TF03 Lidar and Arduino

Introduction

Long Manual https://acroname.com/sites/default/files/assets/tf03_product_manual_v0.4_en.pdf

TF (ToF; Time of Flight). https://www.sparkfun.com/products/19421

• Range ~100 m
• Resolution ~0.01 m/ Accuracy 0.1 m.
• Frame rate 1Hz - 1000 Hz
• wavelength: 905 nm. Laser class 1 (IEC 60825)
• Angle 0.5 deg; Spot size @100 m 28x28 cm2.
• Current ˝200 mA. Power ~1W
• Dimensions 44x43x32 mm3.
• Weight 77g
• IP67
• Mounting holes for M3 screws
• Connector: Molex 1.25 or Molex SD-51021-007 (1.25 W/B) 7 pin or mh1.25-7p. Pin to pin pitch is 1.25 mm. Identity electrical connectors: https://core-electronics.com.au/guides/Identify-Electrical-Connectors/#Molex

See more

• https://cdn.sparkfun.com/assets/2/c/5/6/0/Benewake_10152020_TF03_100-1954064.pdf
• https://cdn.sparkfun.com/assets/4/e/5/b/5/PM-15180.pdf

Need to measure angle. Use an accelerometer

Note the laser safety. Check whether the power supply is working properly, and whether the voltage level is kept within the range of the rated input voltage. If the power supply is normal, the TF03 lens will display a faint red light.

Pin definition

No	Color	Standard: Pin	Standard: Function	RS485: PIN	RS485: Function
1	Red	Vcc	Power	Vcc	Power
2	White	CAN_L	CAN_L	RS485-B/RS232-RX	Receive
3	Green	CAN_H	CAN_H	RS485-B/RS232-TX	Transport
4
5	Blue	UART_RX	Receive	UART_RX	Receive
6	Brown	UART_TX	Transport	UART_TX	Transport
7	Black	GND	Ground	GND	Ground

The standard version of TF03 supports both, UART and CAN communication interface. The default interface is UART. The CAN mode can be set by sending command, but two interfaces cannot output simultaneously.

The default TX/RX pins on an Arduino board are the D0(RX) and D1(TX) pins.

TF03 serial data format

Data bit	Definition	Description
Byte0	Frame Header	0x59
Byte1	Frame Header	0x59
Byte2	DIST_L	DIST low 8-bits
Byte3	DIST_H	DIST high 8-bits
Byte4	Reserved
Byte5	Reserved
Byte6	Reserved
Byte7	Reserved
Byte8	Checksum	Checksum = Byte0 + Byte2 + ... 0 Byte7

Lidar & Arduino

Connections

• Arduino: D0 (RX), TF03: 6 (Brown, UART TX)
• Arduino: D1 (TX), TF03: 5 (Blue, UART RX)

The serial port version of TF03 adopts UART-LVTTL interface, and the output level is LVTTL level (0-3.3V).

Lidar Voltage: 5 - 24 V (https://cdn.sparkfun.com/assets/2/c/5/6/0/Benewake_10152020_TF03_100-1954064.pdf); Current 150 mA @ 5V, 80 mA @ 12V, 50 mA @ 24 V. Power consumption: 1 W.

Communication protocol UART

• Baud rate 115200
• Data bit 8
• Stop bit 1
• Checksum bit None

void setup(){
  Serial.begin(9600);
  Serial1.begin(11200);
}
void loop(){
  while (Serial1.available() > 0) {
    char receivedChar = Serial1.read();
    Serial.println(receivedChar);  
    }
  }}

See also https://lastminuteengineers.com/tfmini-s-lidar-sensor-arduino-tutorial/

Software Serial

However, according https://arduino.stackexchange.com/questions/91215/how-to-read-and-parse-uart-data-from-human-presence-radar-sensor Software Serial should not be used:

• against using SoftwareSerial, especially at this high baud rates: it is a recipe for problems.
• Connect the sensor's TX to the Arduino RX, and you will be able to read the sensor data with Serial.read().
• Do not connect the sensor's RX, and you will be able to Serial.print() to the serial monitor without disturbing the sensor.

void setup() {
  Serial.begin(115200);
}

void loop() {
  Serial.print("Available: ");
  Serial.println( Serial1.available() );
  incomingByte = Serial1.read(); 
  Serial.println( incomingByte, HEX);

  if (Serial1.available() > 0){  // returns the number of bytes waiting in the buffer
    incomingByte = Serial1.read(); 
    //Serial.println( incomingByte, DEC);
  }
}