Example Code for Arduino-Serial

Hardware Preparation

• Arduino Mega Due (or similar)
• ToF Outdoor Laser Ranging Module(15m)
• Wires

Software Preparation

• Arduino IDE

Wiring Diagram(UART)

Use the serial port software on the PC end to display the detected distance and power the entire system.

Sample Code

#define TOF_FRAME_HEADER 0x57                 //Define the frame header for the TOFSense series and TOFSense-F series
#define TOF_FUNCTION_MARK 0x00                //Define the function codes for the TOFSense series and TOFSense-F series

typedef struct {
  unsigned char id;                           //TOF id
  unsigned long system_time;                  //msPower-on time, unit: ms
  float dis;                                  //Output distance, unit: meters
  unsigned char dis_status;                   //Distance status indication of the output
  unsigned int signal_strength;               //Signal strength of the output
  unsigned char range_precision;              //cmReference value for the repeating ranging accuracy of the output, unit: cm
} tof_parameter;

unsigned int count_i,count_j=0;
tof_parameter tof0;
unsigned char check_sum=0;
unsigned char rx_buf[32];

void setup() {
  // put your setup code here, to run once:

  Serial.begin(115200);
  Serial1.begin(115200);
}

void loop() {
  // put your main code here, to run repeatedly:
  
  if(Serial1.available()>0)                   
  {
    if(Serial1.peek() == TOF_FRAME_HEADER)  
    {
      count_i=0;  
      rx_buf[count_i]=Serial1.read(); 
    }
    else
    {
      rx_buf[count_i]=Serial1.read(); 
    }
        
    count_i++;  
    
    if(count_i>15)  
    {
      count_i=0;

      for(count_j=0;count_j<15;count_j++)
      {
        check_sum+=rx_buf[count_j]; 
      }

      if((rx_buf[0] == TOF_FRAME_HEADER)&&(rx_buf[1] == TOF_FUNCTION_MARK)&&(check_sum == rx_buf[15]))  
      {
        tof0.id=rx_buf[3];  
        tof0.system_time=(unsigned long)(((unsigned long)rx_buf[7])<<24|((unsigned long)rx_buf[6])<<16|((unsigned long)rx_buf[5])<<8|(unsigned long)rx_buf[4]);      
        tof0.dis=((float)(((long)(((unsigned long)rx_buf[10]<<24)|((unsigned long)rx_buf[9]<<16)|((unsigned long)rx_buf[8]<<8)))/256))/1000.0;
        tof0.dis_status=rx_buf[11];
        tof0.signal_strength=(unsigned int)(((unsigned int)rx_buf[13]<<8)|(unsigned int)rx_buf[12]);
        tof0.range_precision=rx_buf[14];

      
        Serial.print("id:");
        Serial.println(tof0.id);
        Serial.print("system_time:");
        Serial.println(tof0.system_time);
        Serial.print("dis:");
        Serial.println(tof0.dis);
        Serial.print("dis_status:");
        Serial.println(tof0.dis_status);
        Serial.print("signal_strength:");
        Serial.println(tof0.signal_strength);
        Serial.print("range_precision:");
        Serial.println(tof0.range_precision);
        Serial.println("");
      }
      
    }
    check_sum=0;
  }  
  
}

Result

The serial port software displays the data format as follows.