Grove - TF Mini LiDAR

This product is based on ToF (Time of Flight) principle and integrated with unique optical and electrical designs, so as to achieve stable, precise, high sensitivity and high-speed distance detection.

ToF is the abbreviation of Time of Flight technology, and its operating principle is as follows: a modulated near-infrared light is sent from the sensor and reflected by an object; the distance to the object to be shot can be converted with the sensor by calculating the time difference or phase difference between the light sending and the light reflection, so as to produce the depth information.

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Prevent dust or any other foreign matter from entering the lens; otherwise it may affect the light transmission.


Product Version Changes Released Date
Grove-TF Mini LiDAR V1.0 Initial Nov 2017


Product Name TFmini
Operating range 0.3m-12m
Maximum operating range at 10% reflectivity 5m
Average power consumption 0.6W
Applicable voltage range 4.5V-6V
Acceptance angle 2.3°
Minimum resolution ratio 1cm
Frequency 100Hz
Accuracy 1% (less than 6m), 2% (6m-12m)
Distance detection unit cm
Wavelength 850nm
Size 42mm×15mm×16mm
Operating temperature -20℃-60℃
Light sensitivity 70,000lux
Weight 4.7g
Communication interface UART 115200
LED peak current 800ma
Serial port TTL voltage level 3.3V
Electromagnetic Compatibility(EMC) EN 55032 Class B


More details about Grove modules please refer to Grove System

Platforms Supported

Arduino Raspberry Pi


The platforms mentioned above as supported is/are an indication of the module's software or theoritical compatibility. We only provide software library or code examples for Arduino platform in most cases. It is not possible to provide software library / demo code for all possible MCU platforms. Hence, users have to write their own software library.

Getting Started

Play With Arduino


  • Step 1. Prepare the below stuffs:
Seeeduino V4.2 Base Shield Grove-TF Mini LiDAR
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  • Step 2. Connect Grove-TF-Mini-LiDAR to D2 port of Base Shield and connect Seeeduino to PC through a USB cable.

  • Step 3. Download the Demo code and copy the whole Seeed_Arduino_TFlidar file and paste it into your Arduino IDE library file.


  • Step 1. The Grove-TF Mini LiDAR is a hexadecimal output data. Each frame data is encoded with 9 bytes, including 1 distance data (Dist). Each distance data has corresponding signal strength information (Strength). The frame end is the data parity bit.
Byte Data encoding interpretation
Byte1 0x59, frame header, all frames are the same
Byte2 0x59, frame header, all frames are the same
Byte3 Dist_L distance value is a low 8-bit.
Byte4 Dist_H distance value is a high 8-bit.
Byte5 Strength_L is a low 8-bit.
Byte6 Strength_H is a high 8-bit.
Byte7 Integration time.
Byte8 Reserved bytes.
Byte9 Checksum parity.
  • Step 2. Copy the code into Arduino IDE and upload.
#include "TFLidar.h"

// #define USETFLUNA

#define SERIAL Serial

#if defined(SEEED_XIAO_M0)
    #define uart  Serial1
#elif defined(SEEED_WIO_TERMINAL)
    #define uart  Serial1
    SoftwareSerial uart(2, 3);

TFLuna SeeedTFLuna;
TFLidar SeeedTFLidar(&SeeedTFLuna);

TFMini SeeedTFMini;
TFLidar SeeedTFLidar(&SeeedTFMini);

void setup() {
  // put your setup code here, to run once:

void loop() {
  // put your main code here, to run repeatedly:
  SERIAL.print("dist = ");
  SERIAL.print(SeeedTFLidar.get_distance()); //output measure distance value of LiDAR
  SERIAL.print("strength = ");
  SERIAL.print(SeeedTFLidar.get_strength()); //output signal strength value
  SERIAL.print("\t Chip Temprature = ");
  SERIAL.print(" celcius degree"); //output chip temperature of Lidar
  SERIAL.println(" ");
  // delay(1000);
  • Step 3. We will see the distance display on terminal. The blue curve is the distance and the red is Strength.


You could delete Line 41 to Line 43 of the demo code if only the Distance is required:

SERIAL.print("strength = ");
SERIAL.print(SeeedTFLidar.get_strength()); //output signal strength value

Play With Wio Terminal


Wio Terminal Grove-TF-Mini-LiDAR Jumper
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Hardware Connection




Please refer to the pinout instruction above before you starting to connect Wio Terminal with Jumpers.

Step 1 Plug Grove-TF-Mini-LiDAR to Wio Terminal via Jumpers and also connect Wio Terminal to PC through a USB cable.

Step 2 Download the Demo code and copy the whole Seeed_Arduino_Linechart file and paste it into your Arduino IDE library file.

Step 3 Copy the demo code into your Arduino IDE.


#include"seeed_line_chart.h" //include the library
#include "TFLidar.h"
#define LINE_DIS 0X00
#define STRING_DIS 0X01
TFMini SeeedTFMini;
TFLidar SeeedTFLidar(&SeeedTFMini);
#define uart  Serial1

TFT_eSPI tft;

#define max_size 10 //maximum size of data
doubles data; //Initilising a doubles type to store data
TFT_eSprite spr = TFT_eSprite(&tft);  // Sprite 

void setup() {
uint8_t mode = LINE_DIS;
void loop() {

    if (digitalRead(WIO_KEY_C) == LOW) {
        mode ++;
        if(mode > STRING_DIS ) mode = LINE_DIS;

uint16_t get_Lidar_data()
    return SeeedTFLidar.get_distance();

void display(uint16_t lidar_data,uint8_t mode){

    //Settings for the line graph title
    auto header =  text(0, 0)
                .value("Lidar Terminal")
    header.height(header.font_height() * 2);
    header.draw(); //Header height is the twice the height of the font
    if (LINE_DIS == mode){
        if (data.size() == max_size) {
            data.pop();//this is used to remove the first read variable
        data.push(lidar_data); //read variables and store in data
    //Settings for the line graph
        auto content = line_chart(10, header.height()); //(x,y) where the line graph begins
                    .height(tft.height() - header.height() * 1.5) //actual height of the line chart
                    .width(tft.width() - content.x() * 2) //actual width of the line chart
                    .based_on(0.0) //Starting point of y-axis, must be a float
                    .show_circle(false) //drawing a cirle at each point, default is on.
                    .value(data) //passing through the data to line graph
                    .color(TFT_RED) //Setting the color for the line
    else if (STRING_DIS == mode){
        for(int8_t line_index = 0;line_index < 5 ; line_index++)
            spr.drawLine(0, 50 + line_index, tft.width(), 50 + line_index, TFT_GREEN);
        auto header =  text(0, 0)
        spr.drawFloat(lidar_data / 100.00,2,80,110);
        spr.drawString(" M",80 + 90,110,1);

    spr.pushSprite(0, 0);



An image will display on the screen of Wio terminal as below if everything goes well.


Tech Support

Please submit any technical issue into our forum.