diff --git a/bbn_m5atomS3_lite_dlight/bbn_m5atomS3_lite_TFminiS_range_lidar/bbn_m5atomS3_lite_TFminiS_range_lidar.ino b/bbn_m5atomS3_lite_dlight/bbn_m5atomS3_lite_TFminiS_range_lidar/bbn_m5atomS3_lite_TFminiS_range_lidar.ino
new file mode 100644
index 0000000..362b126
--- /dev/null
+++ b/bbn_m5atomS3_lite_dlight/bbn_m5atomS3_lite_TFminiS_range_lidar/bbn_m5atomS3_lite_TFminiS_range_lidar.ino
@@ -0,0 +1,106 @@
+#include <M5AtomS3.h>
+#include "NmeaXDR.h"
+
+/*
+  Benewake TFmini-S UART LiDAR to NMEA-0183 XDR
+*/
+
+// UART pins when Lidar is plugged into port C of ATOMIC PortABC Extension Base
+#define RXD2 G6     // Green on the Lidar
+#define TXD2 G5     // White on the Lidar
+
+// UART pins when Lidar is plugged directly into grove port of M5 AtomS3-lite
+//#define RXD2 G1   // Green on the Lidar
+//#define TXD2 G2   // White on the Lidar
+
+// Other esp32 Lidar wiring pins
+//#define RXD2 G16  // Green on the Lidar
+//#define TXD2 G17  // White on the Lidar
+
+
+int i;
+unsigned char check;
+int dist;                    // actual distance measurements of LiDAR
+unsigned char uart[9];       // save data measured by LiDAR
+const int HEADER = 0x59;     // frame header of data package
+int rec_debug_state = 0x01;  // receive state for frame
+
+const long report_interval = 500;  // interval at which to update (milliseconds)
+unsigned long previousMillis = 0UL;
+
+void setup() {
+  auto cfg = M5.config();
+  AtomS3.begin(cfg);
+  Serial.begin(4800);
+  Serial2.begin(115200, SERIAL_8N1, RXD2, TXD2);
+}
+
+void loop() {
+  unsigned long currentMillis = millis();
+  if (currentMillis - previousMillis >= report_interval) {
+    previousMillis = currentMillis;
+    Get_Lidar_data();
+  }
+}
+
+void Get_Lidar_data() {
+  if (Serial2.available()) {
+    if (rec_debug_state == 0x01) {
+      uart[0] = Serial2.read();
+      if (uart[0] == 0x59) {
+        check = uart[0];
+        rec_debug_state = 0x02;
+      }
+    } else if (rec_debug_state == 0x02) {
+      uart[1] = Serial2.read();
+      if (uart[1] == 0x59) {
+        check += uart[1];
+        rec_debug_state = 0x03;
+      } else {
+        rec_debug_state = 0x01;
+      }
+    } else if (rec_debug_state == 0x03) {
+      uart[2] = Serial2.read();
+      check += uart[2];
+      rec_debug_state = 0x04;
+    } else if (rec_debug_state == 0x04) {
+      uart[3] = Serial2.read();
+      check += uart[3];
+      rec_debug_state = 0x05;
+    } else if (rec_debug_state == 0x05) {
+      uart[4] = Serial2.read();
+      check += uart[4];
+      rec_debug_state = 0x06;
+    } else if (rec_debug_state == 0x06) {
+      uart[5] = Serial2.read();
+      check += uart[5];
+      rec_debug_state = 0x07;
+    } else if (rec_debug_state == 0x07) {
+      uart[6] = Serial2.read();
+      check += uart[6];
+      rec_debug_state = 0x08;
+    } else if (rec_debug_state == 0x08) {
+      uart[7] = Serial2.read();
+      check += uart[7];
+      rec_debug_state = 0x09;
+    } else if (rec_debug_state == 0x09) {
+      uart[8] = Serial2.read();
+      if (uart[8] == check) {
+        dist = uart[2] + uart[3] * 256;       // the distance in cm
+        int percent = 0;
+
+        if (dist <= 200) {                    // dist in cm, so 200 cm = 2 meters
+          percent = (200 - dist) * 100 / 200; // calculate percentage
+        }
+
+        gen_nmea0183_xdr("$BBXDR,D,%.2f,M,RANGE_TFminiS", dist / 100.0);
+
+        while (Serial2.available()) {
+          Serial2.read();
+        } // Clear serial buffer
+        delay(100);
+      }
+      rec_debug_state = 0x01;
+    }
+  }
+}