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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 |
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.
Product | TF-Luna LiDAR Range Sensor | |
---|---|---|
PERFORMANCE | Ranging distance | 0.2m~8m@90% reflectivity (Indoor 0Klux) 0.2m~2.5m@10% reflectivity (Indoor 0Klux) |
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 |
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:
|
|
Number | Function | Description |
+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. |
6 | Multiplexed Output | Switching mode function: Switching output |
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) |
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.
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.
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
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
And then reboot the Raspberry Pi:
sudo reboot
Make sure your computer is 32-bit or 64-bit before installation.
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:
Copy the resource package to the Raspberry Pi using the command:
wget https://www.waveshare.com/w/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:
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.
Download the program packet to the Raspberry Pi:
wget https://www.waveshare.com/w/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:
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:
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:
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).
The successful connection is shown below:
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.
The debug effect is shown below:
UART mode: (the fifth pin is not connected or connected to 3.3V before power on, the signal line connected to D0, D1) IIC mode: (the fifth pin is grounded before power on, the signal line connected to SDA, SCL).
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.
ESP32-S3-DEV-KIT-N8R8 development board is used in this example.
UART mode: (the fifth pin is overhung or connected to 3.3V before power on, the signal line 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).
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.
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 |