TFMini - Micro LiDAR Module (Qwiic) Hookup Guide

Contributors: bboyho
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SparkFun Qwiic Logo

Heads up! This tutorial is for the Qwiic enabled TFMini. Serial data is output via I2C. If you are using the TFMini that outputs serial data via UART [ SEN-14588 ], please refer to the TFMini - Micro LiDAR Module Hookup Guide.

The TFMini is a ToF (Time of Flight) LiDAR sensor capable of measuring the distance to an object as close as 30 cm and as far as 12 meters! The TFMini allows you to integrate LiDAR into applications traditionally reserved for smaller sensors such as the SHARP GP-series infrared rangefinders. With the added Qwiic feature, you can quickly connect to the sensor via I2C! In this tutorial, you will learn how to connect to the TFMini using an Arduino microcontroller with the Qwiic system.

TFMini - Micro LiDAR Module (Qwiic)

TFMini - Micro LiDAR Module (Qwiic)


Required Materials

To follow along with this tutorial, you will need the following materials. You may not need everything though depending on what you have. Add it to your cart, read through the guide, and adjust the cart as necessary.

Arduino Pro Mini 328 - 3.3V/8MHz

Arduino Pro Mini 328 - 3.3V/8MHz

SparkFun Beefy 3 - FTDI Basic Breakout

SparkFun Beefy 3 - FTDI Basic Breakout

Break Away Headers - Straight

Break Away Headers - Straight

USB micro-B Cable - 6 Foot

USB micro-B Cable - 6 Foot

Qwiic Cable - Breadboard Jumper (4-pin)

Qwiic Cable - Breadboard Jumper (4-pin)

SparkFun Qwiic Adapter

SparkFun Qwiic Adapter

Tip: You could also use RedBoard Qwiic. It's basically a RedBoard with additional features. The board includes the same AP2112K 3.3V voltage regulator that is populated on the Beefy 3 and Qwiic connector on the board. This would reduce the amount of components and time soldering headers to the board. Additionally, a USB port can provide up to about 500mA so the TFMini may want to pull more power when auto ranging for longer distances.

SparkFun RedBoard Qwiic

SparkFun RedBoard Qwiic



Depending on your setup, you will need a soldering iron, solder, and general soldering accessories.

Solder Lead Free - 100-gram Spool

Solder Lead Free - 100-gram Spool

Weller WLC100 Soldering Station

Weller WLC100 Soldering Station


Suggested Reading

If you aren't familiar with the Qwiic system, we recommend reading here for an overview.

Qwiic Connect System
Qwiic Connect System

We would also recommend taking a look at the following tutorials if you aren't familiar with them.

Logic Levels

Learn the difference between 3.3V and 5V devices and logic levels.


An introduction to I2C, one of the main embedded communications protocols in use today.

Using the Arduino Pro Mini 3.3V

This tutorial is your guide to all things Arduino Pro Mini. It explains what it is, what it's not, and how to get started using it.

Hardware Overview

The sensor works by sending a modulated near-infrared light out. The light that is reflected from the object returns to the sensor's receiver. The distance between the two can be converted using the sensor by calculating the time and phase difference. The distance measured may vary depending on the environment and the reflectivity of object.

Input Power

According to the datasheet (pg 1), the input voltage is 5V. In this tutorial, we will be using the included boost converter by applying a 3.3V input voltage from the Qwiic side to boost power to 5V on the TFMini side.

Benewake TFMini Boost Converter

Logic Levels

While the sensor can be powered at 5V, the I2C pins are only 3.3V logic. Make sure to use a logic level converter when reading the sensor with a 5V microcontroller.


There is a marking next to the polarized connector to indicate the polarity as "J1" as indicated in the image below. This is useful when referencing sensor's pinout. As opposed to the original TFMini, the green and white wires for the Qwiic enabled TFMini uses an I2C serial. The default address of the TFMini is 0x10.

TFMini Pinout

Pin Number Wire Color Qwiic TFMini Pinout Wire Color
1 Green SCL (3.3V TTL) Yellow
2 White SDA (3.3V TTL) Blue
3 Red 5V Red
4 Black GND Black

Hardware Hookup

If you haven't yet assembled your 3.3V Pro Mini, now would be the time to head on over to that tutorial to solder the header pins. Once soldered, connect the power and I2C pins between the Arduino Pro Mini 3.3V/8MHz and Qwiic adapter.

Arduino Pins Qwiic Adapter Pins Wire Color
A5 (SCL) SCL (3.3V TTL) Yellow
A4 (SDA) SDA (3.3V TTL) Blue
3.3V 3.3V Red

Then connect the Qwiic cable that was included in the Power Input side between the Qwiic adapter and the boost circuit. On the other side, insert the second cable that was included in the Power Output side between from the boost circuit to the TFMini. The connectors are different on each side of the boost converter so it should not be Finally, power the circuit up with a micro-B USB cable and the Beefy 3. The connection should look like the image below.

Qwiic Enabled TFMini with Beefy 3 and 3.3V Arduino Pro Mini

Tip: Looking to reduce the number of components? Try using the SparkX BlackBoard or RedBoard Qwiic is an alternative to connecting to the Qwiic enabled TFMini. The trade off is that the BlackBoard is larger than the Arduino Pro Mini.

SparkX Hookup

Example Code

Note: This example assumes you are using the latest version of the Arduino IDE on your desktop. If this is your first time using Arduino, please review our tutorial on installing the Arduino IDE.

Grab a micro-B USB cable and connect the Arduino to your computer. Copy, paste, and upload the code below. Make sure to use the correct COM port and board selection.

  Written in collaboration by Nate Seidle and Benewake

  Example sketch for the Qwiic Enabled TFMini

#include <Wire.h>

uint16_t distance = 0; //distance
uint16_t strength = 0; // signal strength
uint8_t rangeType = 0; //range scale
/*Value range:
 00 (short distance)
 03 (intermediate distance)
 07 (long distance) */

boolean valid_data = false; //ignore invalid ranging data

const byte sensor1 = 0x10; //TFMini I2C Address

void setup()

  Serial.println("TFMini I2C Test");

void loop()
  if (readDistance(sensor1) == true)
    if (valid_data == true) {
    else {
      //don't print invalid data
  else {
    Serial.println("Read fail");
  delay(50); //Delay small amount between readings

//Write two bytes to a spot
boolean readDistance(uint8_t deviceAddress)
  Wire.write(0x01); //MSB
  Wire.write(0x02); //LSB
  Wire.write(7); //Data length: 7 bytes for distance data
  if (Wire.endTransmission(false) != 0) {
    return (false); //Sensor did not ACK
  Wire.requestFrom(deviceAddress, (uint8_t)7); //Ask for 7 bytes

  if (Wire.available())
    for (uint8_t x = 0 ; x < 7 ; x++)
      uint8_t incoming =;

      if (x == 0)
        //Trigger done
        if (incoming == 0x00)
          //Serial.print("Data not valid: ");//for debugging
          valid_data = false;
        else if (incoming == 0x01)
          Serial.print("Data valid:     ");
          valid_data = true;
      else if (x == 2)
        distance = incoming; //LSB of the distance value "Dist_L"
      else if (x == 3)
        distance |= incoming << 8; //MSB of the distance value "Dist_H"
      else if (x == 4)
        strength = incoming; //LSB of signal strength value
      else if (x == 5)
        strength |= incoming << 8; //MSB of signal strength value
      else if (x == 6)
        rangeType = incoming; //range scale
    Serial.println("No wire data avail");
    return (false);

  return (true);

Once uploaded, try moving an object in front of the sensor to test. In the example below, a third hand was used to hold the TFMini when detecting an object at a certain distance away from the sensor. Since the sensor is not able to detect an object when less than 11.8 inches (or 30cm = 0.3m) away, the object under test was placed at 20 inches and 30 inches.

Qwiic Enabled TFMini Reading an Object at 20 Inches Qwiic Enabled TFMini Reading an Object at 30 Inches

Opening the serial monitor at 115200, you may see an output similar to the values printed below. Using a yard stick, the values responded as expected when moving an object between 30 inches and 20 inches. The Qwiic enabled TFMini indicated that the object was at an "intermediate distance".

TFMini I2C Test
Data valid:         Dist[72]    strength[274]   mode[3]
Data valid:         Dist[72]    strength[275]   mode[3]
Data valid:         Dist[73]    strength[267]   mode[3]
Data valid:         Dist[72]    strength[265]   mode[3]
Data valid:         Dist[71]    strength[275]   mode[3]
Data valid:         Dist[70]    strength[284]   mode[3]
Data valid:         Dist[68]    strength[305]   mode[3]
Data valid:         Dist[67]    strength[311]   mode[3]
Data valid:         Dist[65]    strength[329]   mode[3]
Data valid:         Dist[65]    strength[335]   mode[3]
Data valid:         Dist[65]    strength[341]   mode[3]
Data valid:         Dist[65]    strength[361]   mode[3]
Data valid:         Dist[64]    strength[367]   mode[3]
Data valid:         Dist[64]    strength[383]   mode[3]
Data valid:         Dist[64]    strength[387]   mode[3]
Data valid:         Dist[64]    strength[386]   mode[3]
Data valid:         Dist[64]    strength[385]   mode[3]
Data valid:         Dist[64]    strength[384]   mode[3]
Data valid:         Dist[64]    strength[386]   mode[3]
Data valid:         Dist[64]    strength[394]   mode[3]
Data valid:         Dist[64]    strength[398]   mode[3]
Data valid:         Dist[64]    strength[400]   mode[3]
Data valid:         Dist[64]    strength[402]   mode[3]

Resources and Going Further

Now that you've successfully got your Quick enabled TFMini up and running, it's time to incorporate it into your own project! For more on the TFMini, check out the links below:

Need some inspiration for your next project? Check out some of these related tutorials:

VL6180 Hookup Guide

Get started with your VL6180 based sensor or the VL6180 breakout board.

Building an Autonomous Vehicle: The Batmobile

Documenting a six-month project to race autonomous Power Wheels at the SparkFun Autonomous Vehicle Competition (AVC) in 2016.

LIDAR-Lite v3 Hookup Guide

A tutorial for connecting the Garmin LIDAR-Lite v3 or the LIDAR-Lite v3HP to an Arduino to measure distance.

Qwiic Distance Sensor (RFD77402) Hookup Guide

The RFD77402 uses an infrared VCSEL (Vertical Cavity Surface Emitting Laser) TOF (Time of Flight) module capable of millimeter precision distance readings up to 2 meters. It’s also part of SparkFun’s Qwiic system, so you won’t have to do any soldering to figure out how far away things are.

Or check out this related blog post for ideas.