A simple and clean Arduino driver for the TFS20-L single-point LiDAR module using UART communication.
This project is tested on Arduino Uno R4 and focuses on reliability, readability, and ease of integration.

• UART communication at 115200 baud
• Compatible with Arduino Uno R4
• Frame-based data parsing
• Checksum verification
• Signal strength validation
• Modular structure (.h / .cpp / .ino)
• No external libraries required

TFS20-L is a miniaturized single-point LiDAR module based on direct Time of Flight (dToF) technology.

It emits a pulsed laser signal and measures distance by calculating the time difference between transmitted and reflected signals using the speed of light.

1. VCSEL laser emits a pulse
2. Pulse reflects from the target
3. SPAD detector receives the echo
4. Time difference is measured
5. Distance is calculated

• Detection Range

  • 0.2–20 m @ 90% reflectivity, 0 Klux
  • 0.2–15 m @ 90% reflectivity, 100 Klux
  • 0.2–12 m @ 10% reflectivity, 0 Klux
  • 0.2–9 m @ 10% reflectivity, 100 Klux

• Accuracy

  • ±6 cm (0.2–6 m)
  • 1% (≥6 m)

• Repeatability

  • 2 cm (0.2–6 m) @ 1σ

• Frame Rate

  • 0 / 20 / 50 / 100 (default) / 250 Hz

• Ambient Light Resistance

  • Up to 100 KLux

• Light Source: VCSEL
• Wavelength: 905 nm
• Field of View: < 2°
• Eye Safety: Class 1 (EN60825)

• Average Power Consumption: ≤ 0.43 W
• Peak Current: 130 mA @ 3.3 V
• Power Supply: DC 3.3 V ±9%
• Communication Level: LVTTL (3.3 V)
• Interfaces: UART / I²C
• Operating Temperature: -20 °C to +60 °C
• Storage Temperature: -20 °C to +85 °C
• Dimensions: 21.0 × 15 × 7.87 mm
• Weight: 1.35 g
• Connector: 0.8 mm, 6-pin (WF08006-01207)

⚠️ Important: TFS20-L is a 3.3V device. Do NOT connect to 5V.

The module continuously outputs a 9-byte frame:

• Header must be 0x59 0x59
• Checksum must be valid
• Signal Strength:
  • ❌ Invalid if < 100
  • ❌ Invalid if >= 65535

Distance: 135 cm | Strength: 482 | Temp raw: 2310

TFS20-L/ ├── TFS20.ino ├── TFS20.h └── TFS20.cpp

1. Clone the repository
2. Open TFS20.ino in Arduino IDE
3. Select Arduino Uno R4
4. Upload the code
5. Open Serial Monitor at 115200 baud

• Accuracy depends on temperature, reflectivity, and ambient light
• Peak current may reach 130 mA — ensure power stability
• This project currently supports UART mode

MIT License © 2024 EiCUT

• Benewake (Beijing) Co., Ltd.
• TFS20-L Hardware Documentation

Happy hacking! 🚀