TFmini-i with Arduino I²C / UART: integration and configuration guide

Applicable setup

TFmini-i · Arduino · I²C, UART

Original Chinese technical instructions

多台 TFmini-I²C 在 Arduino 使用的参考方案

Version：v1.0

Update date：2019.04.28

Author：Mincy Zhao

（zhaomingxin@benewake）

目录

1 概述....................................................................................................................................................1

2 测试工具............................................................................................................................................1

3 连接测试............................................................................................................................................1

3.1 设置 TFmin-I²C 地址............................................................................................................. 1

3.2 连接.........................................................................................................................................1

3.3 Arduino 参考代码................................................................................................................... 2

4 测试效果............................................................................................................................................4

1概述 本方案使用 4 台 TFmini-I²C 雷达，通过一组 I²C 总线在 Arduino UNO 开发板进行接收数据。

I²C 通讯采用主从模式，Arduino 开发板作为主机，TFmini-I²C 作为从机。每一台 TFmini 配 置为独立的地址，主机查询对应地址的 TFmini 的数据并等待数据返回。

2测试工具 （1）TFmini-I²C，4 台；

（2）Arduino UNO 开发板，1 块；

（3）5VDC/2A 电源，1 个；

（4）杜邦线，若干。

3连接测试 3.1设置 TFmin-I²C 地址

设置方法可参考《产品说明书》。本方案将 4 台 TFmini 的从机地址分别设置为 0x10、0x11、 0x12 和 0x13。

3.2连接

注意：因为电脑 USB 接口输出电流有限，接多台 TFmini 同时使用需要外接 5V 供电。同时 雷达与 Arduino 开发板需要共地。

1

SCL

SDA

5VDC

3.3Arduino 参考代码

/*This is a reference code about Arduino UNO receive TFmini-I²C Data from I²C bus

* Arduino is Master, TFmini-I²C is slave. Master send check

* Author:zhaomingxin@Benewake

* Update date:2019.4.28

*/
#include <Wire.h>
void setup() {
Wire.begin();            // join i2c bus (address optional for master)
Serial.begin(115200); // start serial for output

pinMode(LED_BUILTIN, OUTPUT);//LED

}
void loop() {

Get_LidarDatafromIIC(0x10);

Get_LidarDatafromIIC(0x11);

Get_LidarDatafromIIC(0x12);

2

Get_LidarDatafromIIC(0x13);

delay(250);

digitalWrite(LED_BUILTIN, HIGH); // turn the LED on (HIGH is the voltage level)

delay(250);

digitalWrite(LED_BUILTIN, LOW); // turn the LED off by making the voltage LOW

}
void Get_LidarDatafromIIC(byte address){
char i = 0;

byte rx_buf[7] = {0};

Wire.beginTransmission(address); // Begin a transmission to the I2C Slave device with the given address.

Wire.write(1); // Reg's Address_H
Wire.write(2); // Reg's Address_L
Wire.write(7); // Data Length

Wire.endTransmission(0); // Send a START Sign

Wire.requestFrom(address, 7); // request 7 bytes from slave device address

//print the result via serial
Serial.print("Address=0x");
Serial.print(address,HEX);
Serial.print(":      ");
while ( Wire.available())
{
rx_buf[i] = Wire.read(); // received one byte
Serial.print("0x");
Serial.print(rx_buf[i],HEX);
Serial.print(";");

3

i++;
if(i>=7)
{
i=0;
Serial.print("---------->");
Serial.print("Distance=");
Serial.print(rx_buf[3]*256+rx_buf[2]);
Serial.print(";");
Serial.print("Strength=");
Serial.print(rx_buf[5]*256+rx_buf[4]);
}
}
Serial.print("\r\n");
}

4测试效果 Arduino 通过 I²C 总线查询雷达数据，再通过串口将数据打印出来。

4

5

Use and verification

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