Data Sheet

I2C commands for tinyLiDAR (cont’d)
A Autonomous mode start (available since FW: 1.3.8) 0x41…
Set tinyLiDAR to a host controller-less Single Step Ultra Low Power conversion mode. This is a new lower
power mode of the module where it will take a measurement continually at a specified cadence and stay in
the lowest power state otherwise. A trigger threshold distance must be programmed before this mode can be
started. Once an object is closer than this trigger distance, the logic output available on the board at pin 4
below will be set to “high” for a programmable duration. No I2C controller board such as an Arduino nor
Raspberry Pi is needed for operation once tinyLiDAR
is in this mode. The I2C bus will be inoperable during this
mode, however the serial TTY output port will still be running. As of FW:1.3.9, the white pin (SDA) will also go
“low” for the duration when triggered. This was done for convenience so that all connections would be
available on the 4pin Grove connector.
AZ Autonomous Mode End (updated in FW: 1.4.0)
Stops the tinyLiDAR
autonomous mode under Host control and enables the I2C port again for normal host
controller based operation. This command is provided in the Arduino Terminal GUI sketch.
U Start Ultrasonic Emulation mode (available since FW: 1.3.9) 0x55
Sets tinyLiDAR to output distance information using pulse width modulation instead of I2C. Setup tinyLiDAR to
desired measurement parameters before running this mode. The “trigger” input pin will be the yellow (SCL)
pin and the “echo” output will be on both the yellow (SCL) and white (SDA) pins. Using this mode of
operation, tinyLiDAR maybe used with any software currently using the HC-SR04 or PING))) ultrasonic
sensors. The command is provided in the Arduino Terminal GUI sketch.
UZ Ultrasonic mode End (available since FW: 1.4.0)
Stops the tinyLiDAR
autonomous mode and enables the I2C port again for normal host controller based
operation. This command is provided in the Arduino Terminal GUI sketch.
Hardware Clear Pin (available since FW: 1.4.0)
If needed for any reason, you can clear the user variables stored in the EEPROM by grounding pin 6 on the
tinyLiDAR board and then pressing the reset button. This is equivalent to the function provided with the
“RESET” command issued by the GUI Terminal sketch.
B Autonomous IoT mode start (available since FW: 1.4.1) 0x42…
Set tinyLiDAR
to a host controller-less Single Step conversion mode. Using this command, tinyLiDAR will run
continously in one of two modes…
tinyLiDAR Reference Manual rev1.26 11