TF-Luna LiDAR Range Sensor

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TF-Luna LiDAR Range Sensor
TF-Luna LiDAR Range Sensor.png

I2C, UART
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Overview

Introduction

TF-Luna is a single-point ranging Lidar based on the TOF principle. With its unique optical and electrical design, it adopts an 850nm infrared light source to achieve stable, accurate, and highly sensitive distance measurements.
TF-Luna LiDAR Range Sensor has built-in adaptation algorithms for a variety of application environments and targets and is open to a variety of adjustable configurations and parameters. It can ensure excellent range performance in complex environments and meet the needs of customers in complex application scenarios.

Feature

  • Compact structure
  • Lightweight
  • Low-power consumption
  • Cost-effective

Application Scenarios

  • Assisted Focusing
  • Elevator projection
  • Intrusion detection
  • Level measurement

Specification

Product TF-Luna LiDAR Range Sensor
PERFORMANCE Ranging distance  0.2m~8m@90% reflectivity (Indoor 0Klux)

0.2m~2.5m@10% reflectivity (Indoor 0Klux)
0.2m~8m@90% reflectivity (Indoor 90Klux)
0.2m~2.5m@10% reflectivity (Indoor 90Klux)

Accuracy ±6cm@(0.2m-3m)
±2%@(3m-8m)
Distance resolution 1cm
Frame rate 1~250Hz (adjustable)
Ambient light resistance 70Klux
Operating temperature -10℃~60℃
OPTICAL PARAMETERS Light source VCSEL
Central wavelength 850nm
Eye safety Class1(IEC60825)
Field of view 2°
ELECTRICAL PARAMETERS Power supply 3.7V-5.2V
Average current ≤70mA
Power ≤0.35W
Peak current 150mA
Communication level LVTTL(3.3V)
Communication interface UART/I2C
OTHERS Dimension 35mm*21.25mm*13.5mm
Case material ABS/PC
Storage temperature -20℃~75℃
Weight <5g

Outline Dimensions

TF-Luna LiDAR Range Sensor Dim.png

Working Principle

This product is based on the TOF (Time of Flight) principle. Specifically, the product periodically sends out a modulated wave of near-infrared light, which is reflected when it meets an object. The time of flight is obtained by measuring the phase difference between the modulated wave and the round trip, and then calculating the relative distance between the product and the measured target, as follows:
TF Lidar PrincipleE01.jpg

Communication Interface

  • UART / I2C
UART Interface

Default Baudrate

115200 (Adjustable)

Data Bit

8

Stop Bit

1

Parity Bit

None

I2C Interface

Maximum Transmission Rate

400kbps

Host Mode

Slave Mode

Default Address

0x10

Address Range

0x08~0x77

  • I/O mode:
In I/O output mode, the detection information is indicated by the high and low levels of pin 6. When the output is near-zone level, the output switches to far-zone level after the measured value is greater than the far end point of the hysteresis interval; when the output is far-zone level, the output switches to near-zone level when the measured value is less than the near end point of the hysteresis interval. (High level: 3.3V, low level: 0V)

Wiring Description

TF-Luna-Pinout.png

Number

Function

Description

1

+5V

Power input

2

RXD/SDA

Receive/Data

3

TXD/SCL

Transmit/Clock

4

GND

Ground

5

Interface Input Configuration

Ground: boot it in I2C mode.
NC or connected to 3.3V: start in serial mode

6

Multiplexed Output

Switching mode function: Switching output
I2C mode and switch mode off: data ready indication

For more information on how to switch communication interfaces and set interface parameters, see: TF-Luna User Manual

Software and Use Example

The following section describes how the module can be used under Windows PC, Raspberry Pi, Raspberry Pi Pico, Arduino, ESP32-S3, and other operating system/open-source hardware development platforms.

OS/Hardware Platform

Programming Languages / Software

Windows Host computer software
Raspberry Pi Python, C（WiringPi）
Raspberry Pi Pico MicroPython
Arduino C（Arduino IDE）
ESP32 C（Arduino IDE）

Windows Quick Test

Preparation

Hardware Connection

TF-Luna LiDAR Range Sensor Win.png

Test Step

  1. Refer to the hardware connection diagram, connect the TF-Luna module to the computer via the USB TO TTL UART module.
  2. Open the TF host computer, choose 『① TF-Luna』, and select the occupied serial port that is automatically identified (here is 『② COM9』). Then, click 『CONNECT』 to connect to the upper computer. After a successful connection, the continuous output data image will appear in the right 『④ TIME LINE CHART』 area, and the bottom 『⑥ REAL TIME DATA』 area will show the current test distance (Dist), effective data points per second (Effective Points) and signal strength (Strength) in real-time.

TF-Luna LiDAR Range Sensor Win2.png
Note:
a) If there is no data in the "④ TIME LINE CHART" area, please check the connection and cable sequence, TF-Luna is powered on successfully, and there will be a faint red light inside the emitting lens when viewed from the front.
b) If TF-Luna is outputting in Pixhawk format, you need to check "③ Pix Mode" first, then the "④ TIME LINE CHART" area will output the data image normally. After Pix Mode is checked, the distance unit will be changed to m.
c) The distance output Dist value is different according to the output unit, the default unit is cm, if the distance unit of TF-Luna is changed to mm by the command, the upper computer can not distinguish, the unit of "④ TIME LINE CHART" is still cm. For example, if the actual distance measured by TF-Luna is 1m, the unit in mm is 1000, and the value read by the upper unit is 1000, but the unit on the upper unit does not change and still shows cm.

Raspberry Pi

Environment Configuration

UART Port Configuration

Since the Raspberry Pi serial port is used for terminal debugging by default, if you need to use the serial port, you need to modify the Raspberry Pi settings. Execute the following command to enter the Raspberry Pi configuration: 

sudo raspi-config

Select Interfacing Options -> Serial -> no -> yes, and disable the serial debug function.
TOF Laser Range Sensor01.jpg
Open the /boot/config.txt file and find the following configuration statement to enable the serial port, if not, add it at the end of the file: 

enable_uart=1

And then reboot the Raspberry Pi: 

sudo reboot

Enable I2C Interface

Open the Raspberry Pi terminal and run the following commands to enter the configuration interface. 

sudo raspi-config
Select Interfacing Options -> I2C -> Yes, enable the I2C interface

TF-Luna LiDAR Range Sensor Ras02.png
And then reboot the Raspberry Pi: 

sudo reboot

Install WiringPi

Make sure your computer is 32-bit or 64-bit before installation.

32-bit Raspberry Pi System

Execute the following commands separately for WiringPi installation: 

wget https://project-downloads.drogon.net/wiringpi-latest.deb
sudo dpkg -i wiringpi-latest.deb
gpio -v

(Optional) If an error occurs during installation, install all missing dependencies and other necessary packages by running the following command, and then re-run the installation command: 

sudo apt --fix-broken install

Run "gpio -v" and version 2.52 will appear. If it does not appear, there is an installation error:
TF-Luna LiDAR Range SensorRas 03.png

64-bit Raspberry Pi System

Copy the resource package to the Raspberry Pi using the command: 

wget https://files.waveshare.com/upload/8/8c/WiringPi-master.zip

(optional, you can skip this step if you have used the unzip command) Install the unzip environment: 

sudo apt-get install unzip

Go to the file location and execute the unzip command: 

unzip WiringPi-master.zip

Go to the file directory (go to the "WiringPi-master" folder): 

cd WiringPi-master/

Run sudo . /build: 

sudo . /build

(optional, see point 4 for errors) If . /build does not work, execute "chmod +x . /build" and then "sudo . /build": 

chmod +x . /build

Example:
TF-Luna LiDAR Range SensorRas 05.png
TF-Luna LiDAR Range SensorRas 07.png

Hardware Connection

UART mode: The fifth pin is overhung or connected to 3.3V before power on, and the communication line is connected to GPIO14 and GPIO15.
IIC mode: The fifth pin is grounded before power on, and the communication line is connected to GPIO2 and GPIO3.
TF-Luna LiDAR Range SensorRas 04.png
TF-Luna LiDAR Range SensorRas 06.png

Software Example

Preparation

Download the program packet to the Raspberry Pi: 

wget https://files.waveshare.com/upload/a/aa/TF-Luna-LiDAR-Range-Sensor-Demo.zip

Unzip the file, create a new file with the same name and unzip it into the corresponding folder: 

unzip TF-Luna-LiDAR-Range-Sensor-Demo.zip -d ./TF-Luna-LiDAR-Range-Sensor-Demo

Execution example:
TF-Luna LiDAR Range Sensor19.png

C

The default mode is UART, if you switch the mode, please remember the current mode.
The following operation is to run the "UART" demo as an example. If you are using the I2C interface, please make sure you have connected and set up the corresponding interface, the operation is similar.
Go to the package path "TF-Luna-LiDAR-Range-Sensor-Demo" in the terminal.

cd TF-Luna-LiDAR-Range-Sensor-Demo/

Enter the sample file path, the 4 files under the folder corresponding to the 4 main controls, and the files in the subordinate folder are the data acquisition demos and mode switching demos for the TF-Luna in the corresponding mode (for example: using UART mode to acquire data).

cd Raspberry\ Pi/WiringPi/UART

Use "gcc -o main main.c -lwiringPi" to compile the program.

gcc -o main main.c -lwiringPi

Execute the main program (you need to turn on the relevant functions beforehand, in the Raspberry Pi configuration section). 

sudo . /main

Example:
TF-Luna LiDAR Range Sensor 20.png

Python

The default mode is UART, if you switch the mode, please remember the current mode.
 The following operation is to run the "UART" demos as an example. If you are using the I2C interface, please make sure you have connected and set up the corresponding interface, the operation is similar.
Go to the package path "TF-Luna-LiDAR-Range-Sensor-Demo" in the terminal: 

cd TF-Luna-LiDAR-Range-Sensor-Demo/

Enter the sample file path, the 4 files under the folder corresponding to the 4 main controls, and the files in the subordinate folder are the data acquisition demos and mode switching demos for the TF-Luna in the corresponding mode (example: using UART mode to acquire data): 

cd Raspberry\ Pi/Python/UART

Run the program: 

python3 main.py

Example:
TF-Luna LiDAR Range Sensor22.png

Raspberry Pi Pico

Hardware Connection

UART mode: (the fifth pin is suspended or connected to 3.3V before power on, communication line connected to GPIO8 and GPIO9).
IIC mode: (the fifth pin is grounded before power is on, and the communication line is connected to GPIO8 and GPIO9).
TF-Luna LiDAR Range Sensor Pico.png
TF-Luna LiDAR Range Sensor Pico02.png

Software Debug

Preparation

  1. Install Thonny. (Thonny Python IDE (Windows V3.3.3))
  2. Press the "BOOTSEL" key on the Raspberry Pi Pico, and release it after powering on.
  3. A new disk will appear on your computer, extract the firmware (Raspberry Pi Pico firmware) and copy the firmware (suffix uf2) to that disk (the disk will automatically disappear if the copy is successful).
  4. Open Thonny, click on "Python x.x.x" at the bottom right, and select "Configure interpreter".
  5. Select "Interpreter" in the pop-up window -> select "MicroPython (Raspberry Pi Pico)" as the interpreter -> select "Auto-detect port" as the port.
  6. Click on "Stop", and the Shell window will show "MicroPython v1.20.0-50-g786013d46 on 2023-05-04; Raspberry Pi Pico with RP2040 Type "help()" for more information. " is a successful connection.

The following is the procedure for points 4 and 5:
TF-Luna LiDAR Range Sensor Pico10.png
The successful connection is shown below:
TF-Luna LiDAR Range Sensor Pico11.png

Running Example

The default mode is UART. If you switch the mode, please remember the current mode.
 The following operation is to run the "UART" demo as an example. If you are using the I2C interface, please make sure you have connected and set up the corresponding interface, the operation is similar.

  1. Open the downloaded demo example. (demo example).
  2. Enter "TF-Luna-LiDAR-Range-Sensor-Demo" -> "Raspberry Pi Pico".
  3. Under the "Raspberry Pi Pico" folder, there are 2 files in order, each representing its own function.
  4. Go to the "UART" folder and use Thonny to open UART.py (an example is to get data in UART mode).
  5. Click Run in Thonny.

The debug effect is shown below:
TF-Luna LiDAR Range Sensor Pico08.png

Working with Arduino

Hardware Connection

UART mode: (the fifth pin is not connected or connected to 3.3V before power on, the signal line is connected to D0, D1).
IIC mode: (the fifth pin is grounded before power on, the signal line connected to SDA, SCL).
TF-Luna LiDAR Range Sensor 15.png
TF-Luna LiDAR Range Sensor 16.png

Software Debug

The default mode is UART, if you switch modes, please remember the current mode.
The following operation is based on running the "UART" demo as an example. If you are using the I2C interface, please make sure that the corresponding interface is connected and set up, and the operation is similar.

  1. Install Arduino. (Click here to download).
  2. Open the downloaded demo example. (demo example).
  3. Go to "TF-Luna-LiDAR-Range-Sensor-Demo" -> "Arduino".
  4. Under the "Arduino" folder, there are 4 files in order, each representing its own function.
  5. Enter the "UART" file folder, use Arduino IDE to open the UART.ino. (Example for data acquisition in UART mode).
  6. Connect the Arduino board, and select the corresponding development board and port on the Arduino IDE.
  7. Click to verify and click to upload.
  8. As it is in UART mode, you can wait for uploading and then connect the device to the Arduino board. (Make sure that the D0 and D1 ports of the Arduino has not connected to the device when you upload.)
  • Debugging effect as shown below:
TF-Luna-Arduino程序调试图.png

Working with ESP32

ESP32-S3-DEV-KIT-N8R8 development board is used in this example.

Hardware Connection

UART mode: (the fifth pin is not connected or connected to 3.3V before power on, the signal line is connected to GPIO16 and GPIO17).
IIC mode: (the fifth pin is grounded before power is on, and the signal line is connected to GPIO16 and GPIO17).
TF-Luna LiDAR Range Sensor ESP01.png
TF-Luna LiDAR Range Sensor ESP02.png

Software Debugging

Preparation

TF-Luna LiDAR Range Sensor E03.png

  • Double click the APP downloaded:

TF-Luna LiDAR Range Sensor ESP03.png

  • Open the Arduino IDE to check whether the installation is successful.

TF-Luna LiDAR Range Sensor ESP04.png

Running Example

The default mode is UART, and you need to remember it before switching to other modes.
The following operation is based on running the "UART" demo as an example. If you are using the I2C interface, please make sure that you have connected and set up the corresponding interface, and do the same.

  1. Open the downloaded sample program (demo example).
  2. Go to "TF-Luna-LiDAR-Range-Sensor-Demo" -> "ESP32".
  3. Under the folder "ESP32", there are 2 files in order, representing their respective functions.
  4. Enter the "UART" folder, and use Arduino IDE to open UART.ino (an example is to get data in UART mode).
  5. Connect the ESP32 board, and select the corresponding development board, and port on the Arduino IDE.
  6. Click verify, then click upload.
  • The debugging effect is shown below:

TF-Luna LiDAR Range Sensor ESP 08.png

Resource

Demo

Note:
The mode must be determined before power on, to determine if pin 5 is connected.
There are 4 files in the "TF-Luna-LiDAR-Range-Sensor-Demo" folder, corresponding to the 4 hardware platforms, and 2 files in each of the 4 folders, corresponding to the following functions:

File Folder

Description

UART Device is in UART mode for data acquisition
IIC Device is in I2C mode for data acquisition

Software

Related File

FAQ

Question:Does TF-Luna support 3.3V or other voltage power supply?

 Answer:
No, TF-Luna's standard power supply is 3.7V~5.2V. If you have other requirements, please contact our sales staff for customization.

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Question:TF-Luna will get hot after working for a while, is it broken?

 Answer:
This is the normal working condition of the product. Slight heating is normal after the chip and the board work continuously.

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Question:Can TF-Luna be used with Arduino or Raspberry Pi?

 Answer:
TF-Luna uses the serial communication protocol and can be used by any control board that supports serial communication.

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Question:Will two TF-Luna units working together interfere with each other?

 Answer:
When two TF-Luna are placed in the same direction and the light spots hit the same object and overlap, there will be no mutual interference; when more than two TF-Luna are placed in the same direction and the light spots overlap, there will be mutual interference; when 2 TF-Luna are working face to face, there will be serious interference.

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Support



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