diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index cf63b130d9..7bcb64b77a 100755
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -380,6 +380,8 @@ jobs:
           target: esp32p4
         - path: 'components/vl53l/example'
           target: esp32s3
+        - path: 'components/vl53l/vl53l5cx_example'
+          target: esp32s3
         - path: 'components/wdi/ble_example'
           target: esp32s3
         - path: 'components/wdi/ble_central_example'
diff --git a/components/vl53l/CMakeLists.txt b/components/vl53l/CMakeLists.txt
index d43ade2750..b916b7de31 100644
--- a/components/vl53l/CMakeLists.txt
+++ b/components/vl53l/CMakeLists.txt
@@ -1,4 +1,6 @@
 idf_component_register(
   INCLUDE_DIRS "include"
+  # src: the VL53L5CX driver and its firmware image (~84 KB of .rodata)
+  SRC_DIRS "src"
   REQUIRES "base_peripheral"
   )
diff --git a/components/vl53l/README.md b/components/vl53l/README.md
index efe33ed0ec..49c414a587 100644
--- a/components/vl53l/README.md
+++ b/components/vl53l/README.md
@@ -2,26 +2,65 @@
 
 [![Badge](https://components.espressif.com/components/espp/vl53l/badge.svg)](https://components.espressif.com/components/espp/vl53l)
 
-The
-[VL53L4CD](https://www.st.com/en/imaging-and-photonics-solutions/vl53l4cd.html)
-(and [VL53L4CX](https://www.st.com/en/imaging-and-photonics-solutions/vl53l4cx.html))
-is a Time-of-Flight (ToF) distance sensor. It is a sensor that can measure
-distance from a target object without touching it. The sensor uses a laser to
-send a pulse of light and measures the time it takes for the light to reflect
-back to the sensor. The sensor can measure distance up to 1.3 meters (VL53L4CD)
-or up to 6 meters (VL53L4CX) with a resolution of 1mm.
+Drivers for ST's VL53L Time-of-Flight (ToF) sensors that talk over I2C with
+16-bit register addresses:
 
-> **Note:** This component is designed for the **VL53L4CD** and **VL53L4CX**
-> sensors, which use a 16-bit register addressing scheme. It is **not**
-> compatible with the older VL53L0X or VL53L1X sensors, which use a different
-> register map and communication protocol.
+| Class | Sensors | What it measures |
+| --- | --- | --- |
+| `espp::Vl53l` (`vl53l.hpp`) | VL53L4CD, VL53L4CX | one distance, up to 1.3 m (CD) or 6 m (CX), 1 mm resolution |
+| `espp::Vl53l5cx` (`vl53l5cx.hpp`) | VL53L5CX | a 4x4 or 8x8 grid of distances up to 4 m over a 63° diagonal field of view, at up to 60 Hz (4x4) or 15 Hz (8x8) |
 
-The sensor can struggle with outdoor use, as sunlight can interfere with the
-sensor's ability to measure distance. The sensor is also not able to measure
-distance through glass or other transparent materials.
+The sensors use a laser to send a pulse of light and measure the time it takes
+for the light to reflect back. They can struggle outdoors, as sunlight
+interferes with the measurement, and cannot measure through glass or other
+transparent materials.
 
-## Example
+> **Note:** Neither driver is compatible with the older VL53L0X or VL53L1X
+> sensors, which use a different (8-bit) register map and communication
+> protocol.
 
-The [example](./example) shows the use of the `Vl53l` component to communicate
-with a VL53L4CD time-of-flight distance sensor.
+## VL53L4CD / VL53L4CX (`espp::Vl53l`)
 
+Single-zone ranging: timing budget, inter-measurement period, continuous or
+autonomous mode, data-ready polling and interrupt clearing.
+
+## VL53L5CX (`espp::Vl53l5cx`)
+
+Multizone ranging. The sensor has no firmware in ROM: `initialize()` (run by
+the constructor by default) reboots it and uploads the ~84 KB VL53L5CX firmware
+over I2C, which takes about two seconds at 400 kHz (the sensor supports 1 MHz
+Fast Mode Plus). The driver then offers:
+
+- resolution (4x4 / 8x8), ranging frequency, integration time, sharpener,
+  target order (closest / strongest), ranging mode (continuous / autonomous),
+  power mode, I2C address change;
+- `start_ranging()` / `stop_ranging()`, `is_data_ready()` polling and
+  `get_ranging_data()`, which fills a `RangingData` with, per zone, the
+  distance, sigma, signal and ambient rates, SPAD count, reflectance estimate,
+  number of targets and a target status (5 and 9 mean a valid range);
+- the motion indicator (`enable_motion_indicator()`).
+
+Zones are reported in row-major order (`zone = row * width + col`); see ST's
+UM2884 for the physical orientation of zone 0. One target per zone is
+supported (the ULD default). The crosstalk calibration and detection threshold
+plugins of ST's driver are not ported yet; the default crosstalk shape is
+loaded.
+
+The I2C device's transaction timeout must cover the driver's longest transfers
+(512-byte firmware chunks, ~1.4 KB result frames): a few tens of milliseconds
+at 400 kHz, more at 100 kHz.
+
+### License note
+
+The VL53L5CX firmware image and default configuration (`src/vl53l5cx_firmware.cpp`)
+and the sensor sequences in `src/vl53l5cx.cpp` come from STMicroelectronics'
+VL53L5CX Ultra Lite Driver (ULD 1.1.2, as redistributed by
+[stm32duino/VL53L5CX](https://github.com/stm32duino/VL53L5CX)) and are
+redistributed under their BSD-3-Clause license (see the file headers). The
+rest of the component is MIT like the rest of espp.
+
+## Examples
+
+- [example](./example): `Vl53l` with a VL53L4CD, printing the distance.
+- [vl53l5cx_example](./vl53l5cx_example): `Vl53l5cx` printing the 8x8 grid of
+  distances at 15 Hz.
diff --git a/components/vl53l/idf_component.yml b/components/vl53l/idf_component.yml
index 27d7df5412..6cdae19919 100644
--- a/components/vl53l/idf_component.yml
+++ b/components/vl53l/idf_component.yml
@@ -1,6 +1,6 @@
 ## IDF Component Manager Manifest File
 license: "MIT"
-description: "VL53L Time of Flight (ToF) Distance Sensor component for ESP-IDF"
+description: "VL53L Time of Flight (ToF) sensor components for ESP-IDF: VL53L4CD / VL53L4CX distance sensors and the VL53L5CX multizone (4x4 / 8x8) sensor"
 url: "https://github.com/esp-cpp/espp/tree/main/components/vl53l"
 repository: "git://github.com/esp-cpp/espp.git"
 maintainers:
@@ -8,14 +8,17 @@ maintainers:
 documentation: "https://esp-cpp.github.io/espp/distance_sensors/vl53l.html"
 examples:
   - path: example
+  - path: vl53l5cx_example
 tags:
   - cpp
   - Component
   - Sensing
   - VL53L
+  - VL53L5CX
   - ToF
   - Time-of-Flight
   - Distance
+  - Multizone
   - Laser
 dependencies:
   idf:
diff --git a/components/vl53l/include/vl53l5cx.hpp b/components/vl53l/include/vl53l5cx.hpp
new file mode 100644
index 0000000000..4323b2a1a9
--- /dev/null
+++ b/components/vl53l/include/vl53l5cx.hpp
@@ -0,0 +1,437 @@
+#pragma once
+
+#include <array>
+#include <atomic>
+#include <cstddef>
+#include <cstdint>
+#include <mutex>
+
+#include "base_peripheral.hpp"
+
+namespace espp {
+/// \brief VL53L5CX multizone Time-of-Flight ranging sensor (4x4 / 8x8 zones)
+/// \details
+/// The VL53L5CX is a Time-of-Flight (ToF) sensor with a 63 degree diagonal
+/// field of view that ranges up to 4 m in every zone of a 4x4 or 8x8 grid, at
+/// up to 60 Hz (4x4) or 15 Hz (8x8). Every zone reports a distance, a signal
+/// / ambient rate, a sigma, a reflectance estimate and a validity status; the
+/// sensor can also run a motion indicator over the zones.
+///
+/// The sensor has no ROM firmware: this driver uploads the ~84 KB VL53L5CX
+/// firmware (STMicroelectronics, bundled, see the BSD-3-Clause notice in the
+/// sources) over I2C at every initialize(), then talks to it through the
+/// "DCI" command interface. Initialization takes about two seconds at 400 kHz
+/// (the sensor supports I2C Fast Mode Plus, 1 MHz). The logic is a port of
+/// ST's Ultra Lite Driver (ULD) 1.1.2.
+///
+/// Results are reported per zone in row-major order (`zone = row * width +
+/// col`, width 4 or 8); for the physical orientation of zone 0 see UM2884
+/// ("Ranging data arrangement").
+///
+/// \note The communication uses 16-bit register addresses, like the VL53L4
+/// driver (espp::Vl53l) in this component, but the two devices share nothing
+/// else: use espp::Vl53l for the VL53L4CD / VL53L4CX single-zone sensors.
+///
+/// \note Only one target per zone is supported (the ULD default); the
+/// crosstalk calibration and detection threshold plugins of the ULD are not
+/// ported (the default crosstalk shape is loaded).
+///
+/// \see https://www.st.com/en/imaging-and-photonics-solutions/vl53l5cx.html
+/// \see UM2884 "A guide to using the VL53L5CX multizone Time-of-Flight ranging
+/// sensor with wide field of view Ultra Lite Driver (ULD)"
+///
+/// \section vl53l5cx_ex1 Example
+/// \snippet vl53l5cx_example.cpp vl53l5cx example
+class Vl53l5cx : public BasePeripheral<uint16_t, true> {
+  using Base = BasePeripheral<uint16_t, true>;
+  using Base::logger_;
+  using Base::read_many_from_register;
+  using Base::set_address;
+  using Base::set_read;
+  using Base::set_write;
+  using Base::write_many_to_register;
+
+public:
+  static constexpr uint8_t DEFAULT_ADDRESS = 0x29; ///< 7-bit address (ULD's 8-bit 0x52)
+  static constexpr size_t MAX_ZONES = 64;          ///< zones in 8x8 mode
+  /// Longest I2C transaction the driver issues (an 8x8 result frame with every
+  /// output enabled, plus the register address): size the bus / device
+  /// timeout for it, see i2c_timeout_ms().
+  static constexpr size_t MAX_TRANSFER_BYTES = 1440 + 2;
+  /// \brief A transaction timeout that covers MAX_TRANSFER_BYTES at `clock_hz`
+  ///        with a 2x margin (plus 10 ms), for the I2C bus and device configs
+  /// \param clock_hz I2C clock
+  /// \return Timeout in milliseconds
+  static constexpr int i2c_timeout_ms(uint32_t clock_hz) {
+    // 9 bits per byte on the wire
+    const uint64_t transfer_ms =
+        (uint64_t{MAX_TRANSFER_BYTES} * 9 * 1000 + clock_hz - 1) / clock_hz;
+    return static_cast<int>(transfer_ms * 2 + 10);
+  }
+
+  /// \brief Number of ranging zones
+  enum class Resolution : uint8_t {
+    ZONES_4X4 = 16, ///< 4x4 zones, up to 60 Hz
+    ZONES_8X8 = 64, ///< 8x8 zones, up to 15 Hz
+  };
+
+  /// \brief Ranging mode
+  enum class RangingMode : uint8_t {
+    CONTINUOUS = 1, ///< ranges back to back at the ranging frequency (the integration time is
+                    ///< whatever the frequency allows; highest power)
+    AUTONOMOUS = 3, ///< ranges once per period, for the integration time, then idles (lower
+                    ///< power; the default)
+  };
+
+  /// \brief Which target a zone reports first
+  enum class TargetOrder : uint8_t {
+    CLOSEST = 1,   ///< the closest target
+    STRONGEST = 2, ///< the target with the strongest signal (the default)
+  };
+
+  /// \brief Power mode
+  enum class PowerMode : uint8_t {
+    SLEEP = 0,  ///< low power, no ranging possible (settings are kept)
+    WAKEUP = 1, ///< ready to range (the default)
+  };
+
+  /// \brief Validity of a zone's measurement (UM2884, "target status")
+  enum class TargetStatus : uint8_t {
+    NOT_UPDATED = 0,                     ///< ranging data not updated
+    SIGNAL_RATE_TOO_LOW_SPAD_ARRAY = 1,  ///< signal rate too low on the SPAD array
+    TARGET_PHASE = 2,                    ///< target phase
+    SIGMA_TOO_HIGH = 3,                  ///< sigma estimator too high
+    TARGET_CONSISTENCY_FAILED = 4,       ///< target consistency failed
+    RANGE_VALID = 5,                     ///< range valid
+    WRAP_AROUND_NOT_PERFORMED = 6,       ///< wrap-around not performed (typically the first range)
+    RATE_CONSISTENCY_FAILED = 7,         ///< rate consistency failed
+    SIGNAL_RATE_TOO_LOW_TARGET = 8,      ///< signal rate too low for the current target
+    RANGE_VALID_LARGE_PULSE = 9,         ///< range valid with a large pulse (maybe a merged target)
+    RANGE_VALID_NO_PREVIOUS_TARGET = 10, ///< range valid, no target detected at the previous range
+    MEASUREMENT_CONSISTENCY_FAILED = 11, ///< measurement consistency failed
+    TARGET_BLURRED = 12,                 ///< target blurred by another one (sharpener)
+    TARGET_INCONSISTENT = 13,            ///< target detected but the data is inconsistent
+    NO_TARGET = 255,                     ///< no target detected in the zone
+  };
+
+  /// \brief Motion indicator results (only meaningful after
+  ///        enable_motion_indicator())
+  struct MotionIndicator {
+    uint32_t global_indicator_1{0};
+    uint32_t global_indicator_2{0};
+    uint8_t status{0};
+    uint8_t nb_of_detected_aggregates{0};
+    uint8_t nb_of_aggregates{0};
+    uint8_t spare{0};
+    std::array<uint32_t, 32> motion{}; ///< motion intensity per aggregate
+  };
+  static_assert(sizeof(MotionIndicator) == 140, "MotionIndicator must match the sensor layout");
+
+  /// \brief One frame of ranging results. Only the first num_zones() entries
+  ///        of every array are meaningful.
+  struct RangingData {
+    Resolution resolution{Resolution::ZONES_4X4};            ///< resolution the frame was ranged at
+    std::array<uint32_t, MAX_ZONES> ambient_per_spad_kcps{}; ///< ambient noise, kcps / SPAD
+    std::array<uint8_t, MAX_ZONES> nb_target_detected{};     ///< targets detected in the zone
+    std::array<uint32_t, MAX_ZONES> nb_spads_enabled{};      ///< SPADs enabled for the zone
+    std::array<uint32_t, MAX_ZONES> signal_per_spad_kcps{};  ///< return signal, kcps / SPAD
+    std::array<uint16_t, MAX_ZONES> range_sigma_mm{};        ///< sigma of the distance, mm
+    std::array<int16_t, MAX_ZONES> distance_mm{};            ///< distance, mm (0 if negative)
+    std::array<uint8_t, MAX_ZONES> reflectance_percent{};    ///< estimated reflectance, %
+    std::array<uint8_t, MAX_ZONES> target_status{};          ///< \see TargetStatus
+    MotionIndicator motion_indicator{};                      ///< \see enable_motion_indicator
+
+    /// \brief Number of valid zones in this frame (16 or 64)
+    size_t num_zones() const { return static_cast<size_t>(resolution); }
+    /// \brief Zones per row (4 or 8)
+    size_t width() const { return resolution == Resolution::ZONES_8X8 ? 8 : 4; }
+    /// \brief Index of the zone at (row, col), row-major
+    size_t zone_index(size_t row, size_t col) const { return row * width() + col; }
+    /// \brief Validity of a zone
+    TargetStatus status(size_t zone) const {
+      return static_cast<TargetStatus>(target_status[zone]);
+    }
+    /// \brief True when the zone's distance is valid (status 5 or 9)
+    bool is_valid(size_t zone) const {
+      const auto s = status(zone);
+      return s == TargetStatus::RANGE_VALID || s == TargetStatus::RANGE_VALID_LARGE_PULSE;
+    }
+  };
+
+  /// \brief Configuration
+  struct Config {
+    uint8_t device_address = DEFAULT_ADDRESS; ///< I2C address of the sensor
+    Base::write_fn write = nullptr; ///< Write function; the address argument is the sensor's
+                                    ///< current address (see set_i2c_address())
+    Base::read_fn read = nullptr;   ///< Read function (same note)
+    bool auto_init = true; ///< Upload the firmware and initialize in the constructor (about
+                           ///< two seconds; see initialize())
+    Logger::Verbosity log_level = Logger::Verbosity::WARN; ///< Log level for this class
+  };
+
+  /// \brief Constructor
+  /// \param config Configuration
+  /// \note With Config::auto_init the firmware is uploaded here; check
+  ///       is_initialized() afterwards (or call initialize() yourself).
+  explicit Vl53l5cx(const Config &config);
+
+  /// \brief True once initialize() succeeded
+  bool is_initialized() const { return initialized_; }
+
+  /// \brief Reboot the sensor, upload the firmware, load the NVM offset data
+  ///        and the default configuration (4x4, 1 Hz, autonomous, strongest
+  ///        target first, 10 ms integration time).
+  /// \param ec Error code if unsuccessful
+  /// \return True if successful
+  /// \note Takes about two seconds at 400 kHz I2C. Ranging must be restarted
+  ///       (and settings re-applied) after it.
+  bool initialize(std::error_code &ec);
+
+  /// \brief Check the sensor answers with the VL53L5CX device / revision ids
+  /// \param ec Error code if the I2C transaction failed
+  /// \return True if a VL53L5CX answered
+  bool is_alive(std::error_code &ec);
+
+  /// \brief Change the sensor's I2C address (volatile: back to 0x29 at reset)
+  /// \param address New 7-bit address
+  /// \param ec Error code if unsuccessful
+  /// \return True if successful; the driver then passes the new address to the
+  ///         Config::write / Config::read callbacks
+  /// \note The callbacks must honour their address argument (e.g. lambdas
+  ///       over espp::I2c::write / read); adapters bound to one I2C device
+  ///       (espp::make_i2c_addressed_write) keep talking to the old address.
+  bool set_i2c_address(uint8_t address, std::error_code &ec);
+
+  /// \brief Read the power mode
+  /// \param ec Error code if unsuccessful
+  /// \return The power mode (WAKEUP on error)
+  PowerMode get_power_mode(std::error_code &ec);
+  /// \brief Set the power mode (not while ranging)
+  /// \param mode SLEEP or WAKEUP
+  /// \param ec Error code if unsuccessful
+  /// \return True if successful
+  bool set_power_mode(PowerMode mode, std::error_code &ec);
+
+  /// \brief Read the resolution
+  /// \param ec Error code if unsuccessful
+  /// \return ZONES_4X4 or ZONES_8X8 (4x4 on error)
+  Resolution get_resolution(std::error_code &ec);
+  /// \brief Set the resolution (not while ranging)
+  /// \param resolution ZONES_4X4 or ZONES_8X8
+  /// \param ec Error code if unsuccessful
+  /// \return True if successful
+  /// \note Re-applies the motion indicator configuration if it is enabled.
+  ///       The ranging frequency limit depends on the resolution: set the
+  ///       resolution first.
+  bool set_resolution(Resolution resolution, std::error_code &ec);
+
+  /// \brief Read the ranging frequency
+  /// \param ec Error code if unsuccessful
+  /// \return Frequency in Hz (0 on error)
+  uint8_t get_ranging_frequency_hz(std::error_code &ec);
+  /// \brief Set the ranging frequency (not while ranging)
+  /// \param frequency_hz 1..60 Hz in 4x4, 1..15 Hz in 8x8
+  /// \param ec Error code if unsuccessful
+  /// \return True if successful
+  bool set_ranging_frequency_hz(uint8_t frequency_hz, std::error_code &ec);
+
+  /// \brief Read the integration time (AUTONOMOUS ranging mode)
+  /// \param ec Error code if unsuccessful
+  /// \return Integration time in ms (0 on error)
+  uint32_t get_integration_time_ms(std::error_code &ec);
+  /// \brief Set the integration time (AUTONOMOUS mode; not while ranging)
+  /// \param time_ms 2..1000 ms; must fit in the ranging period (in 8x8 four
+  ///        integrations are done per frame)
+  /// \param ec Error code if unsuccessful
+  /// \return True if successful
+  bool set_integration_time_ms(uint32_t time_ms, std::error_code &ec);
+
+  /// \brief Read the sharpener (how much a zone is blurred by its neighbours)
+  /// \param ec Error code if unsuccessful
+  /// \return Sharpener in percent (0 on error)
+  uint8_t get_sharpener_percent(std::error_code &ec);
+  /// \brief Set the sharpener (not while ranging)
+  /// \param percent 0..99 (default 5)
+  /// \param ec Error code if unsuccessful
+  /// \return True if successful
+  bool set_sharpener_percent(uint8_t percent, std::error_code &ec);
+
+  /// \brief Read the target order
+  /// \param ec Error code if unsuccessful
+  /// \return The target order (STRONGEST on error)
+  TargetOrder get_target_order(std::error_code &ec);
+  /// \brief Set the target order (not while ranging)
+  /// \param order CLOSEST or STRONGEST
+  /// \param ec Error code if unsuccessful
+  /// \return True if successful
+  bool set_target_order(TargetOrder order, std::error_code &ec);
+
+  /// \brief Read the ranging mode
+  /// \param ec Error code if unsuccessful
+  /// \return The ranging mode (AUTONOMOUS on error)
+  RangingMode get_ranging_mode(std::error_code &ec);
+  /// \brief Set the ranging mode (not while ranging)
+  /// \param mode CONTINUOUS or AUTONOMOUS
+  /// \param ec Error code if unsuccessful
+  /// \return True if successful
+  bool set_ranging_mode(RangingMode mode, std::error_code &ec);
+
+  /// \brief Enable the motion indicator (not while ranging)
+  /// \details The sensor then reports, per aggregate of zones, how much the
+  ///          scene moved between frames (RangingData::motion_indicator).
+  /// \param distance_min_mm Start of the motion detection window, >= 400 mm
+  /// \param distance_max_mm End of the window, <= 4000 mm and at most 1500 mm
+  ///        past distance_min_mm
+  /// \param ec Error code if unsuccessful
+  /// \return True if successful
+  bool enable_motion_indicator(uint16_t distance_min_mm, uint16_t distance_max_mm,
+                               std::error_code &ec);
+
+  /// \brief Start ranging with the current settings
+  /// \param ec Error code if unsuccessful
+  /// \return True if successful
+  bool start_ranging(std::error_code &ec);
+  /// \brief Stop ranging
+  /// \param ec Error code if unsuccessful
+  /// \return True if successful
+  bool stop_ranging(std::error_code &ec);
+  /// \brief True between a successful start_ranging() and stop_ranging()
+  bool is_ranging() const { return ranging_; }
+
+  /// \brief Check whether a new frame is available (poll at a few ms)
+  /// \param ec Error code if the I2C transaction failed
+  /// \return True once per new frame
+  bool is_data_ready(std::error_code &ec);
+  /// \brief Read the latest frame (after is_data_ready() returned true)
+  /// \param data Filled with the frame
+  /// \param ec Error code if unsuccessful
+  /// \return True if successful
+  bool get_ranging_data(RangingData &data, std::error_code &ec);
+
+  /// \brief Name of a target status
+  static const char *target_status_name(TargetStatus status);
+
+protected:
+  static constexpr uint8_t DEVICE_ID = 0xF0;
+  static constexpr uint8_t REVISION_ID = 0x02;
+  static constexpr uint8_t TARGETS_PER_ZONE = 1;
+  static constexpr size_t NVM_DATA_SIZE = 492;
+  static constexpr size_t OFFSET_BUFFER_SIZE = 488;
+  static constexpr size_t XTALK_BUFFER_SIZE = 776;
+  /// metadata + common data + every output block for 8x8, one target per zone
+  static constexpr size_t MAX_RESULTS_SIZE =
+      40 + 260 + 260 + 68 + (256 + 4) + (128 + 4) + (128 + 4) + (64 + 4) + (64 + 4) + 144 + 8;
+  static constexpr size_t TEMP_BUFFER_SIZE = MAX_RESULTS_SIZE > 1024 ? MAX_RESULTS_SIZE : 1024;
+  /// Bytes per I2C write transaction (the register address auto-increments);
+  /// the firmware is uploaded in chunks of this size.
+  static constexpr size_t MAX_WRITE_CHUNK = 512;
+  static_assert(MAX_TRANSFER_BYTES >= TEMP_BUFFER_SIZE + 2 &&
+                    MAX_TRANSFER_BYTES >= MAX_WRITE_CHUNK + 2,
+                "MAX_TRANSFER_BYTES must cover the longest read and write");
+  static constexpr int POLL_INTERVAL_MS = 10;
+  static constexpr int POLL_ATTEMPTS = 200; // 2 s
+
+  // DCI (firmware) parameter indices
+  static constexpr uint16_t DCI_ZONE_CONFIG = 0x5450;
+  static constexpr uint16_t DCI_FREQ_HZ = 0x5458;
+  static constexpr uint16_t DCI_INT_TIME = 0x545C;
+  static constexpr uint16_t DCI_FW_NB_TARGET = 0x5478;
+  static constexpr uint16_t DCI_RANGING_MODE = 0xAD30;
+  static constexpr uint16_t DCI_DSS_CONFIG = 0xAD38;
+  static constexpr uint16_t DCI_TARGET_ORDER = 0xAE64;
+  static constexpr uint16_t DCI_SHARPENER = 0xAED8;
+  static constexpr uint16_t DCI_MOTION_DETECTOR_CFG = 0xBFAC;
+  static constexpr uint16_t DCI_SINGLE_RANGE = 0xCD5C;
+  static constexpr uint16_t DCI_OUTPUT_CONFIG = 0xCD60;
+  static constexpr uint16_t DCI_OUTPUT_ENABLES = 0xCD68;
+  static constexpr uint16_t DCI_OUTPUT_LIST = 0xCD78;
+  static constexpr uint16_t DCI_PIPE_CONTROL = 0xCF78;
+  static constexpr uint16_t UI_CMD_STATUS = 0x2C00;
+  static constexpr uint16_t UI_CMD_START = 0x2C04;
+  static constexpr uint16_t UI_CMD_END = 0x2FFF;
+
+  // result block headers (one target per zone) and their indices
+  static constexpr uint32_t START_BH = 0x0000000D;
+  static constexpr uint32_t METADATA_BH = 0x54B400C0;
+  static constexpr uint32_t COMMONDATA_BH = 0x54C00040;
+  static constexpr uint32_t AMBIENT_RATE_BH = 0x54D00104;
+  static constexpr uint32_t SPAD_COUNT_BH = 0x55D00404;
+  static constexpr uint32_t NB_TARGET_DETECTED_BH = 0xCF7C0401;
+  static constexpr uint32_t SIGNAL_RATE_BH = 0xCFBC0404;
+  static constexpr uint32_t RANGE_SIGMA_MM_BH = 0xD2BC0402;
+  static constexpr uint32_t DISTANCE_BH = 0xD33C0402;
+  static constexpr uint32_t REFLECTANCE_BH = 0xD43C0401;
+  static constexpr uint32_t TARGET_STATUS_BH = 0xD47C0401;
+  static constexpr uint32_t MOTION_DETECT_BH = 0xCC5008C0;
+  static constexpr uint16_t AMBIENT_RATE_IDX = 0x54D0;
+  static constexpr uint16_t SPAD_COUNT_IDX = 0x55D0;
+  static constexpr uint16_t NB_TARGET_DETECTED_IDX = 0xCF7C;
+  static constexpr uint16_t SIGNAL_RATE_IDX = 0xCFBC;
+  static constexpr uint16_t RANGE_SIGMA_MM_IDX = 0xD2BC;
+  static constexpr uint16_t DISTANCE_IDX = 0xD33C;
+  static constexpr uint16_t REFLECTANCE_EST_PC_IDX = 0xD43C;
+  static constexpr uint16_t TARGET_STATUS_IDX = 0xD47C;
+  static constexpr uint16_t MOTION_DETEC_IDX = 0xCC50;
+
+  /// The motion indicator configuration written to DCI_MOTION_DETECTOR_CFG
+  /// (layout of the ULD's VL53L5CX_Motion_Configuration)
+  struct MotionConfiguration {
+    int32_t ref_bin_offset;
+    uint32_t detection_threshold;
+    uint32_t extra_noise_sigma;
+    uint32_t null_den_clip_value;
+    uint8_t mem_update_mode;
+    uint8_t mem_update_choice;
+    uint8_t sum_span;
+    uint8_t feature_length;
+    uint8_t nb_of_aggregates;
+    uint8_t nb_of_temporal_accumulations;
+    uint8_t min_nb_for_global_detection;
+    uint8_t global_indicator_format_1;
+    uint8_t global_indicator_format_2;
+    uint8_t spare_1;
+    uint8_t spare_2;
+    uint8_t spare_3;
+    int8_t map_id[64];
+    uint8_t indicator_format_1[32];
+    uint8_t indicator_format_2[32];
+  };
+  static_assert(sizeof(MotionConfiguration) == 156, "MotionConfiguration must match the sensor");
+
+  // raw register access (16-bit addresses)
+  bool write_byte(uint16_t reg, uint8_t value, std::error_code &ec);
+  bool read_byte(uint16_t reg, uint8_t &value, std::error_code &ec);
+  bool write_multi(uint16_t reg, const uint8_t *data, size_t length, std::error_code &ec);
+  bool read_multi(uint16_t reg, uint8_t *data, size_t length, std::error_code &ec);
+  /// Poll `size` bytes at `reg` until (byte[pos] & mask) == expected (2 s)
+  bool poll_for_answer(size_t size, size_t pos, uint16_t reg, uint8_t mask, uint8_t expected,
+                       std::error_code &ec);
+  /// Byte-swap every 32-bit word (the firmware is big-endian)
+  static void swap_buffer(uint8_t *buffer, size_t size);
+
+  // DCI parameter access
+  bool dci_read_data(uint8_t *data, uint16_t index, uint16_t size, std::error_code &ec);
+  bool dci_write_data(const uint8_t *data, uint16_t index, uint16_t size, std::error_code &ec);
+  bool dci_replace_data(uint16_t index, uint16_t size, const uint8_t *new_data, uint16_t new_size,
+                        uint16_t new_pos, std::error_code &ec);
+
+  bool send_offset_data(Resolution resolution, std::error_code &ec);
+  bool send_xtalk_data(Resolution resolution, std::error_code &ec);
+  bool refuse_while_ranging(const char *what, std::error_code &ec);
+  bool read_resolution_locked(Resolution &resolution, std::error_code &ec);
+  bool write_motion_configuration(std::error_code &ec);
+  void motion_set_resolution(Resolution resolution);
+
+  std::recursive_mutex mutex_;
+  std::atomic<bool> initialized_{false}; ///< read lock-free by is_initialized()
+  std::atomic<bool> ranging_{false};     ///< read lock-free by is_ranging()
+  Resolution resolution_{Resolution::ZONES_4X4};
+  uint8_t stream_count_{255};
+  uint32_t data_read_size_{0};
+  bool motion_enabled_{false};
+  MotionConfiguration motion_config_{};
+  std::array<uint8_t, OFFSET_BUFFER_SIZE> offset_data_{};
+  std::array<uint8_t, XTALK_BUFFER_SIZE> xtalk_data_{};
+  std::array<uint8_t, TEMP_BUFFER_SIZE> temp_buffer_{};
+};
+} // namespace espp
diff --git a/components/vl53l/src/vl53l5cx.cpp b/components/vl53l/src/vl53l5cx.cpp
new file mode 100644
index 0000000000..0889c77036
--- /dev/null
+++ b/components/vl53l/src/vl53l5cx.cpp
@@ -0,0 +1,1074 @@
+// The sensor sequences in this file (reboot, firmware upload, NVM / crosstalk
+// loading, the DCI command interface and the result block parsing) are a port
+// of the STMicroelectronics VL53L5CX Ultra Lite Driver, API revision
+// VL53L5CX_1.1.2 (vl53l5cx_api.c, vl53l5cx_plugin_motion_indicator.c):
+//
+// Copyright (c) 2021 STMicroelectronics
+// Redistributed under the BSD-3-Clause license; see vl53l5cx_firmware.cpp for
+// the full text.
+
+#include "vl53l5cx.hpp"
+
+#include <algorithm>
+#include <chrono>
+#include <cstring>
+#include <thread>
+
+#include "vl53l5cx_firmware.hpp"
+
+using namespace espp;
+
+namespace {
+uint32_t load_u32(const uint8_t *p) {
+  uint32_t v;
+  std::memcpy(&v, p, sizeof(v));
+  return v;
+}
+void store_u32(uint8_t *p, uint32_t v) { std::memcpy(p, &v, sizeof(v)); }
+} // namespace
+
+Vl53l5cx::Vl53l5cx(const Config &config)
+    : Base({}, "Vl53l5cx", config.log_level) {
+  set_address(config.device_address);
+  set_write(config.write);
+  set_read(config.read);
+  if (config.auto_init) {
+    std::error_code ec;
+    if (!initialize(ec)) {
+      logger_.error("Initialization failed: {}", ec.message());
+    }
+  }
+}
+
+const char *Vl53l5cx::target_status_name(TargetStatus status) {
+  switch (status) {
+  case TargetStatus::NOT_UPDATED:
+    return "not updated";
+  case TargetStatus::SIGNAL_RATE_TOO_LOW_SPAD_ARRAY:
+    return "signal rate too low on the SPAD array";
+  case TargetStatus::TARGET_PHASE:
+    return "target phase";
+  case TargetStatus::SIGMA_TOO_HIGH:
+    return "sigma estimator too high";
+  case TargetStatus::TARGET_CONSISTENCY_FAILED:
+    return "target consistency failed";
+  case TargetStatus::RANGE_VALID:
+    return "range valid";
+  case TargetStatus::WRAP_AROUND_NOT_PERFORMED:
+    return "wrap-around not performed";
+  case TargetStatus::RATE_CONSISTENCY_FAILED:
+    return "rate consistency failed";
+  case TargetStatus::SIGNAL_RATE_TOO_LOW_TARGET:
+    return "signal rate too low for the target";
+  case TargetStatus::RANGE_VALID_LARGE_PULSE:
+    return "range valid (large pulse)";
+  case TargetStatus::RANGE_VALID_NO_PREVIOUS_TARGET:
+    return "range valid (no previous target)";
+  case TargetStatus::MEASUREMENT_CONSISTENCY_FAILED:
+    return "measurement consistency failed";
+  case TargetStatus::TARGET_BLURRED:
+    return "target blurred by another one";
+  case TargetStatus::TARGET_INCONSISTENT:
+    return "target inconsistent";
+  case TargetStatus::NO_TARGET:
+    return "no target";
+  }
+  return "unknown";
+}
+
+// ---------------------------------------------------------------------------
+// Raw register access
+// ---------------------------------------------------------------------------
+
+bool Vl53l5cx::write_byte(uint16_t reg, uint8_t value, std::error_code &ec) {
+  return write_multi(reg, &value, 1, ec);
+}
+
+bool Vl53l5cx::read_byte(uint16_t reg, uint8_t &value, std::error_code &ec) {
+  return read_multi(reg, &value, 1, ec);
+}
+
+bool Vl53l5cx::write_multi(uint16_t reg, const uint8_t *data, size_t length, std::error_code &ec) {
+  // a stale error from an earlier call must not survive a transfer that
+  // succeeds (the base class's separate write / read path only sets ec)
+  ec.clear();
+  // the register address auto-increments, so a long write (the firmware image)
+  // can go out in bounded transactions; the base class stages each one on the
+  // stack
+  for (size_t offset = 0; offset < length; offset += MAX_WRITE_CHUNK) {
+    const size_t chunk = std::min(MAX_WRITE_CHUNK, length - offset);
+    write_many_to_register(static_cast<uint16_t>(reg + offset), data + offset, chunk, ec);
+    if (ec) {
+      logger_.error("Write of {} bytes to 0x{:04x} failed: {}", chunk, reg + offset, ec.message());
+      return false;
+    }
+  }
+  return true;
+}
+
+bool Vl53l5cx::read_multi(uint16_t reg, uint8_t *data, size_t length, std::error_code &ec) {
+  ec.clear(); // see write_multi
+  read_many_from_register(reg, data, length, ec);
+  if (ec) {
+    logger_.error("Read of {} bytes from 0x{:04x} failed: {}", length, reg, ec.message());
+    return false;
+  }
+  return true;
+}
+
+bool Vl53l5cx::poll_for_answer(size_t size, size_t pos, uint16_t reg, uint8_t mask,
+                               uint8_t expected, std::error_code &ec) {
+  if (size == 0 || size > TEMP_BUFFER_SIZE || pos >= size) {
+    ec = std::make_error_code(std::errc::invalid_argument);
+    return false;
+  }
+  for (int attempt = 0; attempt <= POLL_ATTEMPTS; ++attempt) {
+    if (!read_multi(reg, temp_buffer_.data(), size, ec)) {
+      return false;
+    }
+    // byte 2 of a 4-byte command status is the firmware's error code
+    if (size >= 4 && temp_buffer_[2] >= 0x7f) {
+      logger_.error("Firmware error 0x{:02x} while polling 0x{:04x}", temp_buffer_[2], reg);
+      ec = std::make_error_code(std::errc::io_error);
+      return false;
+    }
+    if ((temp_buffer_[pos] & mask) == expected) {
+      return true;
+    }
+    std::this_thread::sleep_for(std::chrono::milliseconds(POLL_INTERVAL_MS));
+  }
+  logger_.error("Timed out polling 0x{:04x} for 0x{:02x} (mask 0x{:02x}); last 0x{:02x}", reg,
+                expected, mask, temp_buffer_[pos]);
+  ec = std::make_error_code(std::errc::timed_out);
+  return false;
+}
+
+void Vl53l5cx::swap_buffer(uint8_t *buffer, size_t size) {
+  for (size_t i = 0; i + 4 <= size; i += 4) {
+    std::swap(buffer[i], buffer[i + 3]);
+    std::swap(buffer[i + 1], buffer[i + 2]);
+  }
+}
+
+// ---------------------------------------------------------------------------
+// DCI: the firmware's parameter interface
+// ---------------------------------------------------------------------------
+
+bool Vl53l5cx::dci_read_data(uint8_t *data, uint16_t index, uint16_t size, std::error_code &ec) {
+  const size_t read_size = static_cast<size_t>(size) + 12;
+  if (read_size > TEMP_BUFFER_SIZE) {
+    ec = std::make_error_code(std::errc::invalid_argument);
+    return false;
+  }
+  const uint8_t cmd[12] = {static_cast<uint8_t>(index >> 8),
+                           static_cast<uint8_t>(index & 0xff),
+                           static_cast<uint8_t>((size & 0xff0) >> 4),
+                           static_cast<uint8_t>((size & 0xf) << 4),
+                           0x00,
+                           0x00,
+                           0x00,
+                           0x0f,
+                           0x00,
+                           0x02,
+                           0x00,
+                           0x08};
+  // request the data, wait for the firmware, read it back (4-byte header +
+  // data + 8-byte footer, big-endian words)
+  if (!write_multi(UI_CMD_END - 11, cmd, sizeof(cmd), ec) ||
+      !poll_for_answer(4, 1, UI_CMD_STATUS, 0xff, 0x03, ec) ||
+      !read_multi(UI_CMD_START, temp_buffer_.data(), read_size, ec)) {
+    return false;
+  }
+  swap_buffer(temp_buffer_.data(), read_size);
+  std::memcpy(data, temp_buffer_.data() + 4, size);
+  return true;
+}
+
+bool Vl53l5cx::dci_write_data(const uint8_t *data, uint16_t index, uint16_t size,
+                              std::error_code &ec) {
+  const size_t write_size = static_cast<size_t>(size) + 12;
+  if (write_size > TEMP_BUFFER_SIZE) {
+    ec = std::make_error_code(std::errc::invalid_argument);
+    return false;
+  }
+  const uint8_t header[4] = {static_cast<uint8_t>(index >> 8), static_cast<uint8_t>(index & 0xff),
+                             static_cast<uint8_t>((size & 0xff0) >> 4),
+                             static_cast<uint8_t>((size & 0xf) << 4)};
+  const uint16_t footer_size = static_cast<uint16_t>(size + 8);
+  const uint8_t footer[8] = {0x00,
+                             0x00,
+                             0x00,
+                             0x0f,
+                             0x05,
+                             0x01,
+                             static_cast<uint8_t>(footer_size >> 8),
+                             static_cast<uint8_t>(footer_size & 0xff)};
+  std::memcpy(temp_buffer_.data(), header, sizeof(header));
+  std::memcpy(temp_buffer_.data() + 4, data, size);
+  swap_buffer(temp_buffer_.data() + 4, size);
+  std::memcpy(temp_buffer_.data() + 4 + size, footer, sizeof(footer));
+  const uint16_t address = static_cast<uint16_t>(UI_CMD_END - write_size + 1);
+  return write_multi(address, temp_buffer_.data(), write_size, ec) &&
+         poll_for_answer(4, 1, UI_CMD_STATUS, 0xff, 0x03, ec);
+}
+
+bool Vl53l5cx::dci_replace_data(uint16_t index, uint16_t size, const uint8_t *new_data,
+                                uint16_t new_size, uint16_t new_pos, std::error_code &ec) {
+  uint8_t buffer[32];
+  if (size > sizeof(buffer) || new_pos + new_size > size) {
+    ec = std::make_error_code(std::errc::invalid_argument);
+    return false;
+  }
+  if (!dci_read_data(buffer, index, size, ec)) {
+    return false;
+  }
+  std::memcpy(buffer + new_pos, new_data, new_size);
+  return dci_write_data(buffer, index, size, ec);
+}
+
+// ---------------------------------------------------------------------------
+// Initialization
+// ---------------------------------------------------------------------------
+
+bool Vl53l5cx::is_alive(std::error_code &ec) {
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  uint8_t device_id = 0;
+  uint8_t revision_id = 0;
+  const bool read_ok = write_byte(0x7fff, 0x00, ec) && read_byte(0x0000, device_id, ec) &&
+                       read_byte(0x0001, revision_id, ec);
+  // back to the firmware's register page whatever happened above, so a probe
+  // on a running sensor never leaves later DCI / frame reads on page 0
+  std::error_code restore_ec;
+  const bool restored = write_byte(0x7fff, 0x02, restore_ec);
+  if (!read_ok) {
+    return false;
+  }
+  if (!restored) {
+    ec = restore_ec;
+    return false;
+  }
+  const bool alive = device_id == DEVICE_ID && revision_id == REVISION_ID;
+  if (!alive) {
+    logger_.warn("Device id 0x{:02x} / revision 0x{:02x} is not a VL53L5CX (0x{:02x} / 0x{:02x})",
+                 device_id, revision_id, DEVICE_ID, REVISION_ID);
+  }
+  return alive;
+}
+
+bool Vl53l5cx::initialize(std::error_code &ec) {
+  using namespace std::chrono_literals;
+  using namespace vl53l5cx_detail;
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  initialized_ = false;
+  ranging_ = false;
+  motion_enabled_ = false;
+
+  if (!is_alive(ec)) {
+    // never upload the firmware into something that is not a VL53L5CX
+    if (!ec) {
+      ec = std::make_error_code(std::errc::no_such_device);
+    }
+    return false;
+  }
+
+  // the sequence below is the ULD's vl53l5cx_init(); the register writes are
+  // undocumented (ST's "boot" and "wake the MCU" recipes)
+  struct Step {
+    uint16_t reg;
+    uint8_t value;
+  };
+  auto run = [&](const Step *steps, size_t count) {
+    for (size_t i = 0; i < count; ++i) {
+      if (!write_byte(steps[i].reg, steps[i].value, ec)) {
+        return false;
+      }
+    }
+    return true;
+  };
+
+  // software reboot
+  static constexpr Step kReboot1[] = {
+      {0x7fff, 0x00}, {0x0009, 0x04}, {0x000F, 0x40}, {0x000A, 0x03}};
+  if (!run(kReboot1, std::size(kReboot1))) {
+    return false;
+  }
+  uint8_t tmp = 0;
+  if (!read_byte(0x7FFF, tmp, ec)) {
+    return false;
+  }
+  static constexpr Step kReboot2[] = {
+      {0x000C, 0x01}, {0x0101, 0x00}, {0x0102, 0x00}, {0x010A, 0x01}, {0x4002, 0x01},
+      {0x4002, 0x00}, {0x010A, 0x03}, {0x0103, 0x01}, {0x000C, 0x00}, {0x000F, 0x43}};
+  if (!run(kReboot2, std::size(kReboot2))) {
+    return false;
+  }
+  std::this_thread::sleep_for(1ms);
+  static constexpr Step kReboot3[] = {{0x000F, 0x40}, {0x000A, 0x01}};
+  if (!run(kReboot3, std::size(kReboot3))) {
+    return false;
+  }
+  std::this_thread::sleep_for(100ms);
+
+  // wait for the sensor to boot
+  if (!write_byte(0x7fff, 0x00, ec) || !poll_for_answer(1, 0, 0x06, 0xff, 1, ec) ||
+      !write_byte(0x000E, 0x01, ec) || !write_byte(0x7fff, 0x02, ec)) {
+    logger_.error("The sensor did not boot");
+    return false;
+  }
+  // enable firmware access
+  if (!write_byte(0x03, 0x0D, ec) || !write_byte(0x7fff, 0x01, ec) ||
+      !poll_for_answer(1, 0, 0x21, 0x10, 0x10, ec) || !write_byte(0x7fff, 0x00, ec)) {
+    return false;
+  }
+  // enable host access to GO1, power-on status
+  static constexpr Step kPowerOn[] = {
+      {0x0C, 0x01},   {0x7fff, 0x00}, {0x101, 0x00}, {0x102, 0x00},  {0x010A, 0x01}, {0x4002, 0x01},
+      {0x4002, 0x00}, {0x010A, 0x03}, {0x103, 0x01}, {0x400F, 0x00}, {0x21A, 0x43},  {0x21A, 0x03},
+      {0x21A, 0x01},  {0x21A, 0x00},  {0x219, 0x00}, {0x21B, 0x00}};
+  if (!run(kPowerOn, std::size(kPowerOn))) {
+    return false;
+  }
+  // wake up the MCU
+  static constexpr Step kWakeMcu[] = {
+      {0x7fff, 0x00}, {0x0C, 0x00}, {0x7fff, 0x01}, {0x20, 0x07}, {0x20, 0x06}};
+  if (!run(kWakeMcu, std::size(kWakeMcu))) {
+    return false;
+  }
+
+  // upload the firmware: three RAM pages (0x7fff selects the page)
+  logger_.info("Uploading the VL53L5CX firmware ({} bytes)", kFirmwareSize);
+  if (!write_byte(0x7fff, 0x09, ec) || !write_multi(0, kFirmware, 0x8000, ec) ||
+      !write_byte(0x7fff, 0x0a, ec) || !write_multi(0, kFirmware + 0x8000, 0x8000, ec) ||
+      !write_byte(0x7fff, 0x0b, ec) || !write_multi(0, kFirmware + 0x10000, 0x5000, ec) ||
+      !write_byte(0x7fff, 0x01, ec)) {
+    logger_.error("Firmware upload failed");
+    return false;
+  }
+  // check the firmware was taken
+  if (!write_byte(0x7fff, 0x02, ec) || !write_byte(0x03, 0x0D, ec) ||
+      !write_byte(0x7fff, 0x01, ec) || !poll_for_answer(1, 0, 0x21, 0x10, 0x10, ec) ||
+      !write_byte(0x7fff, 0x00, ec) || !write_byte(0x0C, 0x01, ec)) {
+    logger_.error("The firmware did not start");
+    return false;
+  }
+  // reset the MCU and wait for it to boot
+  static constexpr Step kResetMcu[] = {{0x7FFF, 0x00}, {0x114, 0x00}, {0x115, 0x00}, {0x116, 0x42},
+                                       {0x117, 0x00},  {0x0B, 0x00},  {0x0C, 0x00},  {0x0B, 0x01}};
+  if (!run(kResetMcu, std::size(kResetMcu)) || !poll_for_answer(1, 0, 0x06, 0xff, 0x00, ec) ||
+      !write_byte(0x7fff, 0x02, ec)) {
+    logger_.error("The MCU did not boot");
+    return false;
+  }
+
+  // read the NVM (per-unit offset calibration) into the offset buffer
+  if (!write_multi(0x2fd8, kGetNvmCommand, kGetNvmCommandSize, ec) ||
+      !poll_for_answer(4, 0, UI_CMD_STATUS, 0xff, 2, ec) ||
+      !read_multi(UI_CMD_START, temp_buffer_.data(), NVM_DATA_SIZE, ec)) {
+    logger_.error("Reading the NVM data failed");
+    return false;
+  }
+  std::memcpy(offset_data_.data(), temp_buffer_.data(), OFFSET_BUFFER_SIZE);
+  if (!send_offset_data(Resolution::ZONES_4X4, ec)) {
+    return false;
+  }
+  // default crosstalk shape
+  std::memcpy(xtalk_data_.data(), kDefaultXtalk, XTALK_BUFFER_SIZE);
+  if (!send_xtalk_data(Resolution::ZONES_4X4, ec)) {
+    return false;
+  }
+  // default configuration
+  if (!write_multi(0x2c34, kDefaultConfiguration, kDefaultConfigurationSize, ec) ||
+      !poll_for_answer(4, 1, UI_CMD_STATUS, 0xff, 0x03, ec)) {
+    logger_.error("Sending the default configuration failed");
+    return false;
+  }
+  const uint8_t pipe_control[4] = {TARGETS_PER_ZONE, 0x00, 0x01, 0x00};
+  uint8_t single_range[4];
+  store_u32(single_range, 0x01);
+  if (!dci_write_data(pipe_control, DCI_PIPE_CONTROL, sizeof(pipe_control), ec) ||
+      !dci_write_data(single_range, DCI_SINGLE_RANGE, sizeof(single_range), ec)) {
+    return false;
+  }
+  resolution_ = Resolution::ZONES_4X4;
+  initialized_ = true;
+  logger_.info("Initialized (4x4, autonomous, 1 Hz)");
+  return true;
+}
+
+bool Vl53l5cx::send_offset_data(Resolution resolution, std::error_code &ec) {
+  static constexpr uint8_t kDss4x4[] = {0x0F, 0x04, 0x04, 0x00, 0x08, 0x10, 0x10, 0x07};
+  static constexpr uint8_t kFooter[] = {0x00, 0x00, 0x00, 0x0F, 0x03, 0x01, 0x01, 0xE4};
+  std::memcpy(temp_buffer_.data(), offset_data_.data(), OFFSET_BUFFER_SIZE);
+  // the NVM holds 8x8 data: average 2x2 blocks for 4x4
+  if (resolution == Resolution::ZONES_4X4) {
+    std::memcpy(temp_buffer_.data() + 0x10, kDss4x4, sizeof(kDss4x4));
+    swap_buffer(temp_buffer_.data(), OFFSET_BUFFER_SIZE);
+    uint32_t signal_grid[64];
+    int16_t range_grid[64];
+    std::memcpy(signal_grid, temp_buffer_.data() + 0x3C, sizeof(signal_grid));
+    std::memcpy(range_grid, temp_buffer_.data() + 0x140, sizeof(range_grid));
+    for (int j = 0; j < 4; j++) {
+      for (int i = 0; i < 4; i++) {
+        const int k = (2 * i) + (16 * j);
+        signal_grid[i + (4 * j)] =
+            (signal_grid[k] + signal_grid[k + 1] + signal_grid[k + 8] + signal_grid[k + 9]) / 4;
+        range_grid[i + (4 * j)] = static_cast<int16_t>(
+            (range_grid[k] + range_grid[k + 1] + range_grid[k + 8] + range_grid[k + 9]) / 4);
+      }
+    }
+    std::memset(&range_grid[0x10], 0, 96);
+    std::memset(&signal_grid[0x10], 0, 192);
+    std::memcpy(temp_buffer_.data() + 0x3C, signal_grid, sizeof(signal_grid));
+    std::memcpy(temp_buffer_.data() + 0x140, range_grid, sizeof(range_grid));
+    swap_buffer(temp_buffer_.data(), OFFSET_BUFFER_SIZE);
+  }
+  // drop the 8-byte NVM header: the payload moves down by 8 and the footer
+  // takes the last 8 bytes (the ULD shifts 4 bytes further, reading past the
+  // offset buffer into stale data the footer then overwrites)
+  static_assert(0x1E0 + sizeof(kFooter) == OFFSET_BUFFER_SIZE);
+  std::memmove(temp_buffer_.data(), temp_buffer_.data() + 8, OFFSET_BUFFER_SIZE - 8);
+  std::memcpy(temp_buffer_.data() + 0x1E0, kFooter, sizeof(kFooter));
+  if (!write_multi(0x2e18, temp_buffer_.data(), OFFSET_BUFFER_SIZE, ec) ||
+      !poll_for_answer(4, 1, UI_CMD_STATUS, 0xff, 0x03, ec)) {
+    logger_.error("Sending the offset data failed");
+    return false;
+  }
+  return true;
+}
+
+bool Vl53l5cx::send_xtalk_data(Resolution resolution, std::error_code &ec) {
+  static constexpr uint8_t kRes4x4[] = {0x0F, 0x04, 0x04, 0x17, 0x08, 0x10, 0x10, 0x07};
+  static constexpr uint8_t kDss4x4[] = {0x00, 0x78, 0x00, 0x08, 0x00, 0x00, 0x00, 0x08};
+  static constexpr uint8_t kProfile4x4[] = {0xA0, 0xFC, 0x01, 0x00};
+  std::memcpy(temp_buffer_.data(), xtalk_data_.data(), XTALK_BUFFER_SIZE);
+  if (resolution == Resolution::ZONES_4X4) {
+    std::memcpy(temp_buffer_.data() + 0x8, kRes4x4, sizeof(kRes4x4));
+    std::memcpy(temp_buffer_.data() + 0x020, kDss4x4, sizeof(kDss4x4));
+    swap_buffer(temp_buffer_.data(), XTALK_BUFFER_SIZE);
+    uint32_t signal_grid[64];
+    std::memcpy(signal_grid, temp_buffer_.data() + 0x34, sizeof(signal_grid));
+    for (int j = 0; j < 4; j++) {
+      for (int i = 0; i < 4; i++) {
+        const int k = (2 * i) + (16 * j);
+        signal_grid[i + (4 * j)] =
+            (signal_grid[k] + signal_grid[k + 1] + signal_grid[k + 8] + signal_grid[k + 9]) / 4;
+      }
+    }
+    std::memset(&signal_grid[0x10], 0, 192);
+    std::memcpy(temp_buffer_.data() + 0x34, signal_grid, sizeof(signal_grid));
+    swap_buffer(temp_buffer_.data(), XTALK_BUFFER_SIZE);
+    std::memcpy(temp_buffer_.data() + 0x134, kProfile4x4, sizeof(kProfile4x4));
+    std::memset(temp_buffer_.data() + 0x078, 0, 4);
+  }
+  if (!write_multi(0x2cf8, temp_buffer_.data(), XTALK_BUFFER_SIZE, ec) ||
+      !poll_for_answer(4, 1, UI_CMD_STATUS, 0xff, 0x03, ec)) {
+    logger_.error("Sending the crosstalk data failed");
+    return false;
+  }
+  return true;
+}
+
+// ---------------------------------------------------------------------------
+// Settings
+// ---------------------------------------------------------------------------
+
+bool Vl53l5cx::refuse_while_ranging(const char *what, std::error_code &ec) {
+  if (ranging_) {
+    logger_.error("Cannot change the {} while ranging; stop ranging first", what);
+    ec = std::make_error_code(std::errc::device_or_resource_busy);
+    return true;
+  }
+  return false;
+}
+
+bool Vl53l5cx::set_i2c_address(uint8_t address, std::error_code &ec) {
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  if (address > 0x7f) {
+    ec = std::make_error_code(std::errc::invalid_argument);
+    return false;
+  }
+  if (!write_byte(0x7fff, 0x00, ec)) {
+    return false;
+  }
+  if (!write_byte(0x0004, address, ec)) {
+    // the address did not change: go back to the firmware's page on the old
+    // one (the original error is the one reported)
+    std::error_code restore_ec;
+    write_byte(0x7fff, 0x02, restore_ec);
+    return false;
+  }
+  // from here on the sensor only answers on the new address
+  set_address(address);
+  return write_byte(0x7fff, 0x02, ec);
+}
+
+Vl53l5cx::PowerMode Vl53l5cx::get_power_mode(std::error_code &ec) {
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  uint8_t tmp = 0;
+  const bool read_ok = write_byte(0x7FFF, 0x00, ec) && read_byte(0x0009, tmp, ec);
+  // restore the firmware's register page even when the read failed
+  std::error_code restore_ec;
+  write_byte(0x7FFF, 0x02, restore_ec);
+  if (!read_ok) {
+    return PowerMode::WAKEUP;
+  }
+  if (restore_ec) {
+    ec = restore_ec;
+    return PowerMode::WAKEUP;
+  }
+  PowerMode mode = PowerMode::WAKEUP;
+  switch (tmp) {
+  case 0x04:
+  case 0x05: // awake with the xshut bypass start_ranging() sets
+    mode = PowerMode::WAKEUP;
+    break;
+  case 0x02:
+    mode = PowerMode::SLEEP;
+    break;
+  default:
+    logger_.error("Unknown power mode register value 0x{:02x}", tmp);
+    ec = std::make_error_code(std::errc::io_error);
+    break;
+  }
+  return mode;
+}
+
+bool Vl53l5cx::set_power_mode(PowerMode mode, std::error_code &ec) {
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  if (refuse_while_ranging("power mode", ec)) {
+    return false;
+  }
+  const PowerMode current = get_power_mode(ec);
+  if (ec) {
+    return false;
+  }
+  if (current == mode) {
+    return true;
+  }
+  bool ok = write_byte(0x7FFF, 0x00, ec);
+  if (ok) {
+    if (mode == PowerMode::WAKEUP) {
+      ok = write_byte(0x09, 0x04, ec) && poll_for_answer(1, 0, 0x06, 0x01, 1, ec);
+    } else {
+      ok = write_byte(0x09, 0x02, ec) && poll_for_answer(1, 0, 0x06, 0x01, 0, ec);
+    }
+  }
+  std::error_code restore_ec;
+  write_byte(0x7FFF, 0x02, restore_ec);
+  if (restore_ec && !ec) {
+    ec = restore_ec;
+    ok = false;
+  }
+  return ok;
+}
+
+bool Vl53l5cx::read_resolution_locked(Resolution &resolution, std::error_code &ec) {
+  uint8_t zone_config[8];
+  if (!dci_read_data(zone_config, DCI_ZONE_CONFIG, sizeof(zone_config), ec)) {
+    return false;
+  }
+  const unsigned zones = static_cast<unsigned>(zone_config[0]) * zone_config[1];
+  if (zones == 64) {
+    resolution = Resolution::ZONES_8X8;
+  } else if (zones == 16) {
+    resolution = Resolution::ZONES_4X4;
+  } else {
+    logger_.error("Unexpected zone configuration {}x{}", zone_config[0], zone_config[1]);
+    ec = std::make_error_code(std::errc::io_error);
+    return false;
+  }
+  resolution_ = resolution;
+  return true;
+}
+
+Vl53l5cx::Resolution Vl53l5cx::get_resolution(std::error_code &ec) {
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  Resolution resolution = Resolution::ZONES_4X4;
+  read_resolution_locked(resolution, ec);
+  return resolution;
+}
+
+bool Vl53l5cx::set_resolution(Resolution resolution, std::error_code &ec) {
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  if (refuse_while_ranging("resolution", ec)) {
+    return false;
+  }
+  uint8_t dss[16];
+  uint8_t zone[8];
+  if (!dci_read_data(dss, DCI_DSS_CONFIG, sizeof(dss), ec)) {
+    return false;
+  }
+  switch (resolution) {
+  case Resolution::ZONES_4X4:
+    dss[0x04] = 64;
+    dss[0x06] = 64;
+    dss[0x09] = 4;
+    break;
+  case Resolution::ZONES_8X8:
+    dss[0x04] = 16;
+    dss[0x06] = 16;
+    dss[0x09] = 1;
+    break;
+  default:
+    ec = std::make_error_code(std::errc::invalid_argument);
+    return false;
+  }
+  if (!dci_write_data(dss, DCI_DSS_CONFIG, sizeof(dss), ec) ||
+      !dci_read_data(zone, DCI_ZONE_CONFIG, sizeof(zone), ec)) {
+    return false;
+  }
+  if (resolution == Resolution::ZONES_4X4) {
+    zone[0x00] = 4;
+    zone[0x01] = 4;
+    zone[0x04] = 8;
+    zone[0x05] = 8;
+  } else {
+    zone[0x00] = 8;
+    zone[0x01] = 8;
+    zone[0x04] = 4;
+    zone[0x05] = 4;
+  }
+  if (!dci_write_data(zone, DCI_ZONE_CONFIG, sizeof(zone), ec) ||
+      !send_offset_data(resolution, ec) || !send_xtalk_data(resolution, ec)) {
+    return false;
+  }
+  resolution_ = resolution;
+  if (motion_enabled_) {
+    motion_set_resolution(resolution);
+    if (!write_motion_configuration(ec)) {
+      return false;
+    }
+  }
+  logger_.info("Resolution set to {}", resolution == Resolution::ZONES_8X8 ? "8x8" : "4x4");
+  return true;
+}
+
+uint8_t Vl53l5cx::get_ranging_frequency_hz(std::error_code &ec) {
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  uint8_t data[4];
+  if (!dci_read_data(data, DCI_FREQ_HZ, sizeof(data), ec)) {
+    return 0;
+  }
+  return data[0x01];
+}
+
+bool Vl53l5cx::set_ranging_frequency_hz(uint8_t frequency_hz, std::error_code &ec) {
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  if (refuse_while_ranging("ranging frequency", ec)) {
+    return false;
+  }
+  Resolution resolution = resolution_;
+  if (!read_resolution_locked(resolution, ec)) {
+    return false;
+  }
+  const uint8_t max_hz = resolution == Resolution::ZONES_8X8 ? 15 : 60;
+  if (frequency_hz < 1 || frequency_hz > max_hz) {
+    logger_.error("Ranging frequency {} Hz is outside 1..{} Hz for {}", frequency_hz, max_hz,
+                  resolution == Resolution::ZONES_8X8 ? "8x8" : "4x4");
+    ec = std::make_error_code(std::errc::invalid_argument);
+    return false;
+  }
+  return dci_replace_data(DCI_FREQ_HZ, 4, &frequency_hz, 1, 0x01, ec);
+}
+
+uint32_t Vl53l5cx::get_integration_time_ms(std::error_code &ec) {
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  uint8_t data[20];
+  if (!dci_read_data(data, DCI_INT_TIME, sizeof(data), ec)) {
+    return 0;
+  }
+  return load_u32(data) / 1000;
+}
+
+bool Vl53l5cx::set_integration_time_ms(uint32_t time_ms, std::error_code &ec) {
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  if (refuse_while_ranging("integration time", ec)) {
+    return false;
+  }
+  if (time_ms < 2 || time_ms > 1000) {
+    logger_.error("Integration time {} ms is outside 2..1000 ms", time_ms);
+    ec = std::make_error_code(std::errc::invalid_argument);
+    return false;
+  }
+  uint8_t value[4];
+  store_u32(value, time_ms * 1000);
+  return dci_replace_data(DCI_INT_TIME, 20, value, sizeof(value), 0x00, ec);
+}
+
+uint8_t Vl53l5cx::get_sharpener_percent(std::error_code &ec) {
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  uint8_t data[16];
+  if (!dci_read_data(data, DCI_SHARPENER, sizeof(data), ec)) {
+    return 0;
+  }
+  return static_cast<uint8_t>((static_cast<unsigned>(data[0xD]) * 100) / 255);
+}
+
+bool Vl53l5cx::set_sharpener_percent(uint8_t percent, std::error_code &ec) {
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  if (refuse_while_ranging("sharpener", ec)) {
+    return false;
+  }
+  if (percent >= 100) {
+    logger_.error("Sharpener {} % is outside 0..99 %", percent);
+    ec = std::make_error_code(std::errc::invalid_argument);
+    return false;
+  }
+  const uint8_t sharpener = static_cast<uint8_t>((static_cast<unsigned>(percent) * 255) / 100);
+  return dci_replace_data(DCI_SHARPENER, 16, &sharpener, 1, 0xD, ec);
+}
+
+Vl53l5cx::TargetOrder Vl53l5cx::get_target_order(std::error_code &ec) {
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  uint8_t data[4];
+  if (!dci_read_data(data, DCI_TARGET_ORDER, sizeof(data), ec)) {
+    return TargetOrder::STRONGEST;
+  }
+  return data[0] == static_cast<uint8_t>(TargetOrder::CLOSEST) ? TargetOrder::CLOSEST
+                                                               : TargetOrder::STRONGEST;
+}
+
+bool Vl53l5cx::set_target_order(TargetOrder order, std::error_code &ec) {
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  if (refuse_while_ranging("target order", ec)) {
+    return false;
+  }
+  if (order != TargetOrder::CLOSEST && order != TargetOrder::STRONGEST) {
+    ec = std::make_error_code(std::errc::invalid_argument);
+    return false;
+  }
+  const uint8_t value = static_cast<uint8_t>(order);
+  return dci_replace_data(DCI_TARGET_ORDER, 4, &value, 1, 0x0, ec);
+}
+
+Vl53l5cx::RangingMode Vl53l5cx::get_ranging_mode(std::error_code &ec) {
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  uint8_t data[8];
+  if (!dci_read_data(data, DCI_RANGING_MODE, sizeof(data), ec)) {
+    return RangingMode::AUTONOMOUS;
+  }
+  return data[0x01] == 0x1 ? RangingMode::CONTINUOUS : RangingMode::AUTONOMOUS;
+}
+
+bool Vl53l5cx::set_ranging_mode(RangingMode mode, std::error_code &ec) {
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  if (refuse_while_ranging("ranging mode", ec)) {
+    return false;
+  }
+  uint8_t data[8];
+  if (!dci_read_data(data, DCI_RANGING_MODE, sizeof(data), ec)) {
+    return false;
+  }
+  uint8_t single_range[4];
+  switch (mode) {
+  case RangingMode::CONTINUOUS:
+    data[0x01] = 0x1;
+    data[0x03] = 0x3;
+    store_u32(single_range, 0x00);
+    break;
+  case RangingMode::AUTONOMOUS:
+    data[0x01] = 0x3;
+    data[0x03] = 0x2;
+    store_u32(single_range, 0x01);
+    break;
+  default:
+    ec = std::make_error_code(std::errc::invalid_argument);
+    return false;
+  }
+  return dci_write_data(data, DCI_RANGING_MODE, sizeof(data), ec) &&
+         dci_write_data(single_range, DCI_SINGLE_RANGE, sizeof(single_range), ec);
+}
+
+// ---------------------------------------------------------------------------
+// Motion indicator (ULD plugin)
+// ---------------------------------------------------------------------------
+
+void Vl53l5cx::motion_set_resolution(Resolution resolution) {
+  if (resolution == Resolution::ZONES_4X4) {
+    for (int i = 0; i < 16; i++) {
+      motion_config_.map_id[i] = static_cast<int8_t>(i);
+    }
+    std::memset(motion_config_.map_id + 16, -1, 48);
+  } else {
+    // 8x8 zones are aggregated 2x2 into the 16 motion aggregates
+    for (int i = 0; i < 64; i++) {
+      motion_config_.map_id[i] = static_cast<int8_t>(((i % 8) / 2) + (4 * (i / 16)));
+    }
+  }
+}
+
+bool Vl53l5cx::write_motion_configuration(std::error_code &ec) {
+  uint8_t buffer[sizeof(MotionConfiguration)];
+  std::memcpy(buffer, &motion_config_, sizeof(buffer));
+  return dci_write_data(buffer, DCI_MOTION_DETECTOR_CFG, sizeof(buffer), ec);
+}
+
+bool Vl53l5cx::enable_motion_indicator(uint16_t distance_min_mm, uint16_t distance_max_mm,
+                                       std::error_code &ec) {
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  if (refuse_while_ranging("motion indicator", ec)) {
+    return false;
+  }
+  if (distance_min_mm < 400 || distance_max_mm > 4000 || distance_max_mm < distance_min_mm ||
+      (distance_max_mm - distance_min_mm) > 1500) {
+    logger_.error("Motion window {}..{} mm must lie in 400..4000 mm and span at most 1500 mm",
+                  distance_min_mm, distance_max_mm);
+    ec = std::make_error_code(std::errc::invalid_argument);
+    return false;
+  }
+  // the ULD's vl53l5cx_motion_indicator_init() defaults ...
+  std::memset(&motion_config_, 0, sizeof(motion_config_));
+  motion_config_.ref_bin_offset = 13633;
+  motion_config_.detection_threshold = 2883584;
+  motion_config_.mem_update_mode = 6;
+  motion_config_.mem_update_choice = 2;
+  motion_config_.sum_span = 4;
+  motion_config_.feature_length = 9;
+  motion_config_.nb_of_aggregates = 16;
+  motion_config_.nb_of_temporal_accumulations = 16;
+  motion_config_.min_nb_for_global_detection = 1;
+  motion_config_.global_indicator_format_1 = 8;
+  motion_set_resolution(resolution_);
+  // ... then vl53l5cx_motion_indicator_set_distance_motion()
+  float tmp = ((static_cast<float>(distance_min_mm) / 37.5348f) - 4.0f) * 2048.5f;
+  motion_config_.ref_bin_offset = static_cast<int32_t>(tmp);
+  tmp =
+      (((static_cast<float>(distance_max_mm - distance_min_mm) / 10.0f) + 30.02784f) / 15.01392f) +
+      0.5f;
+  motion_config_.feature_length = static_cast<uint8_t>(tmp);
+  if (!write_motion_configuration(ec)) {
+    return false;
+  }
+  motion_enabled_ = true;
+  return true;
+}
+
+// ---------------------------------------------------------------------------
+// Ranging
+// ---------------------------------------------------------------------------
+
+bool Vl53l5cx::start_ranging(std::error_code &ec) {
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  Resolution resolution = resolution_;
+  if (!read_resolution_locked(resolution, ec)) {
+    return false;
+  }
+  const uint32_t zones = static_cast<uint32_t>(resolution);
+  data_read_size_ = 0;
+  stream_count_ = 255;
+
+  // every output block is enabled (bit i of the first word enables output[i]):
+  // the mandatory start / metadata / common data plus the nine result blocks
+  uint32_t output_bh_enable[4] = {0x00000007 | 8 | 16 | 32 | 64 | 128 | 256 | 512 | 1024 | 2048,
+                                  0x00000000, 0x00000000, 0xC0000000};
+  uint32_t output[12] = {START_BH,      METADATA_BH,           COMMONDATA_BH,    AMBIENT_RATE_BH,
+                         SPAD_COUNT_BH, NB_TARGET_DETECTED_BH, SIGNAL_RATE_BH,   RANGE_SIGMA_MM_BH,
+                         DISTANCE_BH,   REFLECTANCE_BH,        TARGET_STATUS_BH, MOTION_DETECT_BH};
+  // size the blocks for the resolution and add up the frame size
+  uint32_t i = 0;
+  for (; i < std::size(output); i++) {
+    if (output[i] == 0 || (output_bh_enable[i / 32] & (1u << (i % 32))) == 0) {
+      continue;
+    }
+    const uint32_t type = output[i] & 0xF;
+    uint32_t size = (output[i] >> 4) & 0xFFF;
+    const uint32_t idx = output[i] >> 16;
+    if (type >= 0x1 && type < 0x0d) {
+      if (idx >= 0x54d0 && idx < 0x54d0 + 960) {
+        size = zones;
+      } else {
+        size = zones * TARGETS_PER_ZONE;
+      }
+      output[i] = (output[i] & 0xFFFF000F) | (size << 4);
+      data_read_size_ += type * size;
+    } else {
+      data_read_size_ += size;
+    }
+    data_read_size_ += 4;
+  }
+  data_read_size_ += 20;
+  if (data_read_size_ > TEMP_BUFFER_SIZE) {
+    logger_.error("Frame size {} exceeds the buffer ({})", data_read_size_, TEMP_BUFFER_SIZE);
+    ec = std::make_error_code(std::errc::no_buffer_space);
+    return false;
+  }
+  uint8_t output_bytes[sizeof(output)];
+  std::memcpy(output_bytes, output, sizeof(output));
+  // the ULD reports the output list length as (loop index after the list) + 1,
+  // i.e. 13 for the 12 entries; the firmware expects that value, keep it
+  uint8_t header_config[8];
+  store_u32(header_config, data_read_size_);
+  store_u32(header_config + 4, i + 1);
+  uint8_t enable_bytes[sizeof(output_bh_enable)];
+  std::memcpy(enable_bytes, output_bh_enable, sizeof(enable_bytes));
+  if (!dci_write_data(output_bytes, DCI_OUTPUT_LIST, sizeof(output_bytes), ec) ||
+      !dci_write_data(header_config, DCI_OUTPUT_CONFIG, sizeof(header_config), ec) ||
+      !dci_write_data(enable_bytes, DCI_OUTPUT_ENABLES, sizeof(enable_bytes), ec)) {
+    return false;
+  }
+  // xshut bypass (interrupt mode): page 0, then back to the firmware's page
+  // even if the bypass write failed, so a retry starts on the right page
+  const bool page0 = write_byte(0x7fff, 0x00, ec);
+  const bool bypass = page0 && write_byte(0x09, 0x05, ec);
+  std::error_code restore_ec;
+  const bool restored = page0 && write_byte(0x7fff, 0x02, restore_ec);
+  if (!bypass) {
+    logger_.error("Starting ranging failed (xshut bypass)");
+    return false;
+  }
+  if (!restored) {
+    ec = restore_ec;
+    return false;
+  }
+  // the start command
+  static constexpr uint8_t kStart[] = {0x00, 0x03, 0x00, 0x00};
+  if (!write_multi(UI_CMD_END - (sizeof(kStart) - 1), kStart, sizeof(kStart), ec) ||
+      !poll_for_answer(4, 1, UI_CMD_STATUS, 0xff, 0x03, ec)) {
+    logger_.error("Starting ranging failed");
+    return false;
+  }
+  ranging_ = true;
+  logger_.info("Ranging started ({} zones, {} byte frames)", zones, data_read_size_);
+  return true;
+}
+
+bool Vl53l5cx::stop_ranging(std::error_code &ec) {
+  using namespace std::chrono_literals;
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  uint8_t flag_bytes[4];
+  if (!read_multi(0x2FFC, flag_bytes, sizeof(flag_bytes), ec)) {
+    return false;
+  }
+  bool ok = true;
+  if (load_u32(flag_bytes) != 0x4FF) {
+    // the MCU is still ranging: provoke a stop and wait for it
+    ok = write_byte(0x7fff, 0x00, ec) && write_byte(0x15, 0x16, ec) && write_byte(0x14, 0x01, ec);
+    uint8_t tmp = 0;
+    for (int attempt = 0; ok && (tmp & 0x80) == 0; ++attempt) {
+      if (attempt > 500) { // 5 s
+        logger_.error("The MCU did not stop ranging");
+        ec = std::make_error_code(std::errc::timed_out);
+        ok = false;
+        break;
+      }
+      ok = read_byte(0x6, tmp, ec);
+      std::this_thread::sleep_for(10ms);
+    }
+  }
+  // undo the MCU stop and the xshut bypass whatever happened above, and go
+  // back to the firmware's register page even if that cleanup failed (the
+  // first error is the one reported)
+  std::error_code cleanup_ec;
+  const bool page0 = write_byte(0x7fff, 0x00, cleanup_ec);
+  const bool cleaned = page0 && write_byte(0x14, 0x00, cleanup_ec) &&
+                       write_byte(0x15, 0x00, cleanup_ec) && write_byte(0x09, 0x04, cleanup_ec);
+  std::error_code page_ec;
+  const bool paged = page0 && write_byte(0x7fff, 0x02, page_ec);
+  if ((!cleaned || !paged) && ok) {
+    ec = cleanup_ec ? cleanup_ec : page_ec;
+    ok = false;
+  }
+  // only a confirmed stop (and cleanup) releases the while-ranging guards of
+  // the setters: the sensor may still be active otherwise
+  if (ok) {
+    ranging_ = false;
+  }
+  return ok;
+}
+
+bool Vl53l5cx::is_data_ready(std::error_code &ec) {
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  uint8_t header[4];
+  if (!read_multi(0x0, header, sizeof(header), ec)) {
+    return false;
+  }
+  // a new stream count with the "ranging / data valid" flags set; 255 is the
+  // "no frame yet" value the ULD excludes as well (stream_count_ starts there)
+  if (header[0] != stream_count_ && header[0] != 255 && header[1] == 0x5 &&
+      (header[2] & 0x5) == 0x5 && (header[3] & 0x10) == 0x10) {
+    stream_count_ = header[0];
+    return true;
+  }
+  return false;
+}
+
+bool Vl53l5cx::get_ranging_data(RangingData &data, std::error_code &ec) {
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  if (!ranging_ || data_read_size_ == 0) {
+    logger_.error("Not ranging");
+    ec = std::make_error_code(std::errc::operation_not_permitted);
+    return false;
+  }
+  if (!read_multi(0x0, temp_buffer_.data(), data_read_size_, ec)) {
+    return false;
+  }
+  stream_count_ = temp_buffer_[0];
+  swap_buffer(temp_buffer_.data(), data_read_size_);
+  data.resolution = resolution_;
+
+  // walk the block headers (after the 16-byte frame header): type (4 bits),
+  // size (12 bits), index (16 bits), then the block's data
+  auto copy_block = [&](void *dst, size_t dst_size, size_t offset, size_t msize) {
+    const size_t n = std::min(msize, dst_size);
+    if (offset + n <= data_read_size_) {
+      std::memcpy(dst, temp_buffer_.data() + offset, n);
+    }
+  };
+  for (size_t i = 16; i + 4 <= data_read_size_; i += 4) {
+    const uint32_t bh = load_u32(temp_buffer_.data() + i);
+    const uint32_t type = bh & 0xF;
+    const uint32_t size = (bh >> 4) & 0xFFF;
+    const uint16_t idx = static_cast<uint16_t>(bh >> 16);
+    const size_t msize = (type > 0x1 && type < 0xd) ? type * size : size;
+    const size_t payload = i + 4;
+    switch (idx) {
+    case AMBIENT_RATE_IDX:
+      copy_block(data.ambient_per_spad_kcps.data(), sizeof(data.ambient_per_spad_kcps), payload,
+                 msize);
+      break;
+    case SPAD_COUNT_IDX:
+      copy_block(data.nb_spads_enabled.data(), sizeof(data.nb_spads_enabled), payload, msize);
+      break;
+    case NB_TARGET_DETECTED_IDX:
+      copy_block(data.nb_target_detected.data(), sizeof(data.nb_target_detected), payload, msize);
+      break;
+    case SIGNAL_RATE_IDX:
+      copy_block(data.signal_per_spad_kcps.data(), sizeof(data.signal_per_spad_kcps), payload,
+                 msize);
+      break;
+    case RANGE_SIGMA_MM_IDX:
+      copy_block(data.range_sigma_mm.data(), sizeof(data.range_sigma_mm), payload, msize);
+      break;
+    case DISTANCE_IDX:
+      copy_block(data.distance_mm.data(), sizeof(data.distance_mm), payload, msize);
+      break;
+    case REFLECTANCE_EST_PC_IDX:
+      copy_block(data.reflectance_percent.data(), sizeof(data.reflectance_percent), payload, msize);
+      break;
+    case TARGET_STATUS_IDX:
+      copy_block(data.target_status.data(), sizeof(data.target_status), payload, msize);
+      break;
+    case MOTION_DETEC_IDX:
+      copy_block(&data.motion_indicator, sizeof(data.motion_indicator), payload, msize);
+      break;
+    default:
+      break;
+    }
+    i += msize;
+  }
+
+  // convert the firmware's fixed-point formats
+  for (size_t z = 0; z < MAX_ZONES; z++) {
+    data.ambient_per_spad_kcps[z] /= 2048;
+    data.distance_mm[z] = static_cast<int16_t>(std::max<int16_t>(data.distance_mm[z] / 4, 0));
+    data.range_sigma_mm[z] /= 128;
+    data.signal_per_spad_kcps[z] /= 2048;
+    if (data.nb_target_detected[z] == 0) {
+      data.target_status[z] = static_cast<uint8_t>(TargetStatus::NO_TARGET);
+    }
+  }
+  auto &motion = data.motion_indicator.motion;
+  std::transform(motion.begin(), motion.end(), motion.begin(),
+                 [](uint32_t m) { return m / 65535; });
+  return true;
+}
diff --git a/components/vl53l/src/vl53l5cx_firmware.cpp b/components/vl53l/src/vl53l5cx_firmware.cpp
new file mode 100644
index 0000000000..df9da4401f
--- /dev/null
+++ b/components/vl53l/src/vl53l5cx_firmware.cpp
@@ -0,0 +1,5547 @@
+/*
+ * The data in this file is the STMicroelectronics VL53L5CX firmware and default
+ * configuration shipped with the VL53L5CX Ultra Lite Driver (ULD, API revision
+ * VL53L5CX_1.1.2; taken from https://github.com/stm32duino/VL53L5CX v1.2.3,
+ * src/vl53l5cx_buffers.h). It is redistributed under its original license:
+ *
+ * Copyright (c) 2021 STMicroelectronics
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+// Generated from the ULD buffers; one target per zone (the only layout this
+// driver supports), so the default configuration's "number of targets the
+// firmware ranges" byte is 2 as in the ULD.
+//
+// clang-format off
+#include "vl53l5cx_firmware.hpp"
+
+namespace espp::vl53l5cx_detail {
+
+/// The VL53L5CX firmware (MM1.1), uploaded into the sensor's RAM at every boot.
+const uint8_t kFirmware[86016] = {
+    0xe0, 0x04, 0x07, 0x68, 0xe0, 0x04, 0x0f, 0x28, 0xe0, 0x04, 0x09, 0x68, 0xe0, 0x64, 0x17, 0x68,
+    0xe0, 0x04, 0x0e, 0xe8, 0xe0, 0x04, 0x0e, 0xe8, 0xe0, 0x04, 0x0e, 0xe8, 0xe0, 0x04, 0x0e, 0xe8,
+    0xe0, 0x64, 0x39, 0xa8, 0xe0, 0x64, 0x3d, 0x68, 0xe0, 0x68, 0x00, 0x68, 0xe0, 0x68, 0x06, 0xa8,
+    0xe0, 0x68, 0x0f, 0x88, 0xe0, 0x68, 0x22, 0x88, 0xe0, 0x68, 0x26, 0x68, 0xe0, 0x68, 0x29, 0xe8,
+    0xe0, 0x68, 0x30, 0xc8, 0xe0, 0x68, 0x33, 0xe8, 0xe0, 0x04, 0x0e, 0x48, 0xe0, 0x04, 0x0e, 0x28,
+    0xe0, 0x04, 0x0e, 0x08, 0xe0, 0x04, 0x0d, 0xe8, 0xe0, 0x04, 0x0d, 0xc8, 0xe0, 0x04, 0x0d, 0xa8,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+};
+
+/// The default configuration sent to the firmware after the upload.
+const uint8_t kDefaultConfiguration[972] = {
+    0x54, 0x50, 0x00, 0x80, 0x00, 0x04, 0x04, 0x04, 0x00, 0x00, 0x08, 0x08, 0xad, 0x30, 0x00, 0x80,
+    0x02, 0x01, 0x03, 0x03, 0x00, 0x00, 0x03, 0x00, 0xad, 0x38, 0x01, 0x00, 0x01, 0xe0, 0x01, 0x40,
+    0x00, 0x40, 0x00, 0x40, 0x01, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x01, 0x54, 0x58, 0x00, 0x40,
+    0x04, 0x1a, 0x01, 0x00, 0x54, 0x5c, 0x01, 0x40, 0x00, 0x00, 0x27, 0x10, 0x00, 0x00, 0x0f, 0xa0,
+    0x0f, 0xa0, 0x03, 0xe8, 0x02, 0x80, 0x1f, 0x40, 0x00, 0x00, 0x05, 0x00, 0x54, 0x70, 0x00, 0x80,
+    0x03, 0x20, 0x03, 0x20, 0x00, 0x00, 0x00, 0x08, 0x54, 0x78, 0x01, 0x00, 0x01, 0x13, 0x00, 0x29,
+    0x00, 0x33, 0x00, 0x00, 0x02, 0x00, 0x00, 0x01, 0x04, 0x01, 0x08, 0x02, 0x54, 0x88, 0x01, 0x40,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x0c, 0x00, 0xad, 0x48, 0x01, 0x00, 0x01, 0xf4, 0x00, 0x00, 0x03, 0x06, 0x00, 0x10,
+    0x08, 0x07, 0x08, 0x07, 0x00, 0x00, 0x00, 0x08, 0xad, 0x60, 0x01, 0x00, 0x00, 0x00, 0x00, 0x80,
+    0x00, 0x00, 0x00, 0x00, 0x20, 0x1f, 0x01, 0xf4, 0x00, 0x00, 0x1d, 0x0a, 0xad, 0x70, 0x00, 0x80,
+    0x08, 0x00, 0x1f, 0x40, 0x00, 0x00, 0x00, 0x01, 0xad, 0x78, 0x00, 0x80, 0x00, 0xa0, 0x03, 0x20,
+    0x00, 0x01, 0x01, 0x90, 0xad, 0x80, 0x00, 0x40, 0x00, 0x00, 0x28, 0x00, 0xad, 0x84, 0x00, 0x80,
+    0x00, 0x00, 0x32, 0x00, 0x03, 0x20, 0x00, 0x00, 0xad, 0x8c, 0x00, 0x80, 0x02, 0x58, 0xff, 0x38,
+    0x00, 0x00, 0x00, 0x0c, 0xad, 0x94, 0x01, 0x00, 0x00, 0x01, 0x90, 0x00, 0xff, 0xff, 0xfc, 0x00,
+    0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x01, 0xad, 0xa4, 0x00, 0xc0, 0x04, 0x80, 0x06, 0x1a,
+    0x00, 0x40, 0x05, 0x80, 0x00, 0x00, 0x01, 0x06, 0xad, 0xb0, 0x00, 0xc0, 0x04, 0x80, 0x06, 0x1a,
+    0x19, 0x00, 0x05, 0x80, 0x00, 0x00, 0x01, 0x90, 0xad, 0xbc, 0x04, 0x40, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0x00, 0x25, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x05,
+    0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x0f,
+    0x00, 0x00, 0x00, 0x5a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x09, 0x0b, 0x0c, 0x0b, 0x0b,
+    0x03, 0x03, 0x11, 0x05, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0d, 0x00, 0x00,
+    0xae, 0x00, 0x01, 0x04, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x0a,
+    0x00, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x0d, 0x00, 0x00, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x08,
+    0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x20,
+    0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x05, 0x0a, 0x02, 0x00, 0x0c, 0x08,
+    0x00, 0x00, 0x00, 0x00, 0xae, 0x40, 0x00, 0x40, 0x00, 0x00, 0x01, 0xff, 0xae, 0x44, 0x00, 0x40,
+    0x00, 0x10, 0x04, 0x01, 0xae, 0x48, 0x00, 0x40, 0x00, 0x00, 0x10, 0x00, 0xae, 0x4c, 0x00, 0x40,
+    0x00, 0x00, 0x00, 0x01, 0xae, 0x50, 0x01, 0x40, 0x00, 0x00, 0x00, 0x14, 0x04, 0x00, 0x28, 0x00,
+    0x03, 0x20, 0x6c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x25, 0x80, 0xae, 0x64, 0x00, 0x40,
+    0x00, 0x00, 0x00, 0x02, 0xae, 0xd8, 0x01, 0x00, 0x00, 0xc8, 0x05, 0xdc, 0x00, 0x00, 0x0c, 0xcd,
+    0x01, 0x04, 0x00, 0x00, 0x00, 0x00, 0x26, 0x01, 0xb5, 0x50, 0x02, 0x82, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xb5, 0xa0, 0x02, 0x82,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0xb5, 0xf0, 0x00, 0x40, 0x00, 0xff, 0x00, 0x00, 0xb3, 0x9c, 0x01, 0x00, 0x40, 0x00, 0x05, 0x1e,
+    0x02, 0x1b, 0x08, 0x7c, 0x80, 0x01, 0x12, 0x01, 0x00, 0x00, 0x08, 0x00, 0xb6, 0xc0, 0x00, 0xc0,
+    0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0xae, 0xa8, 0x00, 0x40,
+    0x00, 0x00, 0x04, 0x05, 0xae, 0xac, 0x00, 0x80, 0x01, 0x00, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00,
+    0xae, 0xb4, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0xae, 0xb8, 0x00, 0x81, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0xae, 0xc0, 0x00, 0x81, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0xae, 0xc8, 0x00, 0x81, 0x08, 0x01, 0x01, 0x08, 0x00, 0x00, 0x00, 0x08, 0xae, 0xd0, 0x00, 0x81,
+    0x01, 0x08, 0x08, 0x08, 0x00, 0x00, 0x00, 0x01, 0xb5, 0xf4, 0x00, 0x80, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0xb5, 0xfc, 0x00, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0xb6, 0x04, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0xb6, 0x08, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xb6, 0x18, 0x00, 0x44,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0xb6, 0x28, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0xb6, 0x38, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xb6, 0x48, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xb6, 0x58, 0x01, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0xb6, 0x68, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0x00, 0x01, 0x03, 0xc8,
+};
+
+/// The default crosstalk (Xtalk) shape.
+const uint8_t kDefaultXtalk[776] = {
+    0x9f, 0xd8, 0x00, 0xc0, 0x03, 0x20, 0x09, 0x60, 0x0b, 0x08, 0x08, 0x17, 0x08, 0x08, 0x08, 0x03,
+    0x9f, 0xe4, 0x01, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x01, 0xe0, 0x00, 0x20, 0x00, 0x00, 0x00, 0x20, 0x9f, 0xf8, 0x00, 0x40, 0x17, 0x17, 0x17, 0x17,
+    0x9f, 0xfc, 0x04, 0x04, 0x00, 0x00, 0x46, 0xa4, 0x00, 0x00, 0x37, 0x66, 0x00, 0x00, 0x26, 0x60,
+    0x00, 0x00, 0x1c, 0xbc, 0x00, 0x00, 0x17, 0x73, 0x00, 0x00, 0x11, 0x25, 0x00, 0x00, 0x11, 0x07,
+    0x00, 0x00, 0x0e, 0x63, 0x00, 0x00, 0x8b, 0x4c, 0x00, 0x00, 0x60, 0xa2, 0x00, 0x00, 0x3d, 0xc0,
+    0x00, 0x00, 0x26, 0xaa, 0x00, 0x00, 0x1b, 0xc2, 0x00, 0x00, 0x18, 0x04, 0x00, 0x00, 0x14, 0x97,
+    0x00, 0x00, 0x10, 0xed, 0x00, 0x01, 0x28, 0x1b, 0x00, 0x00, 0x93, 0xf0, 0x00, 0x00, 0x57, 0x61,
+    0x00, 0x00, 0x30, 0x2b, 0x00, 0x00, 0x20, 0xaa, 0x00, 0x00, 0x1a, 0xb6, 0x00, 0x00, 0x15, 0xc3,
+    0x00, 0x00, 0x16, 0x0e, 0x00, 0x01, 0x7f, 0xbb, 0x00, 0x00, 0xad, 0x58, 0x00, 0x00, 0x71, 0xaf,
+    0x00, 0x00, 0x36, 0xd9, 0x00, 0x00, 0x22, 0xfb, 0x00, 0x00, 0x1c, 0x96, 0x00, 0x00, 0x18, 0x83,
+    0x00, 0x00, 0x17, 0x96, 0x00, 0x01, 0x90, 0x00, 0x00, 0x00, 0x97, 0xd6, 0x00, 0x00, 0x66, 0x3b,
+    0x00, 0x00, 0x33, 0x0a, 0x00, 0x00, 0x20, 0xcd, 0x00, 0x00, 0x19, 0x38, 0x00, 0x00, 0x16, 0xa5,
+    0x00, 0x00, 0x14, 0xbb, 0x00, 0x00, 0xaf, 0xcf, 0x00, 0x00, 0x65, 0x7d, 0x00, 0x00, 0x3d, 0x93,
+    0x00, 0x00, 0x29, 0xd1, 0x00, 0x00, 0x19, 0x4e, 0x00, 0x00, 0x15, 0xba, 0x00, 0x00, 0x11, 0xc6,
+    0x00, 0x00, 0x12, 0x7f, 0x00, 0x00, 0x73, 0x1d, 0x00, 0x00, 0x42, 0x2c, 0x00, 0x00, 0x2e, 0x82,
+    0x00, 0x00, 0x1e, 0x80, 0x00, 0x00, 0x18, 0x1c, 0x00, 0x00, 0x13, 0x2d, 0x00, 0x00, 0x0f, 0xc6,
+    0x00, 0x00, 0x0f, 0x85, 0x00, 0x00, 0x4f, 0x04, 0x00, 0x00, 0x33, 0xe9, 0x00, 0x00, 0x1f, 0x06,
+    0x00, 0x00, 0x18, 0x40, 0x00, 0x00, 0x13, 0x2c, 0x00, 0x00, 0x12, 0x97, 0x00, 0x00, 0x0e, 0x01,
+    0x00, 0x00, 0x0d, 0xac, 0xa0, 0xfc, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xa1, 0x0c, 0x01, 0x00, 0x00, 0x00, 0x00, 0x80,
+    0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xa1, 0x1c, 0x00, 0xc0,
+    0x00, 0x00, 0x70, 0xeb, 0x0c, 0x80, 0x01, 0xe0, 0x00, 0x00, 0x00, 0x26, 0xa1, 0x28, 0x09, 0x02,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00,
+    0x00, 0x36, 0x00, 0x03, 0x01, 0xd9, 0x01, 0x43, 0x02, 0x33, 0x02, 0x17, 0x02, 0x4b, 0x02, 0x41,
+    0x01, 0x17, 0x02, 0x22, 0x00, 0x27, 0x00, 0x5d, 0x00, 0x05, 0x00, 0x11, 0x00, 0x00, 0x00, 0x01,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0xa2, 0x48, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0xa2, 0x4c, 0x00, 0x81, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0xa2, 0x54, 0x00, 0x81, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0xa2, 0x5c, 0x00, 0x81, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xa2, 0x64, 0x00, 0x81,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xa2, 0x6c, 0x00, 0x84, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xa2, 0x8c, 0x00, 0x82,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x0f, 0x05, 0x01, 0x03, 0x04,
+};
+
+/// The command that makes the firmware expose its NVM (offset) data.
+const uint8_t kGetNvmCommand[40] = {
+    0x54, 0x00, 0x00, 0x40, 0x9e, 0x14, 0x00, 0xc0, 0x9e, 0x20, 0x01, 0x40, 0x9e, 0x34, 0x00, 0x40,
+    0x9e, 0x38, 0x04, 0x04, 0x9f, 0x38, 0x04, 0x02, 0x9f, 0xb8, 0x01, 0x00, 0x9f, 0xc8, 0x01, 0x00,
+    0x00, 0x00, 0x00, 0x0f, 0x02, 0x02, 0x00, 0x24,
+};
+
+} // namespace espp::vl53l5cx_detail
+// clang-format on
diff --git a/components/vl53l/src/vl53l5cx_firmware.hpp b/components/vl53l/src/vl53l5cx_firmware.hpp
new file mode 100644
index 0000000000..5467eec61a
--- /dev/null
+++ b/components/vl53l/src/vl53l5cx_firmware.hpp
@@ -0,0 +1,48 @@
+/*
+ * The data in this file is the STMicroelectronics VL53L5CX firmware and default
+ * configuration shipped with the VL53L5CX Ultra Lite Driver (ULD, API revision
+ * VL53L5CX_1.1.2; taken from https://github.com/stm32duino/VL53L5CX v1.2.3,
+ * src/vl53l5cx_buffers.h). It is redistributed under its original license:
+ *
+ * Copyright (c) 2021 STMicroelectronics
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+
+/// Private to the vl53l component: the VL53L5CX firmware image and the default
+/// configuration / crosstalk buffers the driver uploads at initialization.
+namespace espp::vl53l5cx_detail {
+inline constexpr size_t kFirmwareSize = 86016;
+inline constexpr size_t kDefaultConfigurationSize = 972;
+inline constexpr size_t kDefaultXtalkSize = 776;
+inline constexpr size_t kGetNvmCommandSize = 40;
+extern const uint8_t kFirmware[kFirmwareSize];
+extern const uint8_t kDefaultConfiguration[kDefaultConfigurationSize];
+extern const uint8_t kDefaultXtalk[kDefaultXtalkSize];
+extern const uint8_t kGetNvmCommand[kGetNvmCommandSize];
+} // namespace espp::vl53l5cx_detail
diff --git a/components/vl53l/vl53l5cx_example/CMakeLists.txt b/components/vl53l/vl53l5cx_example/CMakeLists.txt
new file mode 100644
index 0000000000..bd812acec8
--- /dev/null
+++ b/components/vl53l/vl53l5cx_example/CMakeLists.txt
@@ -0,0 +1,22 @@
+# The following lines of boilerplate have to be in your project's CMakeLists
+# in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.20)
+
+set(ENV{IDF_COMPONENT_MANAGER} "0")
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+
+# add the component directories that we want to use
+set(EXTRA_COMPONENT_DIRS
+  "../../../components/"
+)
+
+set(
+  COMPONENTS
+  "main esptool_py timer logger vl53l i2c"
+  CACHE STRING
+  "List of components to include"
+  )
+
+project(vl53l5cx_example)
+
+set(CMAKE_CXX_STANDARD 23)
diff --git a/components/vl53l/vl53l5cx_example/README.md b/components/vl53l/vl53l5cx_example/README.md
new file mode 100644
index 0000000000..e524318b7b
--- /dev/null
+++ b/components/vl53l/vl53l5cx_example/README.md
@@ -0,0 +1,72 @@
+# VL53L5CX Multizone ToF Example
+
+This example shows the use of the `Vl53l5cx` component to communicate with a
+VL53L5CX multizone time-of-flight sensor.
+
+The example initializes the sensor (which uploads the sensor's firmware over
+I2C, about two seconds at 400 kHz), configures the resolution (8x8 zones by
+default) and the ranging frequency (15 Hz by default), starts ranging and then
+prints every frame as a grid of distances in millimeters, with `----` for the
+zones that have no valid target.
+
+## Hardware Required
+
+This example is designed to work with any ESP32 which has I2C pins exposed, but
+is pre-configured to run on QtPy boards such as the QtPy ESP32 Pico and QtPy
+ESP32-S3.
+
+It requires a VL53L5CX breakout, such as the [SparkFun Qwiic ToF Imager
+VL53L5CX](https://www.sparkfun.com/products/18642) or ST's
+[VL53L5CX-SATEL](https://www.st.com/en/evaluation-tools/vl53l5cx-satel.html).
+The sensor needs its `LPn` pin high (it is pulled up on the breakouts) and its
+I2C address is 0x29 at power-up.
+
+> **Note:** the sensor's firmware is uploaded at every boot and result frames
+> are up to 1.4 KB, so the I2C bus timeout must cover
+> the driver's longest transfers: the example derives it from the clock with
+> `espp::Vl53l5cx::i2c_timeout_ms()`.
+
+## How to use example
+
+### Configure the project
+
+```
+idf.py menuconfig
+```
+
+`Example Configuration` has the I2C pins and clock speed, the resolution (4x4
+or 8x8) and the ranging frequency.
+
+### Build and Flash
+
+Build the project and flash it to the board, then run monitor tool to view
+serial output:
+
+```
+idf.py -p PORT flash monitor
+```
+
+(Replace PORT with the name of the serial port to use.)
+
+(To exit the serial monitor, type ``Ctrl-]``.)
+
+See the Getting Started Guide for full steps to configure and use ESP-IDF to build projects.
+
+## Example Output
+
+```
+I (337) VL53L5CX example: Starting example!
+I (347) VL53L5CX example: Creating I2C on port 0 with SDA 41 and SCL 40 at 400000 Hz
+I (357) Vl53l5cx: Uploading the VL53L5CX firmware (86016 bytes)
+I (2567) Vl53l5cx: Initialized (4x4, autonomous, 1 Hz)
+I (2797) Vl53l5cx: Resolution set to 8x8
+I (2857) Vl53l5cx: Ranging started (64 zones, 1440 byte frames)
+  812   804   799   801   806   817   835   855
+  798   792   788   790   795   804   822   843
+  790   783   777   779   785   795   811   832
+  788   780   774   776   781   790   806   826
+  791   782   776   778   783   792   808   828
+  801   791   785   787   792   801   817   838
+  817   806   800   802   807   816   833   854
+ ----   826   820   822   827   836   853  ----
+```
diff --git a/components/vl53l/vl53l5cx_example/main/CMakeLists.txt b/components/vl53l/vl53l5cx_example/main/CMakeLists.txt
new file mode 100644
index 0000000000..a941e22ba7
--- /dev/null
+++ b/components/vl53l/vl53l5cx_example/main/CMakeLists.txt
@@ -0,0 +1,2 @@
+idf_component_register(SRC_DIRS "."
+                       INCLUDE_DIRS ".")
diff --git a/components/vl53l/vl53l5cx_example/main/Kconfig.projbuild b/components/vl53l/vl53l5cx_example/main/Kconfig.projbuild
new file mode 100644
index 0000000000..0c54459d62
--- /dev/null
+++ b/components/vl53l/vl53l5cx_example/main/Kconfig.projbuild
@@ -0,0 +1,63 @@
+menu "Example Configuration"
+
+    choice EXAMPLE_HARDWARE
+        prompt "Hardware"
+        default EXAMPLE_HARDWARE_QTPY
+        help
+            Select the hardware to run this example on.
+
+        config EXAMPLE_HARDWARE_QTPY
+            bool "QtPy ESP32 Pico or QtPy ESP32-S3"
+
+        config EXAMPLE_HARDWARE_CUSTOM
+            bool "Custom"
+    endchoice
+
+    config EXAMPLE_I2C_SCL_GPIO
+        int "SCL GPIO Num"
+        range 0 50
+        default 40 if EXAMPLE_HARDWARE_QTPY && IDF_TARGET_ESP32S3
+        default 19 if EXAMPLE_HARDWARE_QTPY && IDF_TARGET_ESP32
+        default 19 if EXAMPLE_HARDWARE_CUSTOM
+        help
+            GPIO number for I2C Master clock line.
+
+    config EXAMPLE_I2C_SDA_GPIO
+        int "SDA GPIO Num"
+        range 0 50
+        default 41 if EXAMPLE_HARDWARE_QTPY && IDF_TARGET_ESP32S3
+        default 22 if EXAMPLE_HARDWARE_QTPY && IDF_TARGET_ESP32
+        default 22 if EXAMPLE_HARDWARE_CUSTOM
+        help
+            GPIO number for I2C Master data line.
+
+    config EXAMPLE_I2C_CLOCK_SPEED_HZ
+        int "I2C Clock Speed"
+        range 100 1000000
+        default 400000
+        help
+            I2C clock speed in Hz. The VL53L5CX supports up to 1 MHz (Fast Mode
+            Plus); the firmware upload at initialization takes about two
+            seconds at 400 kHz.
+
+    choice EXAMPLE_RESOLUTION
+        prompt "Ranging resolution"
+        default EXAMPLE_RESOLUTION_8X8
+        help
+            Number of ranging zones.
+
+        config EXAMPLE_RESOLUTION_4X4
+            bool "4x4 zones (up to 60 Hz)"
+
+        config EXAMPLE_RESOLUTION_8X8
+            bool "8x8 zones (up to 15 Hz)"
+    endchoice
+
+    config EXAMPLE_RANGING_FREQUENCY_HZ
+        int "Ranging frequency (Hz)"
+        range 1 60
+        default 15
+        help
+            Frames per second: 1..60 Hz in 4x4, 1..15 Hz in 8x8.
+
+endmenu
diff --git a/components/vl53l/vl53l5cx_example/main/vl53l5cx_example.cpp b/components/vl53l/vl53l5cx_example/main/vl53l5cx_example.cpp
new file mode 100644
index 0000000000..a113147a5f
--- /dev/null
+++ b/components/vl53l/vl53l5cx_example/main/vl53l5cx_example.cpp
@@ -0,0 +1,103 @@
+#include <chrono>
+#include <string>
+#include <thread>
+
+#include "i2c.hpp"
+#include "logger.hpp"
+#include "timer.hpp"
+#include "vl53l5cx.hpp"
+
+using namespace std::chrono_literals;
+
+extern "C" void app_main(void) {
+  static espp::Logger logger({.tag = "VL53L5CX example", .level = espp::Logger::Verbosity::INFO});
+  logger.info("Starting example!");
+
+  //! [vl53l5cx example]
+  // make the i2c we'll use to communicate
+  static constexpr auto i2c_port = I2C_NUM_0;
+  static constexpr auto i2c_clock_speed = CONFIG_EXAMPLE_I2C_CLOCK_SPEED_HZ;
+  static constexpr gpio_num_t i2c_sda = (gpio_num_t)CONFIG_EXAMPLE_I2C_SDA_GPIO;
+  static constexpr gpio_num_t i2c_scl = (gpio_num_t)CONFIG_EXAMPLE_I2C_SCL_GPIO;
+  logger.info("Creating I2C on port {} with SDA {} and SCL {} at {} Hz", i2c_port, i2c_sda, i2c_scl,
+              i2c_clock_speed);
+  // The transaction timeout must cover the driver's longest transfers (512-byte
+  // firmware chunks, ~1.4 KB result frames): derived from the clock
+  static constexpr int i2c_timeout_ms = espp::Vl53l5cx::i2c_timeout_ms(i2c_clock_speed);
+  espp::I2c i2c({.port = i2c_port,
+                 .sda_io_num = i2c_sda,
+                 .scl_io_num = i2c_scl,
+                 .sda_pullup_en = GPIO_PULLUP_ENABLE,
+                 .scl_pullup_en = GPIO_PULLUP_ENABLE,
+                 .timeout_ms = i2c_timeout_ms,
+                 .clk_speed = i2c_clock_speed});
+  std::error_code ec;
+
+  // the constructor reboots the sensor and uploads its firmware (about two
+  // seconds at 400 kHz). The callbacks take the address from the driver, so
+  // set_i2c_address() keeps working (a per-device adapter would not).
+  espp::Vl53l5cx sensor(espp::Vl53l5cx::Config{
+      .device_address = espp::Vl53l5cx::DEFAULT_ADDRESS,
+      .write = [&i2c](uint8_t address, const uint8_t *data,
+                      size_t length) { return i2c.write(address, data, length); },
+      .read = [&i2c](uint8_t address, uint8_t *data,
+                     size_t length) { return i2c.read(address, data, length); },
+      .log_level = espp::Logger::Verbosity::INFO,
+  });
+  if (!sensor.is_initialized()) {
+    logger.error("The VL53L5CX did not initialize; check the wiring and the address");
+    return;
+  }
+
+  // resolution first (it bounds the ranging frequency), then the frame rate
+#if CONFIG_EXAMPLE_RESOLUTION_8X8
+  const auto resolution = espp::Vl53l5cx::Resolution::ZONES_8X8;
+#else
+  const auto resolution = espp::Vl53l5cx::Resolution::ZONES_4X4;
+#endif
+  if (!sensor.set_resolution(resolution, ec)) {
+    logger.error("Failed to set the resolution: {}", ec.message());
+    return;
+  }
+  if (!sensor.set_ranging_frequency_hz(CONFIG_EXAMPLE_RANGING_FREQUENCY_HZ, ec)) {
+    logger.error("Failed to set the ranging frequency: {}", ec.message());
+    return;
+  }
+  if (!sensor.start_ranging(ec)) {
+    logger.error("Failed to start ranging: {}", ec.message());
+    return;
+  }
+
+  // poll for frames and print the distance grid (mm; "----" where the zone
+  // has no valid target)
+  espp::Vl53l5cx::RangingData frame;
+  auto poll_fn = [&]() {
+    std::error_code ec;
+    if (!sensor.is_data_ready(ec)) {
+      return false; // nothing new yet (or an I2C error, logged by the driver)
+    }
+    if (!sensor.get_ranging_data(frame, ec)) {
+      logger.error("Failed to read the frame: {}", ec.message());
+      return false;
+    }
+    std::string grid;
+    for (size_t row = 0; row < frame.width(); row++) {
+      for (size_t col = 0; col < frame.width(); col++) {
+        const size_t zone = frame.zone_index(row, col);
+        grid += frame.is_valid(zone) ? fmt::format("{:5d}", frame.distance_mm[zone]) : " ----";
+      }
+      grid += "\n";
+    }
+    fmt::print("{}\n", grid);
+    return false; // keep polling
+  };
+  espp::Timer timer({.period = 5ms,
+                     .callback = poll_fn,
+                     .task_config = {.name = "vl53l5cx poll", .stack_size_bytes = 6 * 1024},
+                     .log_level = espp::Logger::Verbosity::WARN});
+  //! [vl53l5cx example]
+
+  while (true) {
+    std::this_thread::sleep_for(1s);
+  }
+}
diff --git a/components/vl53l/vl53l5cx_example/sdkconfig.defaults b/components/vl53l/vl53l5cx_example/sdkconfig.defaults
new file mode 100644
index 0000000000..7d48bde1f3
--- /dev/null
+++ b/components/vl53l/vl53l5cx_example/sdkconfig.defaults
@@ -0,0 +1,19 @@
+CONFIG_IDF_TARGET="esp32s3"
+
+CONFIG_FREERTOS_HZ=1000
+
+# set compiler optimization level to -O2 (compile for performance)
+CONFIG_COMPILER_OPTIMIZATION_PERF=y
+
+# ESP32-specific
+#
+CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_240=y
+CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ=240
+
+# Common ESP-related
+#
+CONFIG_ESP_SYSTEM_EVENT_TASK_STACK_SIZE=4096
+CONFIG_ESP_MAIN_TASK_STACK_SIZE=16384
+
+# Set esp-timer task stack size to 6KB
+CONFIG_ESP_TIMER_TASK_STACK_SIZE=6144
diff --git a/doc/Doxyfile b/doc/Doxyfile
index 39bcf59910..72defe9873 100755
--- a/doc/Doxyfile
+++ b/doc/Doxyfile
@@ -216,6 +216,7 @@ EXAMPLE_PATH = \
   $(PROJECT_PATH)/components/wdi/usb_example/main/wdi_usb_example.cpp \
   $(PROJECT_PATH)/components/wdi/usb_host_example/main/wdi_usb_host_example.cpp \
   $(PROJECT_PATH)/components/vl53l/example/main/vl53l_example.cpp \
+  $(PROJECT_PATH)/components/vl53l/vl53l5cx_example/main/vl53l5cx_example.cpp \
   $(PROJECT_PATH)/components/wifi/example/main/wifi_example.cpp \
   $(PROJECT_PATH)/components/wrover-kit/example/main/wrover_kit_example.cpp \
   $(PROJECT_PATH)/components/ws-s3-geek/example/main/ws_s3_geek_example.cpp \
@@ -506,6 +507,7 @@ INPUT = \
   $(PROJECT_PATH)/components/wdi/include/wdi_usb_host.hpp \
   $(PROJECT_PATH)/components/wdi/include/wdi_ble_central.hpp \
   $(PROJECT_PATH)/components/vl53l/include/vl53l.hpp \
+  $(PROJECT_PATH)/components/vl53l/include/vl53l5cx.hpp \
   $(PROJECT_PATH)/components/utils/include/bitmask_operators.hpp \
   $(PROJECT_PATH)/components/wifi/include/wifi.hpp \
   $(PROJECT_PATH)/components/wifi/include/wifi_base.hpp \
diff --git a/doc/en/distance_sensors/index.rst b/doc/en/distance_sensors/index.rst
index 952ba79ed8..d6a1136240 100644
--- a/doc/en/distance_sensors/index.rst
+++ b/doc/en/distance_sensors/index.rst
@@ -5,5 +5,6 @@ Distance Sensor APIs
     :maxdepth: 1
 
     vl53l
+    vl53l5cx
 
 Code examples for the Distance Sensor APIs are provided in the respective component folders.
diff --git a/doc/en/distance_sensors/vl53l5cx.rst b/doc/en/distance_sensors/vl53l5cx.rst
new file mode 100644
index 0000000000..83c6a8b717
--- /dev/null
+++ b/doc/en/distance_sensors/vl53l5cx.rst
@@ -0,0 +1,36 @@
+VL53L5CX Multizone ToF Sensor
+*****************************
+
+The `VL53L5CX
+<https://www.st.com/en/imaging-and-photonics-solutions/vl53l5cx.html>`_ is a
+multizone Time-of-Flight (ToF) sensor: it ranges up to 4 meters in every zone
+of a 4x4 or 8x8 grid over a 63 degree diagonal field of view, at up to 60 Hz
+(4x4) or 15 Hz (8x8). Every zone reports a distance, signal and ambient rates,
+a sigma, a reflectance estimate and a validity status, and the sensor can run a
+motion indicator over the zones.
+
+The sensor has no firmware in ROM: the driver uploads the firmware (bundled,
+from STMicroelectronics' Ultra Lite Driver, BSD-3-Clause) over I2C at every
+initialization, which takes about two seconds at 400 kHz. The driver is a port
+of ST's Ultra Lite Driver 1.1.2 to the espp peripheral conventions; one target
+per zone is supported, and the crosstalk calibration / detection threshold
+plugins are not ported yet.
+
+.. note::
+
+   The VL53L5CX shares this component with the single-zone
+   :doc:`VL53L4CD / VL53L4CX driver <vl53l>` (both use 16-bit register
+   addresses), but the two drivers share nothing else.
+
+.. ------------------------------- Example -------------------------------------
+
+.. toctree::
+
+   vl53l5cx_example
+
+.. ---------------------------- API Reference ----------------------------------
+
+API Reference
+-------------
+
+.. include-build-file:: inc/vl53l5cx.inc
diff --git a/doc/en/distance_sensors/vl53l5cx_example.md b/doc/en/distance_sensors/vl53l5cx_example.md
new file mode 100644
index 0000000000..49d05bce7b
--- /dev/null
+++ b/doc/en/distance_sensors/vl53l5cx_example.md
@@ -0,0 +1,2 @@
+```{include} ../../../components/vl53l/vl53l5cx_example/README.md
+```