Benewake 9031900090, Product Manual

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TF03 UART/CAN Product Manual V1.2.2 Benewake(Beijing)Co., Ltd
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4 Communication interface and Data format
The standard version of TF03 supports UART and CAN communication interface. The default
interface is UART. If necessary, the CAN mode can be set by sending command. Two interfaces
cannot output simultaneously.
4.1
UART Interface
TF03 adopts UART interface, LVTTL level is 0~3.3V. The specific communication interface is
shown as below.
Table 4 Communication interface of UART
Item Parameter
Communication interface UART
Baud rate 115200
Data bit 8
Stop bit 1
Parity None
The output data (hexadecimal numbers) of TF03 is shown in Table 5. Each data frame
consists of 9 bytes and the data contains the distance and signal strength
1
information.
Table 5 TF03 UART data format
Data bit Definition Description
Byte0 Frame header 0x59
Byte1 Frame header 0x59
Byte2 DIST_L DIST low 8-bits
Byte3 DIST_H DIST high 8-bits
Byte4 Strength_L Signal strength low 8-bits
Byte5 Strength_H Signal strength high 8-bits
Byte6 Reserved bit /
Byte7 Reserved bit /
1
New version of TF03 adds strength information. Strength value is between 0 and 3500, threshold of strength is 40, when
strength is lower than 40, dist will output maximum value. When strength is between 40 and 1200, dist is more reliable. When
there is a high reflectivity object, strength will be over 1500.