Benewake TF03 LiDAR Sensor - 180m Range

/*
The Benewake TF03 LiDAR sensor can measure distances up to 180 meters. It uses UART communication to send distance and strength data. Here's an example of how to use the TF03 with an Arduino to read the distance and display it on the Serial Monitor:

To wire the TF03 LiDAR sensor, connect its 5V pin (or VIN pin) to the 5V pin on the Arduino and the GND pin to the ground. Connect the sensor's TX pin to the RX_PIN (pin 10) on the Arduino and the RX pin to the TX_PIN (pin 11) on the Arduino.

This code will continuously read the distance and signal strength from the TF03 sensor and print them on the Serial Monitor. Note that the TF03 sensor might require a logic level converter if used with a 3.3V Arduino board, as it operates at 5V logic levels.
*/

#include <SoftwareSerial.h>

const int RX_PIN = 10; // TF03 RX connected to Arduino pin 10
const int TX_PIN = 11; // TF03 TX connected to Arduino pin 11

SoftwareSerial tf03Serial(RX_PIN, TX_PIN); // Declare a SoftwareSerial object

void setup() {
  Serial.begin(9600);
  tf03Serial.begin(115200); // TF03 default baud rate is 115200

  delay(500); // Wait for the sensor to initialize
}

void loop() {
  int distance = -1;
  int strength = -1;

  if (readTF03Data(distance, strength)) {
    Serial.print("Distance: ");
    Serial.print(distance);
    Serial.print(" cm, Strength: ");
    Serial.println(strength);
  } else {
    Serial.println("Failed to read data from TF03");
  }

  delay(500); // Wait 500ms between readings
}

bool readTF03Data(int &distance, int &strength) {
  const int FRAME_SIZE = 9;
  byte frame[FRAME_SIZE];

  // Look for the start of a valid frame
  while (tf03Serial.available()) {
    if (tf03Serial.read() == 0x59) {
      if (tf03Serial.available() && tf03Serial.read() == 0x59) {
        // Read the rest of the frame
        tf03Serial.readBytes(frame, FRAME_SIZE);

        // Calculate checksum
        byte checksum = 0x59 + 0x59;
        for (int i = 0; i < 8; i++) {
          checksum += frame[i];
        }

        // Check if checksum matches
        if (checksum == frame[8]) {
          distance = frame[0] | (frame[1] << 8);
          strength = frame[2] | (frame[3] << 8);
          return true;
        }
      }
    }
  }

  return false;
}