First two Bytes are frame header having a value of hex 0x59 (character 'Y'). The chart provided in the data-sheet gives us the 'breakdown' of 9-Byte UART message. Even though RPi runs the same version of Python but there is a slight change in syntax as RPi does not accept data other than binary. To receive data, you need to forward the certain command to TFmini LiDAR (part of initialization process). The code can be divided into two parts, writing and receiving. Ser = serial.Serial('/dev/ttyUSB1',115200,timeout = 1) #Raspberry Pi The code can be divided into three parts:Īfter importing necessary header files, we estabilish connection to our TFmini LiDAR by stating its COM port, Baud-rate and connection timeout ser = serial.Serial('COM7',115200,timeout = 1) #PC Python programming for Raspberry Pi (optional).C/C++ programming for Arduino (optional).Reading schematics and connection diagrams.Hand tools like wire cutters and strippers.This instructable requires that you are familiar with the following: Communication Protocol: UART (Baud rate: 115200).The built-in algorithm adapted to indoor and outdoor environments can guarantee an excellent ranging performance at a low cost and in a tiny volume, which highly expands the application fields and scenarios of LiDAR and lays a solid foundation for future “eyes” in the smart era. The product possesses three major advantages: low cost, tiny volume and low power consumption. The Benewake TFMINI Micro LIDAR Module has its unique optical, structural, and electronic designs.

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