====== LamaPLC: Waveshare TOF Laser Range Sensor with UART / I²C communication ======
{{ :sensor:waveshare_tof_1.png?120|}}

  * [[com:basic_uart|UART]] / [[com:basic_i2c|I²C]] / [[com:basic_can|CAN]] / IO Communication Support, 25m / 50m Measuring Range
  * This is a TOF-based (//time of flight//) laser ranging sensor with embedded MCU and ranging algorithm, which is capable of offering up to 25m / 50m measuring range, and ±3cm accuracy.
  * It supports UART or I²C communication bus, features longer measuring distance and higher light interference tolerance capability due to its ultra-narrow FOV, suitable for either indoor or outdoor conditions. Its ambient light tolerance is up to 100K lux.
  * This sensor can be widely used in applications like standard distance measuring, robot obstacle avoidance/route planning/ceiling detection, and more...
  * long range low cost ranging module, high stability, high accuracy, high sensitivity ranging; UART / I2C / IO communication support UART mode: supports active query output I²C mode: up to 8x cascades I/O mode: unable to output distance parameter

{{ :sensor:waveshare_tof_2.png |Waveshare TOF (time of Flight) Laser Range Sensor}}

**Core Product Comparison**

Waveshare offers several versions to match different distances and environmental requirements: 

^Model^Range^Accuracy^Interface^Best For|
|Standard TOF|0.01 – 5m|±1.5cm|UART / CAN|Indoor robots, obstacle avoidance|
|TOF (B)|0.10 – 15m|±2%|UART / I2C	Long-range indoor/outdoor use|
|TOF (C)|0.05 – 25m|±3cm|UART / I2C|Outdoor navigation, material levels|
|TOF (D)|0.05 – 50m|±3cm|UART / I2C|Extreme long-distance detection|
|TOF Mini|0.02 – 7.8m|±4cm|UART / I2C|Ultra-compact builds (1g weight)|

**Key Technical Features**

  * **Cascading Support:** Up to 8 sensors on UART and 7 on CAN can be connected in series to a single bus, each assigned a unique ID.
  * **High Ambient Light Resistance:** Most "B," "C," and "Mini" models resist up to 100K LUX, making them functional in direct sunlight.
  * **Configurable FOV:** The standard model offers an adjustable Field of View (15° to 27°), while long-range models feature a narrow FOV (1° to 2°) to minimize interference.
  * **Integrated Processing:** Includes an embedded MCU and ranging algorithm, providing filtered distance data rather than raw phase shifts.
  * **Software Tools:** Waveshare provides a PC Assistant Software for real-time waveform monitoring, configuration, and data recording.


^Specification^Data|
^Typical measuring range|0.05..25 m / 0.05..50 m|
^Measuring accuracy|+-3 cm|
^Wavelength|905 nm|
^Field of view|1°..2°|
^Communication interface|default: UART (3.3V TTL) \\ I²C Addr: 0x08|
^Baudrate|UART: 4.8 kbps .. 3000 kbps (921.6 kbps default) \\ I²C: up to 400 kbps|
^Power supply|4.3 .. 5.2 V|
^Power consumption|250 mW (UART active output, 5.0 V power supply, 50 mA current)|
^Operation temperature|-10 °C .. 60 °C|

{{page>:tarhal}}

==== Wiring Diagram (UART) ====
The sensor operates at 3.3V TTL signal levels, but the module has voltage translation for 5V compatibility. 

^Waveshare Pin^Arduino Uno/Nano Pin^Description|
^VCC|5V (or 3.3V)|Power Supply|
^GND|GND|Ground|
^TX|D10|Arduino RX (SoftwareSerial pin)|
^RX|D11|Arduino TX (SoftwareSerial pin)|

==== Arduino Example Code (UART Communication) ====
This example utilizes the SoftwareSerial library to actively read distance data from the sensor, which outputs at the default baud rate of 115200. 
<code c>
#include <SoftwareSerial.h>

SoftwareSerial TOFSerial(10, 11); // RX, TX pins for the sensor
unsigned char TOF_data[32] = {0}; // Buffer to store the data frame
unsigned char TOF_length = 16;
unsigned long TOF_distance = 0;
unsigned char TOF_check = 0;

void setup() {
  Serial.begin(9600);      // Initialize hardware serial for monitoring
  TOFSerial.begin(115200); // Initialize software serial for the sensor
  Serial.println("Waveshare TOF Sensor Test");
}

void loop() {
  if (TOFSerial.available() > 0) {
    // Read the incoming bytes from the sensor
    if (readTOFData()) {
      Serial.print("Distance: ");
      Serial.print(TOF_distance);
      Serial.println(" mm");
    }
  }
}

// Function to read and parse the data frame based on Waveshare protocol
bool readTOFData() {
  if (TOFSerial.available() >= TOF_length) {
    for (int i = 0; i < TOF_length; i++) {
      TOF_data[i] = TOFSerial.read();
    }

    // Verify the checksum
    TOF_check = 0;
    for (int k = 0; k < TOF_length - 1; k++) {
      TOF_check += TOF_data[k];
    }

    if (TOF_check == TOF_data[TOF_length - 1] && TOF_data[0] == 0x57) { // Check header 0x57
      // Data is valid. Distance is a 3-byte value (little-endian)
      TOF_distance = (TOF_data[8]) | (TOF_data[9] << 8) | (TOF_data[10] << 16);
      return true;
    }
  }
  return false;
}
</code>

{{tag>distance_measurement laser range sensor TOF Waveshare }}

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