Benewake TF02-Pro-W, Product Manual

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北醒（北京）光子科技有限公司
Page8
SJ-PM-TF02-Pro-W A00 Product Manual
4 Communication Protocol and Data Formats
4.1
Serial port Communication Protocol
TF02-Pro-W adopts the serial port data communication protocol, as given in Table 3.
Table 3
Data Communication Protocol
Communication interfce UART
Default baud rate 115200
Data bit 8
Stop bit 1
Parity check None
4.2
Data Output Format of Serial port
Data structure: each data frame contains 9 bytes, including the distance value, signal
strength, temperature of chip and data check byte (Checksum), etc. Temp represents the chip
temperature, degree centigrade = Temp / 8 -256. Data format is hexadecimal (HEX). Data codes
are detailed in Table 4.
Table 4 Data Format and Code Explanation
Byte0 -1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8
0x59 59 Dist_L Dist_H Strength_L Strength_H Temp_L Temp_H Checksum
Data code explanation
Byte0 0x59, frame header, same for each frame
Byte1 0x59, frame header, same for each frame
Byte2 Dist_L distance value low 8 bits
Byte3 Dist_H distance value high 8 bits
Byte4 Strength_L low 8 bits
Byte5 Strength_H high 8 bits
Byte6
Temp low 8 bits
Byte7 Temp high 8 bits
Byte8 Checksum is the lower 8 bits of the cumulative sum of the number of the first 8 bytes