TF02 Operating Manual V
1.1
Benewake (Beijing)
Co., Ltd.
Page8
bytes and the data contains the measured distance information, namely, DIST; the signal strength
information, namely, STRENGTH; the signal credibility information, namely is, SIG; the frame tail acts as
a data checksum bit.
Table 3 TF02 serial 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 high8-bits
Byte4
STRENGTH_L
STRENGTH low 8-bits
Byte5
STRENGTH_H
STRENGTH high 8-bits
Byte6
SIG
The byte means the data credibility, which is divided into 8
levels, represented by 0x01-0x08 respectively; when the
credibility is 7 or 8, it indicates that the data is credible; when the
credibility is any other numerical value, the data is incredible.
Byte7
Reserved bit
0x00
Byte8
Checksum
Low 8 bits of Checksum bit, Checksum = Byte0 + Byte2 + ... +
Byte7, Checksum are the low 8 bits of the checksum of former 8
bytes
2) Pixhawk serial data format
The Pixhawk data format refers that the unit of the output string is M(meter). For example, if the ranging
distance is 1.21meters, then it will output the string 1.21 and each distance value ends with a symbol of line
break. The serial port products can support to be modified with Pixhawk format output via host computers
or commands.
Note: If the TF02 output distance is 22(m), it indicates outrange or insufficient signal strength; this distance
is not reliable and should be cancelled.
4.2
CAN bus version
The CAN communication protocol of TF02 can be customized according to customers’ needs and the CAN
