Example Code for Arduino-Serial Active Output

Hardware Preparation

• TOF Laser Ranging Sensor-7.8 meters, SEN0646, 1, DFRobot Store Purchase Link
• ESP32 Series Development Board, Any, 1, Purchase Link

Software Preparation

• Sensor Host Machine, click to download the host machine
• Arduino IDE, click to download Arduino IDE

Wiring Diagram

Important: Please refer to the Wire Sequence section at this link to check the product wiring sequence.

Other Preparation Work

UART主动输出模式只能在单个模块中使用。

Connect the TOFSense-F/F2 series products to the host machine software through the USB to TTL module (refer to the data manual for line sequence and power supply voltage), after successful identification, click to enter the setting page, configure the parameters and click the write parameter button to save the parameters, after writing the parameters successfully, you can read the parameters once to confirm whether the parameters are written successfully.

UART active output mode can only be used in single module.

The interface type is set to UART, the data output mode is set to ACTIVE, and the UART active output mode is configured as shown in the figure. In this mode, the module outputs measurement information actively at a default frequency of 50Hz, and the output format follows the NLink_TOFSense_Frame0 protocol.

Sample Code

HardwareSerial mySerial(1);

typedef struct {
  unsigned char id;               //ID of TOF module
  unsigned long system_time;      //The time elapsed after the TOF module is powered on, unit: ms
  float dis;                      //The distance output by the TOF module, unit: m
  unsigned char dis_status;       //Distance status indicator output by the TOF module
  unsigned int signal_strength;   //Signal strength output by the TOF module
  unsigned char range_precision;  //Reference value of repeated ranging accuracy output by the TOF module, valid for TOFSense-F series, unit: cm
} tof_parameter;                  //Data structure after decoding TOF data

/**
  @brief  Read data from the serial port
  @param  buf Stores the read data
  @param  len The number of bytes to read
  @return  The return value is the actual number of bytes read
*/
size_t readN(uint8_t *buf, size_t len);

/**
  @brief  Read a complete data packet
  @param  buf Stores the read data
  @return  True means success, false means failure
*/
bool recdData(tof_parameter *buf);

void setup() {
  Serial.begin(115200);
  mySerial.begin(921600, SERIAL_8N1, 4, 5);  //RX,TX
}

void loop() {
  tof_parameter tof0;  //Define a structure to store the decoded data
  recdData(&tof0);
  // Print data through serial port
  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("");

  delay(1000);
}

size_t readN(uint8_t *buf, size_t len) {
  size_t offset = 0, left = len;
  int16_t Tineout = 1500;
  uint8_t *buffer = buf;
  long curr = millis();
  while (left) {
    if (mySerial.available()) {
      buffer[offset] = mySerial.read();
      offset++;
      left--;
    }
    if (millis() - curr > Tineout) {
      break;
    }
  }
  return offset;
}

bool recdData(tof_parameter *buf) {
  uint8_t rx_buf[16];  //Serial receive array
  int16_t Tineout = 5000;
  uint8_t ch;
  bool ret = false;
  uint8_t Sum;
  while (mySerial.available() > 0) {
    mySerial.read();
  }
  long timeStart = millis();

  while (!ret) {
    if (millis() - timeStart > Tineout) {
      break;
    }
    if (readN(&ch, 1) == 1) {
      if (ch == 0x57) {
        rx_buf[0] = ch;
        if (readN(&ch, 1) == 1) {
          if (ch == 0x00) {
            rx_buf[1] = ch;
            if (readN(&rx_buf[2], 14) == 14) {
              Sum = 0;
              for (int i = 0; i < 15; i++)
                Sum += rx_buf[i];
              if (Sum == rx_buf[15]) {
                buf->id = rx_buf[3];                                                                                                                                                   //Get the id of the TOF module
                buf->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]);  //Get the time elapsed after the TOF module is powered on
                buf->dis = ((float)(((long)(((unsigned long)rx_buf[10] << 24) | ((unsigned long)rx_buf[9] << 16) | ((unsigned long)rx_buf[8] << 8))) / 256)) / 1000.0;                 //Get the distance output by the TOF module
                buf->dis_status = rx_buf[11];                                                                                                                                          //Get the distance status indicator output by the TOF module
                buf->signal_strength = (unsigned int)(((unsigned int)rx_buf[13] << 8) | (unsigned int)rx_buf[12]);                                                                     //Get the signal strength output by the TOF module
                buf->range_precision = rx_buf[14];                                                                                                                                     //Get the reference value of the repeated ranging accuracy output by the TOF module
                ret = true;
              }
            }
          }
        }
      }
    }
  }
  return ret;
}

Result

Output distance and other information