TFMini LiDar - Bad Checksum error- I am losing my mind

zowen22 · August 4, 2019, 12:27am

I am attempting to get measurements from the TFMini Plus module. I simply have an Arduino Nano soldered to the module. After following this simple article, I opned up my serial monitor and got the error

TF Mini error: too many measurement attempts
Last error:
ERROR_SERIAL_BADCHECKSUM
65535 cm      sigstr: 65535

I used an Uno board, twisted the Rx and Tx wires together, soldered the connections instead of using a breadboard, changing baud rates, and using a different Nano board. No dice. Anyone have experience with this or ideas? Any help is appreciated

jremington · August 4, 2019, 1:00am

The web page you linked tells you what to do in that case.

I'm betting that you failed to follow the instructions to use 3.3V I/O.

Idahowalker · August 4, 2019, 1:30pm

Can you get this simple TFMini code to work?

#include <HardwareSerial.h>
HardwareSerial SerialTFMini( 2 );
// serial(1) = pin12=RX, pin13=TX
// serial(2) = pin16=RX green, pin17=TX white




void getTFminiData(int* distance, int* strength) {
  static char i = 0;
  char j = 0;
  int checksum = 0; 
  static int rx[9];
  if(SerialTFMini.available())
  {  
    // Serial.println( "tfmini serial available" );
    rx[i] = SerialTFMini.read();
    if(rx[0] != 0x59) {
      i = 0;
    } else if(i == 1 && rx[1] != 0x59) {
      i = 0;
    } else if(i == 8) {
      for(j = 0; j < 8; j++) {
        checksum += rx[j];
      }
      if(rx[8] == (checksum % 256)) {
        *distance = rx[2] + rx[3] * 256;
        *strength = rx[4] + rx[5] * 256;
      }
      i = 0;
    } else 
    {
      i++;
    } 
  }  
}


void setup() {
  Serial.begin(115200);
  
SerialTFMini.begin( 115200, SERIAL_8N1, 27, 26 );

}

void loop() 
{
  int distance = 0;
  int strength = 0;

  getTFminiData(&distance, &strength);
  while(!distance) {
    getTFminiData(&distance, &strength);
    if(distance) {
      Serial.print(distance);
      Serial.print("cm\t");
      Serial.print("strength: ");
      Serial.println(strength);
    }
  }

delay(100);
}

The code is adapted to work with an ESP32 but I am sure you should be able to get it to work with an UNO.

zowen22 · August 4, 2019, 2:02pm

Idahowalker,
You were involved in the thread I was using to try to troubleshoot this before I created this one, thanks for the reply.

When compiling the code you suggested, the second line throws the error

no matching function for call to 'HardwareSerial::HardwareSerial(int)'

I'm guessing this is the part that needs adopted to fit an UNO instead of an ESP32. I'll edit this post when I get the code to work.

I keep getting errors similar to the "no matching function" one above. I'm not too sure how to adapt this to fit an UNO rather than an ESP32. Any ideas?

zowen22 · August 4, 2019, 2:53pm

Thanks Idahowalker,

I got it to work. I used the code you posted, and meshed in elements that allowed the code to work with Arduino Nano/UNO rather than an ESP32.

This is the code I came up with, and works. Thanks a ton Idahowalker.

#include <SoftwareSerial.h>
#include "TFMini.h"
TFMini tfmini;

SoftwareSerial SerialTFMini(2, 3); //The only value that matters here is the first one, 2, Rx
// serial(1) = pin12=RX, pin13=TX
// serial(2) = pin16=RX green, pin17=TX white




void getTFminiData(int* distance, int* strength) {
  static char i = 0;
  char j = 0;
  int checksum = 0; 
  static int rx[9];
  if(SerialTFMini.available())
  {  
    // Serial.println( "tfmini serial available" );
    rx[i] = SerialTFMini.read();
    if(rx[0] != 0x59) {
      i = 0;
    } else if(i == 1 && rx[1] != 0x59) {
      i = 0;
    } else if(i == 8) {
      for(j = 0; j < 8; j++) {
        checksum += rx[j];
      }
      if(rx[8] == (checksum % 256)) {
        *distance = rx[2] + rx[3] * 256;
        *strength = rx[4] + rx[5] * 256;
      }
      i = 0;
    } else 
    {
      i++;
    } 
  }  
}


void setup() {  
  
  pinMode(10, OUTPUT);//Used to trigger
  int ledPin = 10;
  
  // Step 1: Initialize hardware serial port (serial debug port)
  Serial.begin(115200);
  // wait for serial port to connect. Needed for native USB port only
  while (!Serial);
     
  Serial.println ("Initializing...");

  // Step 2: Initialize the data rate for the SoftwareSerial port
  SerialTFMini.begin(TFMINI_BAUDRATE);

  // Step 3: Initialize the TF Mini sensor
  tfmini.begin(&SerialTFMini);    
}

void loop() 
{
  int distance = 0;
  int strength = 0;

  getTFminiData(&distance, &strength);
  while(!distance) {
    getTFminiData(&distance, &strength);
    if(distance) {
      Serial.print(distance);
      Serial.print("cm\t");
      Serial.print("strength: ");
      Serial.println(strength);
    }
  }

delay(100);
}

Idahowalker · August 4, 2019, 3:00pm

You might want to adapt to this code

/*
Arduino driver for Benewake TFMini time-of-flight distance sensor. 
by Peter Jansen (December 11/2017)
This code is open source software in the public domain.
THIS SOFTWARE IS PROVIDED ''AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE AUTHOR(S) BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.  
The names of the contributors may not be used to endorse or promote products
derived from this software without specific prior written permission. 
*/

#if (ARDUINO >= 100)
 #include "Arduino.h"
#else
 #include "WProgram.h"
#endif


// Defines
#define TFMINI_BAUDRATE   115200
#define TFMINI_DEBUGMODE  0

// The frame size is nominally 9 characters, but we don't include the first two 0x59's marking the start of the frame
#define TFMINI_FRAME_SIZE                 7

// Timeouts
#define TFMINI_MAXBYTESBEFOREHEADER       30
#define TFMINI_MAX_MEASUREMENT_ATTEMPTS   10

// States
#define READY                             0
#define ERROR_SERIAL_NOHEADER             1
#define ERROR_SERIAL_BADCHECKSUM          2
#define ERROR_SERIAL_TOOMANYTRIES         3
#define MEASUREMENT_OK                    10


//
// Driver Class Definition
//
class TFMini {
  public: 
    TFMini(void);

    // Configuration
    boolean begin(Stream* _streamPtr);
    void setSingleScanMode();
    
    // Data collection
    uint16_t getDistance();
    uint16_t getRecentSignalStrength();
    void externalTrigger();

  private:
    Stream* streamPtr;
    int state;
    uint16_t distance;
    uint16_t strength;
    
    // Low-level communication
    void setStandardOutputMode();
    void setConfigMode();
    int takeMeasurement();
    
};

is the TFMini.h file

Idahowalker · August 4, 2019, 3:01pm

And this is the TFMini.cpp file

/*
  Arduino driver for Benewake TFMini time-of-flight distance sensor.
  by Peter Jansen (December 11/2017)
  This code is open source software in the public domain.
  THIS SOFTWARE IS PROVIDED ''AS IS'' AND ANY
  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
  WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  DISCLAIMED. IN NO EVENT SHALL THE AUTHOR(S) BE LIABLE FOR ANY
  DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
  (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
  ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  The names of the contributors may not be used to endorse or promote products
  derived from this software without specific prior written permission.
*/

#include "TFMini.h"

// Constructor
TFMini::TFMini() {
  // Empty constructor
}


boolean TFMini::begin(Stream* _streamPtr) {
  // Store reference to stream/serial object
  streamPtr = _streamPtr;

  // Clear state
  distance = -1;
  strength = -1;
  state = READY;

  // Set standard output mode
  setStandardOutputMode();

  return true;
}


// Public: The main function to measure distance.
uint16_t TFMini::getDistance() {
  int numMeasurementAttempts = 0;
  while (takeMeasurement() != 0) {
    numMeasurementAttempts += 1;
    if (numMeasurementAttempts > TFMINI_MAX_MEASUREMENT_ATTEMPTS) {
      Serial.println ("TF Mini error: too many measurement attempts");
      Serial.println ("Last error:");
      if (state == ERROR_SERIAL_NOHEADER)     Serial.println("ERROR_SERIAL_NOHEADER");
      if (state == ERROR_SERIAL_BADCHECKSUM)  Serial.println("ERROR_SERIAL_BADCHECKSUM");
      if (state == ERROR_SERIAL_TOOMANYTRIES) Serial.println("ERROR_SERIAL_TOOMANYTRIES");
      // Serial.flush();
      state = ERROR_SERIAL_TOOMANYTRIES;
      distance = -1;
      strength = -1;
      return -1;
    }
  }

  if (state == MEASUREMENT_OK) {
    return distance;
  } else {
    return -1;
  }
}

// Public: Return the most recent signal strength measuremenet from the TF Mini
uint16_t TFMini::getRecentSignalStrength() {
  return strength;
}


// Private: Set the TF Mini into the correct measurement mode
void TFMini::setStandardOutputMode() {
  // Set to "standard" output mode (this is found in the debug documents)
  streamPtr->write((uint8_t)0x42);
  streamPtr->write((uint8_t)0x57);
  streamPtr->write((uint8_t)0x02);
  streamPtr->write((uint8_t)0x00);
  streamPtr->write((uint8_t)0x00);
  streamPtr->write((uint8_t)0x00);
  streamPtr->write((uint8_t)0x01);
  streamPtr->write((uint8_t)0x06);
}

// Set configuration mode
void TFMini::setConfigMode() {
  // advanced parameter configuration mode
  streamPtr->write((uint8_t)0x42);
  streamPtr->write((uint8_t)0x57);
  streamPtr->write((uint8_t)0x02);
  streamPtr->write((uint8_t)0x00);
  streamPtr->write((uint8_t)0x00);
  streamPtr->write((uint8_t)0x00);
  streamPtr->write((uint8_t)0x01);
  streamPtr->write((uint8_t)0x02);
}

// Set single scan mode (external trigger)
void TFMini::setSingleScanMode() {
  setConfigMode();
  // setting trigger source to external
  streamPtr->write((uint8_t)0x42);
  streamPtr->write((uint8_t)0x57);
  streamPtr->write((uint8_t)0x02);
  streamPtr->write((uint8_t)0x00);
  streamPtr->write((uint8_t)0x00);
  streamPtr->write((uint8_t)0x00);
  streamPtr->write((uint8_t)0x00);
  streamPtr->write((uint8_t)0x40);
}

// Send external trigger
void TFMini::externalTrigger() {
  setConfigMode();
  // send trigger
  streamPtr->write((uint8_t)0x42);
  streamPtr->write((uint8_t)0x57);
  streamPtr->write((uint8_t)0x02);
  streamPtr->write((uint8_t)0x00);
  streamPtr->write((uint8_t)0x00);
  streamPtr->write((uint8_t)0x00);
  streamPtr->write((uint8_t)0x00);
  streamPtr->write((uint8_t)0x41);
}

// Private: Handles the low-level bits of communicating with the TFMini, and detecting some communication errors.
int TFMini::takeMeasurement() {
  int numCharsRead = 0;
  uint8_t lastChar = 0x00;

  // Step 1: Read the serial stream until we see the beginning of the TF Mini header, or we timeout reading too many characters.
  while (1) {

    if (streamPtr->available()) {
      uint8_t curChar = streamPtr->read();

      if ((lastChar == 0x59) && (curChar == 0x59)) {
        // Break to begin frame
        break;

      } else {
        // We have not seen two 0x59's in a row -- store the current character and continue reading.
        lastChar = curChar;
        numCharsRead += 1;
      }
    }

    // Error detection:  If we read more than X characters without finding a frame header, then it's likely there is an issue with
    // the Serial connection, and we should timeout and throw an error.
    if (numCharsRead > TFMINI_MAXBYTESBEFOREHEADER) {
      state = ERROR_SERIAL_NOHEADER;
      distance = -1;
      strength = -1;
      if (TFMINI_DEBUGMODE == 1) Serial.println("ERROR: no header");
      return -1;
    }

  }

  // Step 2: Read one frame from the TFMini
  uint8_t frame[TFMINI_FRAME_SIZE];

  uint8_t checksum = 0x59 + 0x59;
  for (int i = 0; i < TFMINI_FRAME_SIZE; i++) {
    // Read one character
    while (!streamPtr->available()) {
      // wait for a character to become available
    }
    frame[i] = streamPtr->read();

    // Store running checksum
    if (i < TFMINI_FRAME_SIZE - 2) {
      checksum += frame[i];
    }
  }

  // Step 2A: Compare checksum
  // Last byte in the frame is an 8-bit checksum
  uint8_t checksumByte = frame[TFMINI_FRAME_SIZE - 1];
  if (checksum != checksumByte) {
    state = ERROR_SERIAL_BADCHECKSUM;
    distance = -1;
    strength = -1;
    if (TFMINI_DEBUGMODE == 1) Serial.println("ERROR: bad checksum");
    return -1;
  }


  // Step 3: Interpret frame
  uint16_t dist = (frame[1] << 8) + frame[0];
  uint16_t st = (frame[3] << 8) + frame[2];
  uint8_t reserved = frame[4];
  uint8_t originalSignalQuality = frame[5];


  // Step 4: Store values
  distance = dist;
  strength = st;
  state = MEASUREMENT_OK;

  // Return success
  return 0;
}

This code gives single trigger control of the TFMini and I am betting it will work on the new TFMini model.

zowen22 · August 4, 2019, 8:23pm

I’ll have to try that, thanks. Any idea how the code would work to set up a trigger?

Idahowalker · August 4, 2019, 8:35pm

I do declare:

#include "TFMini.h"
TFMini tfmini;

I put this in my setup

 tfmini.begin(&SerialTFMini);
  vTaskDelay( pdMS_TO_TICKS( 3 ) );
  // Initialize single measurement mode with external trigger
  tfmini.setSingleScanMode();

for single trigger.

Here is the task that uses single trigger

void fDoLIDAR( void * pvParameters )
{
  int iLIDAR_Distance = 0;
  //  int iLIDAR_Strength = 0;

  while (1)
  {
    xEventGroupWaitBits (eg, evtDoLIDAR, pdTRUE, pdTRUE, portMAX_DELAY) ;
    tfmini.externalTrigger();
    iLIDAR_Distance = tfmini.getDistance();
    if ( iLIDAR_Distance > LIDAR_Max_Distance )
    {
      Serial.print ( " TFMini distance issue " );
      Serial.println (  iLIDAR_Distance );
    }
   //    iLIDAR_Strength = tfmini.getRecentSignalStrength();
    xSemaphoreTake( sema_LIDAR_INFO, xSemaphoreTicksToWait );
    x_LIDAR_INFO.Range[x_LIDAR_INFO.CurrentCell] = iLIDAR_Distance;
    xSemaphoreGive( sema_LIDAR_INFO );
    xEventGroupSetBits( eg, evtLIDAR_ServoAspectChange );
  }
  vTaskDelete( NULL );
}

zowen22 · August 5, 2019, 2:58pm

I'm learning a ton, thanks! Getting single scan to work would be very helpful. I have replaced the .h and .cpp files.

The thing I don't quite understand is how to quite set up the trigger. I will mess around with it, but I am guessing I use some sort of value inside of tfmini.externalTrigger();

EDIT: I keep getting errors about declaring variables, I'm working on it but not too sure what most of them mean.

bigguy6 · April 21, 2021, 8:10pm

Ah! This worked. I was also getting the ERROR_SERIAL_BADCHECKSUM issue.

The only modifications I made were

at the beginning, you have an #include with nothing after it. I changed that to "#include <softwareSerial.h>
changed pinMode to pin 11 (since that's the pin I am using).

Other than that, this saved me from days of frustraion! Thanks!

system · August 19, 2021, 8:11pm

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