ESP32 TOF10120 Laser Distance (Time of Flight) Sensor

Code Examples

Below you can find code examples of TOF10120 Laser Distance (Time of Flight) Sensor with ESP32 in several frameworks:

• Arduino IDE
• ESP-IDF
• ESPHome
• PlatformIO
• MicroPython

ESP32 TOF10120 Arduino IDE Code Example

Example in Arduino IDE

Fill in your main Arduino IDE sketch file with the following code to use the TOF10120 Laser Distance (Time of Flight) Sensor:

#include <Wire.h>

#define TOF10120_ADDR 0x52

void setup() {
  Serial.begin(115200);
  Wire.begin();

  Serial.println("TOF10120 Distance Sensor Example");
}

void loop() {
  uint16_t distance = getDistance();

  if (distance != 0) {
    Serial.print("Distance: ");
    Serial.print(distance);
    Serial.println(" mm");
  } else {
    Serial.println("Sensor error or no object detected.");
  }

  delay(500);
}

uint16_t getDistance() {
  Wire.beginTransmission(TOF10120_ADDR);
  Wire.write(0x00);
  Wire.endTransmission();
  
  Wire.requestFrom(TOF10120_ADDR, 2);
  if (Wire.available() == 2) {
    uint16_t distance = Wire.read() << 8 | Wire.read();
    return distance;
  }

  return 0;
}

This Arduino sketch demonstrates how to use the TOF10120 sensor with I2C communication. It begins by setting up the I2C interface using the Wire library and defines the TOF10120 I2C address (0x52). The getDistance() function sends a request to the sensor to initiate a distance measurement and then reads the resulting two-byte data. The calculated distance (in millimeters) is displayed on the Serial Monitor, with a 500 ms delay between readings.

Connect your ESP32 to your computer via a USB cable, Ensure the correct Board and Port are selected under Tools, Click the "Upload" button in the Arduino IDE to compile and upload the code to your ESP32.

ESP32 TOF10120 ESP-IDF Code Example

Example in Espressif IoT Framework (ESP-IDF)

If you're using ESP-IDF to work with the TOF10120 Laser Distance (Time of Flight) Sensor, here's how you can set it up and read data from the sensor. Fill in this code in the main ESP-IDF file:

#include <stdio.h>
#include "driver/i2c.h"
#include "esp_log.h"

#define I2C_MASTER_NUM I2C_NUM_0
#define I2C_MASTER_SDA_IO 21
#define I2C_MASTER_SCL_IO 22
#define I2C_MASTER_FREQ_HZ 100000

#define TOF10120_ADDR 0x52

static const char *TAG = "TOF10120";

void app_main() {
    i2c_config_t i2c_config = {
        .mode = I2C_MODE_MASTER,
        .sda_io_num = I2C_MASTER_SDA_IO,
        .scl_io_num = I2C_MASTER_SCL_IO,
        .sda_pullup_en = GPIO_PULLUP_ENABLE,
        .scl_pullup_en = GPIO_PULLUP_ENABLE,
        .master.clk_speed = I2C_MASTER_FREQ_HZ,
    };
    ESP_ERROR_CHECK(i2c_param_config(I2C_MASTER_NUM, &i2c_config));
    ESP_ERROR_CHECK(i2c_driver_install(I2C_MASTER_NUM, I2C_MODE_MASTER, 0, 0, 0));

    uint8_t data[2];

    while (1) {
        i2c_master_write_to_device(I2C_MASTER_NUM, TOF10120_ADDR, NULL, 0, 1000 / portTICK_PERIOD_MS);
        i2c_master_read_from_device(I2C_MASTER_NUM, TOF10120_ADDR, data, 2, 1000 / portTICK_PERIOD_MS);

        uint16_t distance = (data[0] << 8) | data[1];
        ESP_LOGI(TAG, "Distance: %d mm", distance);

        vTaskDelay(500 / portTICK_PERIOD_MS);
    }
}

The code sets up I2C communication using the ESP-IDF framework. The sensor is configured with its I2C address (0x52). A loop sends a command to read distance data from the sensor and parses the response into a 16-bit distance value (in millimeters). The distance is logged every 500 ms. Error handling ensures the loop continues if communication issues occur.

Update the I2C pins (I2C_MASTER_SDA_IO and I2C_MASTER_SCL_IO) to match your ESP32 hardware setup, Use idf.py build to compile the project, Use idf.py flash to upload the code to your ESP32.

ESP32 TOF10120 ESPHome Code Example

Example in ESPHome (Home Assistant)

Fill in this configuration in your ESPHome YAML configuration file (example.yml) to integrate the TOF10120 Laser Distance (Time of Flight) Sensor

sensor:
  - platform: tof10120
    name: "TOF10120 Distance"
    update_interval: 500ms

The ESPHome configuration uses the tof10120 platform to interface with the sensor. The name assigns a user-friendly label ('TOF10120 Distance') to the sensor data, making it identifiable in smart home platforms. The update_interval is set to 500 ms for frequent distance updates.

Upload this code to your ESP32 using the ESPHome dashboard or the esphome run command.

ESP32 TOF10120 PlatformIO Code Example

Example in PlatformIO Framework

For PlatformIO, make sure to configure the platformio.ini file with the appropriate environment and libraries, and then proceed with the code.

Configure platformio.ini

First, your platformio.ini should look like below. You might need to include some libraries as shown. Make sure to change the board to your ESP32:

[env:esp32dev]
platform = espressif32
board = esp32dev
framework = arduino
monitor_speed = 115200

ESP32 TOF10120 PlatformIO Example Code

Write this code in your PlatformIO project under the src/main.cpp file to use the TOF10120 Laser Distance (Time of Flight) Sensor:

#include <Wire.h>

#define TOF10120_ADDR 0x52

void setup() {
    Serial.begin(115200);
    Wire.begin();

    Serial.println("TOF10120 Distance Sensor Example");
}

void loop() {
    uint16_t distance = getDistance();

    if (distance != 0) {
        Serial.print("Distance: ");
        Serial.print(distance);
        Serial.println(" mm");
    } else {
        Serial.println("Sensor error or no object detected.");
    }

    delay(500);
}

uint16_t getDistance() {
    Wire.beginTransmission(TOF10120_ADDR);
    Wire.write(0x00);
    Wire.endTransmission();

    Wire.requestFrom(TOF10120_ADDR, 2);
    if (Wire.available() == 2) {
        uint16_t distance = Wire.read() << 8 | Wire.read();
        return distance;
    }

    return 0;
}

This PlatformIO code demonstrates how to interface with the TOF10120 sensor using I2C communication. The code initializes the I2C bus and continuously requests distance measurements from the sensor. The getDistance() function sends a command to the sensor and retrieves a 2-byte distance value, which is then displayed on the Serial Monitor every 500 ms. The 0x52 I2C address is used for communication. This example is compatible with Arduino-compatible ESP32 boards using the PlatformIO environment.

Upload the code to your ESP32 using the PlatformIO "Upload" button in your IDE or the pio run --target upload command.

ESP32 TOF10120 MicroPython Code Example

Example in Micro Python Framework

Fill in this script in your MicroPython main.py file (main.py) to integrate the TOF10120 Laser Distance (Time of Flight) Sensor with your ESP32.

from machine import I2C, Pin
from time import sleep

# Initialize I2C communication (SDA = GPIO21, SCL = GPIO22)
i2c = I2C(0, scl=Pin(22), sda=Pin(21))

# TOF10120 I2C Address
tof_address = 0x52

def read_distance():
    # Request distance measurement
    i2c.writeto(tof_address, b'\x00')
    data = i2c.readfrom(tof_address, 2)
    # Parse two-byte response
    distance = (data[0] << 8) | data[1]
    return distance

print("TOF10120 Distance Sensor Example")

while True:
    distance = read_distance()
    print("Distance: {} mm".format(distance))
    sleep(0.5)

The MicroPython script uses I2C communication to interact with the TOF10120 sensor. The read_distance() function sends a command to the sensor and reads a 2-byte response, converting it to a 16-bit distance value. The distance is displayed on the console every 500 ms.

Upload this code to your ESP32 using a MicroPython-compatible IDE, such as Thonny, uPyCraft, or tools like ampy.