SEN0413 TOF IR Distance Sensor Reference: Specs & Pinout

This article serves as a reference for Arduino users, detailing the library files applicable to the DFRobot LIDAR07, communication protocols (UART & I2C), API descriptions, compatibility with various MCUs, and the TOF sensor principle, alongside supplementary resources.

Library

Library files applicable to Arduino: DFRobot LIDAR07 Library.
Installation instructions: (About how to install the library?)

Communication Protocol Description

The product supports UART and I2C communication:

I2C: Uses SCL (PIN1) and SDA (PIN2) lines.
UART: Uses TX (PIN5, data transmitting) and RX (PIN6, data receiving) lines. Baud rate: 115200.

API Description

Callable interfaces and functions used in the sample code:

DFROBOT_LIDAR07_IIC LIDAR07: Object for I2C communication mode.
DFROBOT_LIDAR07_UART LIDAR07: Object for UART communication mode.
begin(): Initializes the sensor. Returns true if successful.
getVersion(): Retrieves the sensor firmware version (format: XX.XX.XX.XX). Returns a 32-bit integer.
startFilter(): Enables the integrated filtering algorithm.
stopFilter(): Stops the filtering algorithm (not used in the sample).
startMeasure(): Triggers distance measurement. Returns true if successful.
getDistanceMM(): Returns the measured distance in millimeters.
getSignalAmplitude(): Returns the signal amplitude (range: 3400LSB–7000LSB).

Additional Information

I2C Compatibility

MCU	Work Well	Work Wrong	Remarks
Arduino UNO	√
FireBeetle ESP32	√
FireBeetle ESP8266	√
FireBeetle M0	√
Leonardo	√
Micro:bit		√	Voltage unsupported, large data error
Arduino Mega2560	√

UART Compatibility

MCU	Work Well	Work Wrong	Remarks
Arduino UNO		√	Unstable when software serial port baud rate is 115200
FireBeetle ESP32	√
FireBeetle ESP8266	√
FireBeetle M0	√
Leonardo	√
Micro:bit			Not support
Arduino Mega2560	√

Principle

The product is a single-point TOF (Time of Flight) IR distance sensor. It uses an 850nm LED light source and optimized optical/structural/circuit designs. The integrated filtering algorithm reduces measurement noise.
TOF Principle: Calculates distance by measuring the time light takes to travel from the sensor to the target and back (using the speed of light: ( distance = \frac{time \times speed_of_light}{2} )).

Reference