TF-Luna with Arduino I²C / UART: code example

Applicable setup

TF-Luna · Arduino · I²C, UART

Technical instructions and steps

/* File Name: TFLunaI2C_example.ino

There are only two important functions: 'getData' and 'sendCommand' NOTE: By default the I2C device address is set to 0x10. If you need to address multiple devices or need to change the default address for any reason, your code must thereafter include an unsigned, 8-bit 'addr' value at the end of every call to 'getData()' or 'sendCommand()'. NOTE: This library also includes a simple 'getData( dist)' function that passes back distance data only. It assumes use of the default I2C address. /

#include <Wire.h>     // Arduino standard I2C/Two-Wire Library
#include "printf.h"   // Modified by to support Intel based Arduino
// devices such as the Galileo. Download from:
// https://github.com/spaniakos/AES/blob/master/printf.h
#include "TFLunaI2C.h"
TFLunaI2C tfmP;         // Create a TFLuna I2C object
void setup()
{
Wire.begin();            // Initialize two-wire interface
//    Wire.setClock( 400000);  // Set I2C bus speed to 'Fast' if
// your Arduino supports 400KHz.
Serial.begin( 115200);   // Initialize terminal serial port
printf_begin();          // Initialize printf library.
delay(20);

printf( "\r\nTFLuna I2C Library Example\r\n"); // say 'hello'

// Send some example commands to the TFLuna
// - - - - - - - - - - - - - - - - - - - - - - - -
printf( "System reset: ");
if( tfmP.sendCommand( SYSTEM_RESET, 0))
{
printf( "passed.\r\n");
}
else tfmP.printErrorStatus();
// - - - - - - - - - - - - - - - - - - - - - - - -
printf( "Firmware version: ");
if( tfmP.sendCommand( OBTAIN_FIRMWARE_VERSION, 0))
{
printf( "%1u.", tfmP.version[ 0]); // print three single numbers
printf( "%1u.", tfmP.version[ 1]); // each separated by a dot
printf( "%1u\r\n", tfmP.version[ 2]);
}
else tfmP.printErrorStatus();
// - - - - - - - - - - - - - - - - - - - - - - - -
printf( "Data-Frame rate: ");
if( tfmP.sendCommand( SET_FRAME_RATE, FRAME_250))
{
printf( "%2uHz.\r\n", FRAME_250);
}
else tfmP.printErrorStatus();
// - - - - - - - - - - - - - - - - - - - - - - - -
delay(500);            // And wait for half a second.
}

// Initialize variables uint16t tfDist = 0; // Distance to object in centimeters uint16t tfFlux = 0; // Signal strength or quality of return signal uint16_t tfTemp = 0; // Internal temperature of Lidar sensor chip

// = = = = = = = = = =  MAIN LOOP  = = = = = = = = = =
void loop()
{
delay(50);    //  Run loop at approximately 20Hz.
tfmP.getData( tfDist, tfFlux, tfTemp); // Get a frame of data
if( tfmP.status == TFMP_READY)         // If no error...
{
printf( "Dist:%04ucm ", tfDist);   // display distance,
printf( "Flux:%05u ",   tfFlux);   // display signal strength/quality,
printf( "Temp:%2u\°C",  tfTemp);   // display temperature,
printf( "\r\n");                   // end-of-line.
}
else tfmP.printErrorStatus();          // Otherwise, display error.
}
// = = = = = = = = =  End of Main Loop  = = = = = = = = =

Use and verification

The technical content follows the readable source material. Confirm the product hardware revision, flight-stack or software version, and field safety boundary against the original material and current platform documentation.