I get no data from TF02-Pro

[GeorgeFlorian]

I would like to implement the TF02-Pro with the ESP32. I know that it works with Arduino so I've assumed that it will work with ESP as well.

The TF02-Pro has 4 wires defined as: red +5V, black GND, green TX, white RX.

I have connected them as follows:
Sensor 5V to ESP 5V;
Sensor GND to ESP GND;
Sensor TX to ESP RX;
Sensor RX to ESP TX;

Also, the TF02-PRO adopts the serial port data communication protocol.

Communication interface: UART
Communication level: LVTTL（3.3V）
Default baud rate: 115200
Data bit: 8
Stop bit: 1
Parity check: None

I have followed this guide: https://www.roscomponents.com/en/index.php?controller=attachment&id_attachment=309

This is the code resulting:

#include <Arduino.h>

#define RXD2 16
#define TXD2 17

int dist;     // LiDAR actually measured distance value
int strength; // LiDAR signal strength
int check;    // check numerical value storage
int i;
int uart[9];             // store data measured by LiDAR
const int HEADER = 0x59; // data package frame header

void setup()
{
  // put your setup code here, to run once:
  Serial.begin(115200);
  Serial.println("Started.");
  Serial2.begin(115200, SERIAL_8N1, RXD2, TXD2);
}

void loop()
{
  if (Serial2.available()) //check whether the serial port has data input
  {
    if (Serial2.read() == HEADER) // determine data package frame header 0x59
    {
      uart[0] = HEADER;
      if (Serial2.read() == HEADER) //determine data package frame header 0x59
      {
        uart[1] = HEADER;
        for (i = 2; i < 9; i++) // store data to array
        {
          uart[i] = Serial2.read();
        }
        check = uart[0] + uart[1] + uart[2] + uart[3] + uart[4] + uart[5] + uart[6] + uart[7];
        if (uart[8] == (check & 0xff)) // check the received data as per protocols
        {
          dist = uart[2] + uart[3] * 256;     // calculate distance value
          strength = uart[4] + uart[5] * 256; // calculate signal strength value
          Serial.print("dist = ");
          Serial.print(dist); // output LiDAR tests distance value
          Serial.print('\t');
          Serial.print("strength = ");
          Serial.print(strength); // output signal strength value
          Serial.print('\n');
        }
      }
    }
  }
}

The issue is that I have no output except Serial.println("Started.");.

I have also tried changing the pins:

#define RXD2 22
#define TXD2 23

void setup()
{
  Serial.begin(115200);
  Serial.println("Started.");
  Serial2.begin(115200, SERIAL_8N1, RXD2, TXD2);
}

And I still have no output. (other than Serial.println("Started.");.)

I have opened the sensor's case and I have measured the voltage input and it's around 4.6V. The Product Manual of TF02-Pro says that the supply voltage should be 5V~12V.

I have also tried the code from here: TF02 Lidar For Arduino And Pixhawk | How To Use but I still got no output.

If this works on an Arduino, shouldn't it work on an ESP32 ?
Thank you.

[gilshultz]

Post a Schematic, not a frizzy thing showing all connections power included. Include links to technical information on all hardware devices. Since it worked on an arduino show that code as well.

[GeorgeFlorian]

The code posted above is similar to the Arduino code. As I said above it was taken from this guide: https://www.roscomponents.com/en/index.php?controller=attachment&id_attachment=309 .

The only differences are:

#include <Arduino.h>

#define RXD2 22
#define TXD2 23

// and the following initialization inside void setup()
Serial2.begin(115200, SERIAL_8N1, RXD2, TXD2);

Here is the required scheme:

The ESP is powered via USB.

ESP32-Wrover-B Devkit V4 docs: esp32_devkitc_v4-sch-20180607a.pdf (72.2 KB)

And here are the documents for the LIDAR TF02-Pro:

15988827429027096SJ-PM-TF02-Pro-01 A01 Datasheet.pdf (223.6 KB)
15988827139175434SJ-PM-TF02-Pro A01 Product Manual.pdf (1.1 MB)

[DaveEvans]

I have a TF03 working with an ESP32. The serial protocol and code for getting a reading look the same as for your TF02, but I haven't carefully checked for differences.

I used the Adafruit ESP32 Feather and Serial1 (not Serial2), for which RX is pin 16 (connected to the TF03 TX...yellow wire), and TX is pin 17 (connected to TF03 RX...brown wire). YMMV.

Snippets:

Serial1.begin(115200); // uses default protocol and pin definitions

//**** readTF03once ****
bool readTF03once() {
  int check; 
  byte uart[9];
  const byte HEADER = 0x59;

  if (Serial1.available()) {
    if (Serial1.read() == HEADER) {
      uart[0] = HEADER;
      if (Serial1.read() == HEADER) {
        uart[1] = HEADER;
        for (byte i = 2; i < 9; i++) {
          uart[i] = Serial1.read();
        }

        check = uart[0] + uart[1] + uart[2] + uart[3] + uart[4] + uart[5] + uart[6] + uart[7];

        if (uart[8] == (check & 0xff)) {
          distCurrent = uart[2] + uart[3] * 256;
          return true;
        }
      }
    }
  }
  distCurrent = 0;
  return false;
}