Low vs. high threshold offset 4.3.5measurements. The sensor already implements a distance average fea
Distance average
the output.
For a smooth output of an accurate distance measurement, it
couldThe
be useful to take
user can an average
change between
the distance multiple
average measu- from 1 to a maxim
parameter
rements. The sensor already implements a distance average
feature which is set to 5 per default to smooth the output.

The user can change the distance average parameter from 1 to

a maximum of 255 measurements.

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 GBYE RESP

VERS
RESP

No connection
V-LD1 data sheet Connected
Baudrate New
115200 Baudrate

5 Instruction Set Description 5.2.2 Handshaking

5.1 Hardware Layer Figure 10: Handshaking

Server Client
(Radar) (Host)
The hardware layer is based on a simple UART connection with
Server Client
a configurable
Server baud rate. The sensor always starts up withClient
its
(Radar) (Host)
default baud rate. The default
(Radar) baud rate can be changed over
Command
(Host) Server
the INIT command as described in the chapter Connection on (Radar)
Baudrate
page 11. Message Command
115200 JBTL
INIT (baudrate)
Table 4: Default serial connection settings RESP (OK, error) RESP
RESP Reset
Parameter Configuration VERS Start Bootloader
Baud rate 115200
Data bits Server 8 Client
Connected
Parity (Radar) Even .... Server Client
New (Host) Every command sent by the client is acknowledged by the
Baudrate
Stop bits 1 (Radar) (Host) INIT (baudra
Baudrate server with a response message115200
(RESP). The response
Flow control None
GBYE message includes an error code what delivers information RESP
GRPS
data about the success or failure
SRPSof the received command.
VERS
RESP
RESP
5.2
No connection Communication Layer RESP
Connected
RPST
Baudrate New
115200 5.2.1 Client-Server Baudrate

Figure 9: Client-Server model

Server Client
(Radar) (Host)
Server Client
(Radar) (Host)
Command

Message Command
Server Client Server
RESP (OK, error)
(Radar) (Host) (Radar)

Sleep INIT (=115200) Sleep

The communication is based on a client-server model. There
Server RESP
are two types of packets transmitted. CommandsClient
are sent
Run Server Client
(Radar)
from client to server and messages are sent from(Host)
server to
VERS (Radar) (Host)
client.

GRPS
SRPS
Sleep
RESP
RESP
RPST GNFD (DONE, PDAT)

RESP

Frame Run Frame

Run
acquisition acquisition
PDAT

DONE (frame 0)

Sleep

GNFD (DONE, RADC)

Server Client Server
RFbeam Microwave GmbH |(Radar)
Schuppisstrasse 7 | CH-9016 St.Gallen | Switzerland |(Host)
www.rfbeam.ch 05/2023 – Revision B | Page 9 / 21 (Radar)
RESP

Sleep Frame INIT (=115200) Sleep

V-LD1 data sheet

5.2.3 Connection

Figure 11: Connection

Server Client
(Radar) (Host) Server Client
Baudrate (Radar) (Host)
115200 JBTL
INIT (baudrate)

RESP RESP Application

Reset
VERS Start Bootloader

Connected
....
New Baudrate
INIT (baudrate)
Baudrate 115200

GBYE RESP Bootloader

VERS
RESP

No connection Connected
Baudrate New
115200 Baudrate

The server starts up with a default baud rate of 115200 baud.

Server Client
The client has to(Radar)
establish a connection with(Host)
the INIT com-
mand where it needs to define the baud rate to be used for the Server Client
(Radar) (Host)
communication. After acknowledging
Command
of the INIT command by
a RESP message a VERS message with a firmware string fol-
Message Command
lows before the server changes the baud rate to the selected
one from the INIT command. RESP (OK, error)

The firmware string of the VERS message can be used to check

Server Client
if the sensor has (Radar)
started into the application or to the boot- Server Client
(Host)
(Radar) (Host)
loader. The sensor only starts into the bootloader if a jump
bootloader command was sentGRPS
from the application or if there
SRPS
is a corrupt firmware programmed.
RESP
RESP
RPST
To disconnect, the GBYE command has to be sent by the client.
After acknowledging the GBYE message the server changes
back to his default baud rate.

5.3 Presentation Layer

All commands and messages sent have the format described

in table below.
Server Client Server Client
(Radar) (Host) (Radar) (Host)
Table 5: Packet format
Sleep INIT (=115200) Sleep INIT (>115200)

RESP RESP
Description Datatype Length
Run
Header VERS ASCII character 4 Bytes VERS

The header describes the command or message type (e.g. INIT, RADC, …)
Payload Length UINT32 4 Bytes
Defines
Sleepthe size of the added payload. The payload length is always sent even if the payload is zero.

It is sent as little endian (LSB first).

GNFD (DONE, PDAT) GNFD (DONE, PDAT)
Payload Binary data x
RESP
The payload is message and command dependent. IfRESP the payload includes datatypes with multiple
bytes (e.g. UINT16,Frame
INT32, …) then they are sent as little endian (LSB first). Run Frame
Run
acquisition acquisition
PDAT PDAT

DONE (frame 0) DONE (frame 0)

Sleep

RFbeam Microwave GmbH | Schuppisstrasse 7 |(DONE,

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RADC) 05/2023 – Revision B | Page
GBYE10 / 21

RESP RESP
 VERS Start Bootloader

GRPS
Connected SRPS
....
New Baudrate
RESP INIT (baudrate)
Baudrate 115200 RESP
RPST RESP Bootloader
GBYE
V-LD1 data sheet VERS
RESP

No connection Connected
Baudrate New
115200 Baudrate

6.4 Application Figure 13: Read messages with baud rate > 115200
Server Client

6.4.1 Data output

(Radar) (Host)
Server Client
The client can request application
Server messages from the server
(Radar)Client (Host) Server Client
Command (Radar) (Host) (Radar) (Host)
in a handshake mode. The client must request each message
Message
Sleep INIT (=115200) Command Sleep INIT (>115200)
with the GNFD command. RESP RESP
RESP (OK, error)
Run
VERS VERS

The sensor goes into a sleep mode between requests as long

Server Client
as the clientSleep
reads
(Radar)
the messages at the default baud rateServer
(Host)
of Client
(Radar) (Host)
115200. RFbeam recommends using this mode for the most
GNFD (DONE, PDAT) GNFD (DONE, PDAT)

power efficient operation.GRPS RESP SRPS RESP

RESP
Frame RESP Run Frame
Run
acquisition RPST acquisition
Higher baud rates are only recommended if the
PDATclient wants to PDAT

read data intensive messages like RADC DONE

or RFFT
(frame 0)in combina- DONE (frame 0)

tion with fast readout requests.

Sleep

Figure 12: Read messages with baud rate = 115200

GNFD (DONE, RADC) GBYE

RESP RESP

Run Frame
acquisition Server
Server RADC Client Client
(Radar) (Host) Sleep (Radar) (Host)
DONE (frame 1)
Sleep INIT (=115200) Sleep INIT (>115200)
Sleep
RESP RESP
Run
VERS VERS

Sleep

GNFD (DONE, PDAT) GNFD (DONE, PDAT)

RESP RESP

Frame Run Frame

Run
acquisition acquisition
PDAT PDAT

DONE (frame 0) DONE (frame 0)

Sleep

GNFD (DONE, RADC) GBYE

RESP RESP

Run Frame
acquisition
RADC
Sleep
DONE (frame 1)

Sleep

RFbeam Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.Gallen | Switzerland | www.rfbeam.ch 05/2023 – Revision B | Page 11 / 21
V-LD1 data sheet

6.4.2 Get and set parameter structure

The client can set every parameter with a single command.
But there is also the possibility to set all parameters together
within a parameter structure or read out this structure. The
structure is defined in detail in the next chapter.

Figure 14: Get parameter structure Figure 15: Set parameter structure

6.4.3 Parameter structure

The radar has a set of parameters which are stored in a struc-
ture. The structure can be read out by the GRPS command and
set by the SRPS command. Further it is possible to change
each parameter by a dedicated command.

Table 6: Radar parameter structure

Description Datatype Payload length Payload data Default settings

Firmware version STRING 19 Zero-terminated String V-LD1_ APP-RFB-Y YXX
Unique ID STRING 12 Zero-terminated String L1234n12345
Unique ID is factory programmed

Distance range UINT8 1 0 = 20m 0 = 20m

1 = 50m
Threshold offset [dB] UINT8 1 Minimum = 20dB 60dB
Maximum = 90dB
Minimum range filter [bin] UINT16 2 Minimum = 1 5 -> app. 0.18m
Maximum = 510
Maximum range filter [bin] UINT16 2 Minimum = 2 460 -> app. 18.1m
Maximum = 511
Distance average count UINT8 1 Minimum = 1 5
Maximum = 255
Target filter UINT8 1 0 = Strongest first 1 = Nearest first
1 = Nearest first
2 = Farthest first
Distance precision UINT8 1 0 = Low precision 1 = High precision
1 = High precision
TX power UINT8 1 0 = Minimum output power 31 = Maximum output power
31 = Maximum output power
Chirp integration count UINT8 1 Minimum = 1 1
Maximum = 100
Short range distance filter UINT8 1 0 = Filter disabled 0 = Filter disabled
1 = Filter enabled

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V-LD1 data sheet

5.4.4 Commands
The following table provides detailed information about all
possible commands of the application:

Table 11: Application commands

Header Payload Description Datatype Payload data

length
INIT 1 Command to start a connection with a defined UINT8 Baud rate in bit/s:
baud rate. 0=115200
1=460800
2=921600
3=2000000
GNFD 1 Get next frame data request to read out UINT8 Binary coded bit-field for messages: 0=disabled,
application messages once. 1=enabled

Enable DONE message to read out Bit-field representation:

frame number. 7 6 5 4 3 2 1 0
X X DONE X X PDAT RFFT RADC
X = don’t care
GRPS 0 Read complete radar parameter structure – –
SRPS 43 Write complete radar parameter structure STRUCT See chapter «Parameter structure» for detailed infor-
mation about the format of the data structure.
Unique ID is factory programmed and
won’t be overwritten by SRPS command

RFSE 0 Restore factory settings – –

GBYE 0 Disconnect from sensor – –
RRAI 1 Distance range UINT8 0 = 20m
1 = 50m
THOF 1 Threshold offset [dB] UINT8 Minimum = 20dB
Maximum = 90dB
MIRA 2 Minimum range filter [bin] UINT16 Minimum = 1
Maximum = 510
MARA 2 Maximum range filter [bin] UINT16 Minimum = 2
Maximum = 511
RAVG 1 Distance average count UINT8 Minimum = 1
Maximum = 255
TGFI 1 Target filter UINT8 0 = Strongest first
1 = Nearest first
2 = Farthest first
PREC 1 Distance precision mode UINT8 0 = Low precision
1 = High precision
High precision mode enables the mm accuracy
feature of the sensor.
TXPW 1 TX power UINT8 0 = Minimum output power
31 = Maximum output power
INTN 1 Chirp integration count UINT8 Minimum = 1
Maximum = 100
SRDF 1 Short range distance filter UINT8 0 = Short range filter disabled
1 = Short range filter enabled
JBTL 0 Jump to bootloader –

RFbeam Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.Gallen | Switzerland | www.rfbeam.ch 05/2023 – Revision B | Page 13 / 21
V-LD1 data sheet

5.4.5 Messages
The following table provides detailed information about all
possible messages of the application:

Table 8: Application messages

Header Payload Description Datatype Payload data

length
RESP 1 Response message including an error code UINT8 Error codes:
0=OK, no error
1=Unknown command,
2=Invalid parameter value
3=Invalid RPST version
4=Uart error (parity, framing, noise)
5=No calibration values
6=Timeout
7= Application corrupt or not programmed
VERS 19 Application version STRING Version string including Null-terminator:
V-LD1_ APP-RFB-Y YXX
Y Y=Variant, XX=Revision
RADC 2048 Raw ADC values INT16 1024 ADC values
It is recommended to use the highest baud
rate when reading out RADC messages

RFFT 2048 Raw FFT STRUCT

Description Datatype Length
It is recommended to use the highest baud 512 spectrum points [dB x 100] UINT16 1024
rate when reading out RFFT messages 512 threshold points [dB x 100] UINT16 1024

PDAT 0–6 The detected target. If no target is detected STRUCT

Description Datatype Length
there is no payload.
Distance [m] FLOAT 4
Magnitude of target [dB x 100] UINT16 2

DONE 4 Frame done information with frame number UINT32 Frame number since reset.
RPST 43 Radar parameter structure STRUCT See chapter «Parameter structure» for details

RFbeam Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.Gallen | Switzerland | www.rfbeam.ch 05/2023 – Revision B | Page 14 / 21
V-LD1 data sheet

5.4.6 Communication example

Figure 16: Example INIT command with 115200 baud

Header: INIT Length: 1 Byte Payload 1 Byte: value 0 = 115200 baud

host to radar
0 × 49 0 × 4E 0 × 49 0 × 54 0 × 01 0 × 00 0 × 00 0 × 00 0 × 00

Header: RESP Length: 1 Byte Payload 1 Byte: value 0 = OK

radar to host
0 × 52 0 × 45 0 × 53 0 × 50 0 × 01 0 × 00 0 × 00 0 × 00 0 × 00

Header: VERS Length: 19 Byte Payload 19 Byte: Firmware string

radar to host For example: V-LD1_ APP-RFB-0100 if connected to application or

0 × 56 0 × 45 0 × 52 0 × 53 0 × 13 0 × 00 0 × 00 0 × 00
V-LD1_BTL-RFB-0100 for bootloader

Figure 17: Example read out distance with GNFD

Header: GNFD Length: 1 Byte Payload 1 Byte: value 4 = only PDAT enabled
host to radar
0 × 47 0 × 4E 0 × 46 0 × 44 0 × 01 0 × 00 0 × 00 0 × 00 0 × 04

Header: RESP Length: 1 Byte Payload 1 Byte: value 0 = OK

radar to host
0 × 52 0 × 45 0 × 53 0 × 50 0 × 01 0 × 00 0 × 00 0 × 00 0 × 00

Header: PDAT Length: 6 Byte Payload 6 Byte: PDAT target detected

radar to host
0 × 50 0 × 44 0 × 41 0 × 54 0x06 0 × 00 0 × 00 0 × 00 0x9B 0xC5 0x39 0x40 0xB0 0x1D

Figure 18: Example GBYE message

Header: GBYE Length: 0 Byte

host to radar
0 × 49 0 × 4E 0 × 49 0 × 54 0 × 00 0 × 00 0 × 00 0 × 00

Header: RESP Length: 1 Byte Payload 1Byte: value 0 = OK

radar to host
0 × 52 0 × 45 0 × 53 0 × 50 0 × 01 0 × 00 0 × 00 0 × 00 0 × 00

Table 9: Example PDAT structure conversion

Description PDAT payload LSB first Value Datatype Conversion Result

Distance [m] 0x9B 0xC5 0x39 0x40 0x4039C59B Float - 2.903 m
Magnitude of target [dB × 100] 0xB0 0x1D – – 0x1DB0 UINT16 /100 76.00 dB

RFbeam Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.Gallen | Switzerland | www.rfbeam.ch 05/2023 – Revision B | Page 15 / 21
 V-LD1 data sheet

5.5 Bootloader
The bootloader can be invoked by sending a «Jump to Figure 20: Successful firmware update sequence
bootloader» command from the application. After receiving
the bootloader jump command, the sensor restarts, stays Server Client

in the bootloader and waits for a new connection via an INIT (Radar) (Host)

command.
INIT (baudrate)

Default RESP
The host receives a VERS message back after a successful INIT baudrate
115200 VERS
command, which can be used to check if the sensor has started
into the bootloader.
WMEM

RESP
Figure 19: Jump to bootloader out of the application
Baudrate from ...
Send whole
INIT
binary file
command
WMEM
Server Client
(Radar) (Host) RESP

JBTL

RESP Application GBYE

Reset
Start Bootloader RESP

Default
baudrate
Baudrate
INIT (baudrate) 115200
115200
RESP Bootloader

VERS

Connected
New
Baudrate

In the next step, the host must send the complete firmware bi-
Server Client
(Radar)
nary (provided by(Host)
RFbeam Microwave) in packets of maximum
2048 bytes to the radar sensor using the WMEM command.
Command

After successfully
RESP (OK, error) writing the binary file, a GBYE command
must be sent to complete the update. The corresponding RESP
message returns feedback with the error code whether the
Server Client
(Radar)
update was successful
(Host)
or not.

The sensor
SRPS then restarts and the host can establish a new

connection
RESP with an INIT command. The VERS message sent

during this process provides information about the new firm-

ware version.

Client Server Client

(Host) (Radar) (Host)

Sleep INIT (>115200)

RESP

VERS

GNFD (DONE, PDAT)

RESP

Run Frame
acquisition
PDAT

DONE (frame 0)

RFbeam Microwave GmbH | Schuppisstrasse 7 |GBYE

CH-9016 St.Gallen | Switzerland | www.rfbeam.ch 05/2023 – Revision B | Page 16 / 21

RESP
V-LD1 data sheet

5.5.1 Commands
The following table provides detailed information about all
possible commands of the bootloader:

Table 10: Bootloader commands

Header Payload length Description Datatype Payload data

INIT 1 Command to start a connection with UINT8 Baud rate in bit/s:
a defined baud rate. 0=115200
1=460800
2=921600
3=2000000
GBYE 0 Disconnect – –
WMEM 9 to 2056 Write a flash memory page to a STRUCT Each page write command needs the following data
defined memory address. structure:
Byte Length Description
Use only firmware update files
provided by RFbeam Microwave. 0-3 4 Relative memory address in little endian
(LSB first).
Starts at 0x00000000 and must be a
multiple of 0x800 with a maximum of
0x0019800.
4-7 4 Data length of the binary data.

The length needs to be between 1 and

2048.
8-2055 1 to Binary application data
2048

5.5.2 Messages
The following table provides detailed information about all
possible messages of the bootloader:

Table 11: Bootloader messages

Header Payload length Description Datatype Payload data

RESP 1 Response message including an UINT8 Error codes:
error code. 0=OK, no error
1=Unknown command,
2=Invalid parameter value
3=Invalid RPST version
4=Uart error (parity, framing, noise)
5=No calibration values
6=Timeout
7= Application corrupt or not programmed
VERS 19 Bootloader version STRING Version string including Null-terminator:
V-LD1_BTL-RFB-Y YXX
Y Y=Variant, XX=Revision

RFbeam Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.Gallen | Switzerland | www.rfbeam.ch 05/2023 – Revision B | Page 17 / 21
V-LD1 data sheet

7.1.3 Plastic lens

7 Integrators information
The V-LD1 can be used in combination with a plastic lens to fo-
7.1 Installation Instruction cus the beam width. With a focused beam, the measuring area
can be limited and the detection distance increased, which can
7.1.1 Distance offset be useful in level sensing applications.
The distance offset to the zero plane of the sensor changes
depending on the radar coverage used due to a different RFbeam supplies the V-LD1-EVAL Evaluation Kit with a stan-
propagation speed of the electromagnetic waves in the radar dard plastic lens which focuses the beam width to approxima-
coverage itself compared to air. The change in distance offset tely 8 x 8 degrees.
depends on the thickness and material used. RFbeam there-
fore recommends determining the distance offset in the final It is possible to integrate such a plastic lens directly into the
application together with the housing. housing of the sensor and use it as radome. RFbeam can help
you with the integration of such a lens.
7.1.2 Mechanical enclosure
It is possible to hide the sensor behind a so called radome
(short for radar dome) to protect it from environmental influ-
ences or to simply integrate it in the case of the end product.
A radar sensor can see trough different types of plastic and
glass of any colour as long as it is not metallized. This allows
for a very flexible design of the housing as long as the rules
below are observed.

› Cover must not be metallic.

› No plastic coating with colours containing metallic or carbon
particles.
› Distance between cover and front of Radar sensor should be
>= 2.4mm
› Cover thickness is very important and depends on the used
material. Examples can be found in the application note
«AN-03-Radome».
› Vibrations of the Radar antenna relatively to the cover
should be avoided, because this generates signals that can
trigger the output
› The cover material can act as a lens and focus or disperse
the transmitted waves. Use a constant material thickness
within the area used for transmission to minimize the effect
of the radome on the radiated antenna pattern.

Detailed information about the calculation and

thickness for different cover materials can be found
in the application note «AN-03-Radome».

RFbeam Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.Gallen | Switzerland | www.rfbeam.ch 05/2023 – Revision B | Page 18 / 21
 V-LD1 data sheet

7 Package Information

7.1 Outline Dimensions

Dieses Dokument ist unser geistiges Eigentum. Es darf ohne unsere ausdrückliche Genehmigung We reserve all rights in this document and its subject matter.
weder kopiert, vervielfältigt oder verwertet, noch an Dritte weitergegeben werden. Zuwiderhandlung The recipient herby acknowledges these rights and assures the use of this
ist strafbar und wird strafrechtlich verfolgt. Copyright reserved! © RFbeam Microwave document only for the purpose it was delivered. © RFbeam Microwave

1 2 3 4 5 6

Figure 21: Outline dimensions in mm

Measurement Pick and place

1.6
A A

0
centre centre
12

Zero level
7.1
eses Dokument ist unser geistiges Eigentum. Es darf ohne unsere ausdrückliche Genehmigung
der kopiert, vervielfältigt oder verwertet, noch an Dritte weitergegeben werden. Zuwiderhandlung
plane We reserve all rights in this document and its subject matter.
The recipient herby acknowledges these rights and assures the use of this
strafbar und wird strafrechtlich verfolgt. Copyright reserved! © RFbeam Microwave document only for the purpose it was delivered. © RFbeam Microwave

1 5 2 3 4 5 6

B B

0Measurement Pick and place

1.6
A A

0
centre centre
12
0

11.9

16

1.8
1
0
Zero level
7.1 1 plane

5 12
7.2
11 Footprint
C C
Pin 30 Pin 16 0.70
B B
RFbeam recommends to use the same size for the cooper pad and stencil opening of 0.7 x 1.0 mm with a solder mask opening which is
075um
6 bigger than the pad itself.
Project XX
RFbeam Microwave
1

YY
0

11.9

16

1.8
1
0

Schuppisstrasse 7
Figure 22: Recommended
Pin 1 footprint
Pin 15in mm top view Object XX 9016 St. Gallen
Switzerland
YY
1 A Material Aluminium Scale
01 cleaned and degreased
DETAIL A
Surface
Tolerance +/-0.1mm
4:1
D 12
0
1

16

State prototype
11 Drawing Nr. MEC_XXX Index A
C C
Pin 30 Pin 16 0.70 Prepared XX Format Blatt / Anz.
Reviewed XX A4 1/1
1 2 3 4 5 Plotdate: 27.02.2023

6
Project XX
RFbeam Microwave
1

YY
Schuppisstrasse 7
Pin 1 Pin 15 Object XX
YY
9016 St. Gallen
Switzerland
1 A Material Aluminium Scale
0 cleaned and degreased
DETAIL A
Surface
Tolerance +/-0.1mm
4:1
D
0
1

16

State prototype
Drawing Nr. MEC_XXX Index A
Prepared XX Format Blatt / Anz.
Reviewed XX A4 1/1
1 2 3 4 5 Plotdate: 27.02.2023

RFbeam Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.Gallen | Switzerland | www.rfbeam.ch 05/2023 – Revision B | Page 19 / 21
 V-LD1 data sheet

8.3 SMT Guidelines

For all soldering processes, the optimal reflow profile for a PCB assembly depends on several factors, which depend not only
on the RFbeam sensor, but also on the selected solder paste and the size and layout of all other components as well as the PCB
layer structure.

Figure 23: Typical reflow profile

300
Time within 5°C
of peak temperature
250
Peaktemperature
217 Ramp-Up Ramp-Up
200 3°C/sec max 6°C/sec max
Temperature (°C)

150

100 Preheat/Soak Reflow

(60–120 seconds) (60–150 seconds)

50

0
0 30 60 90 120 150 180 210 240 270 300

Time (seconds

8.4 Tape and reel information

Figure 24: Orientation and tape and reel drawing in mm

RFbeam Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.Gallen | Switzerland | www.rfbeam.ch 05/2023 – Revision B | Page 20 / 21
V-LD1 data sheet

8 Order Information

The ordering number consists of different parts with the structure below.

Figure 25: Ordering number structure

Product ― Customer ― HW variant Supply ― SW variant

= V-LD1 = RFB = 00 =M = 01
for standard for standard for 1.8 V for standard
products variant version variant

Table 12: Available ordering numbers

Ordering number Description

V-LD1-RFB-00M-01 Standard V-LD1 sensor module
V-LD1-EVAL-RFB-00H Standard V-LD1 evaluation kit with
powerful PC software and plastic lens

9 Revision History

02/2023 – Revision A: - Preliminary version

05/2023 – Revision B: - Added internal distance offset
- Added short range filter functionality
- Changed unit of distance filters to bin instead of mm

RFbeam does not assume any responsibility for use of any circuitry described, no circuit patent licenses are implied and
RFbeam reserves the right at any time without notice to change said circuitry and specifications.

RFbeam Microwave GmbH | Schuppisstrasse 7 | CH-9016 St.Gallen | Switzerland | www.rfbeam.ch 05/2023 – Revision B | Page 21 / 21