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SF000 LiDAR Sensor

Product guide

I2C interface

Overview

We suggest using the pre-built APIs for communicating with the SF000/B where possible.

The SF000/B uses a packet based binary protocol which can be accessed over the serial and I2C interfaces. All

higher level APIs (C, Python, JavaScript) use this protocol to function.

If you require more control than the existing APIs oﬀer, or need to port the protocol to a diﬀerent platform, then

you can use the information here to build a compatible system.

The SF000/B will always be the slave on the I2C interface. Therefore data will only be transmitted when requested

by the master.

Streaming data is only available through the Serial interface.

Requests are made using one of the available

. When a read request is issued then the response will

contain the requested data. When a write request is issued then there is no response generated.

Default I2C interface properties

●

Address: 0x66

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SF000 microLiDAR™ sensor - Product guide(Rev 5) | © LightWare Optoelectronics (Pty) Ltd, 2021 |

www.lightwarelidar.com

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Summary of Contents for SF000

Page 1: ...at the reader s own risk and whilst every effort has been made to ensure its validity neither LightWare Optoelectronics Pty Ltd nor its representatives make any warranties with respect to the accuracy of the information contained herein 1 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2021 www lightwarelidar com ...

Page 2: ...lly immune to background light wind and noise making it an ideal sensor to detect unexpected obstacles The SF000 B can take up to 388 readings per second and the configurable features and multiple hardware interfaces make the SF000 B easy to connect with different types of controllers Product support This document supports the following devices Product Hardware Firmware Supported SF000 B 1 1 2 0 Y...

Page 3: ...7 Parameters 18 Firmware change log 20 Upgrading firmware 20 1 2 0 20 Safety maintenance 21 Safety overview 21 Laser eye safety 21 Electrical safety 22 Mechanical safety 22 Laser radiation information 23 Service maintenance 23 Cleaning 23 Serial interface 24 Overview 24 Packets 25 Checksum 25 Receiving packets 27 Handling request response 28 I2C interface 29 Overview 29 Command list 30 Command des...

Page 4: ...38 50 Laser firing 39 57 Temperature 39 66 Update Rate 40 74 Noise 41 75 Zero offset 41 76 Lost signal counter 41 79 Baud rate 42 80 I2C address 43 82 Median filter enable 43 83 Median filter size 44 84 Smoothing filter enable 44 85 Smoothing factor 45 93 Rolling average enable 45 94 Rolling average size 46 Document revision 47 4 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelec...

Page 5: ... mm Beam divergence 1 Environmental Operating temperature 10 40 C Shipping Temperature 40 80 C Approvals FDA 1710193 000 2020 09 Enclosure rating N A Accessories Main cable Digikey 455 3238 ND Breakout board SKU ACC BOB 000 USB adaptor SKU ACC USB 000 Default settings Serial port settings 115200 baud 8 data bits 1 stop bit no parity no handshaking I2C address 0x66 Hex 102 Dec Update rate 40 readin...

Page 6: ... version of LightWare Studio if you are upgrading Insert the communication cable into the SF000 B and a serial to USB adaptor You will need a serial to USB adaptor to connect the SF000 B to a computer Any serial TTL 3 3 V USB adaptor will work this guide uses one available from LightWare LLC here SF000 B being connected to a USB adaptor Insert the USB adaptor into your computer The power LED on th...

Page 7: ... You will be presented with a home screen that shows devices connected to your computer Your USB adaptor will be recognized and displayed here LightWare Studio device connection screen You can register your device by clicking on the Register to receive firmware update notifications banner 7 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2021 www lightwarelidar ...

Page 8: ...the left panel It is recommended to make sure your SF000 B has the latest firmware You can see the changes that have been made to each version and the option of downgrading is also available If you choose to upgrade then click the Install button and follow the instructions LightWare Studio device upgrade screen 8 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2...

Page 9: ... shows you distance readings gathered by the SF000 B Feel free to point the SF000 B at various surfaces to measure their distances LightWare Studio SF000 B scanning screen 9 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2021 www lightwarelidar com ...

Page 10: ... parameters do and how they affect the operation of the SF000 B see the operating concepts section What s next The next step is to integrate the SF000 B into your platform of choice Please follow one of the integration guides or consult the communication protocol reference for building your own system to interact with the SF000 B 10 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoe...

Page 11: ... 1 x SF000 B MicroLiDAR unit 1 x SF000 B mounting bracket 2 x Communication cable Digikey 455 3238 ND 5 x M3 x 12 SS Cap Screw 5 x M3 SS Hex Nut 5 x M3 SS Washer 11 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2021 www lightwarelidar com ...

Page 12: ...sor Product guide Hardware Dimensions SF000 B dimensions Components SF000 B view from above and below 12 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2021 www lightwarelidar com ...

Page 13: ...r lenses SF000 B optical assembly Heatsink EMI shield The shield lowers EMI radiation entering or leaving the SF000 B It also acts as a heatsink to draw heat away from the SF000 B SF000 B shield 13 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2021 www lightwarelidar com ...

Page 14: ...data line must be used with pin 4 3 TXD SCL TXD when using Serial SCL when using I2C 4 RXD SDA RXD when using Serial SDA when using I2C 5 GND 6 5 V 4 5 V 5 5 V 100 mA typical Please note that when connecting to the device using I2C both pins 2 and 4 need to be used together as the SDA line 14 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2021 www lightwarelida...

Page 15: ...rientations The SF000 B can be mounted in a downward facing orientation for altimetry terrain following or precision landing applications For terrain following install the LiDar sensor at an angle to reduce lag time in reaction The angle depends on the speed traveled and the overall system lag but should be between 20 and 45 degrees The SF000 B can be mounted forward facing orientation for sense a...

Page 16: ... sure the SF000 B is securely mounted to prevent false readings or damage Allow for proper ventilation Secure the communication cable to prevent it from pulling on the connector Ensure that nothing is in the path of the laser beam Ensure that no shiny or highly reflective surfaces are near the path of the beam 16 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2...

Page 17: ...controller with the serial or I2C interface The serial port 3 3 V logic level 5 V tolerant has a configurable baud rate The I2C serial bus 3 3 V logic level and 3 3 k pull up resistors 5 V tolerant has a configurable address and is an alternative to the serial port when multiple devices are connected on a common bus LightWare Studio showing measurements from the SF000 B 17 of 47 SF000 microLiDAR s...

Page 18: ...e adjusted with LightWare Studio or from the platform of your choice through the serial or I2C communication interfaces LightWare Studio parameters screen 18 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2021 www lightwarelidar com ...

Page 19: ...hold The number of failed measurements before a loss of signal is reported Enable median filter The median filter is used to disregard short unwanted measurements Median filter size Determines response time of median filter Enable rolling average filter The rolling average filter averages over a specified number of distance measurements Rolling average size The number of distance measurements to u...

Page 20: ...ed by using LightWare Studio Download LightWare Studio here Follow the Quick start with LightWare Studio guide for details on downloading and using LightWare Studio 1 2 0 Notes Initial release 20 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2021 www lightwarelidar com ...

Page 21: ...t LightWare LLC s refund policy for Return Merchandise Authorization RMA details or contact support lightwarelidar com Laser eye safety The SF000 B emits ionizing laser radiation The level of the laser emission is Class 1M which indicates that the laser beam is safe to look at with the unaided eye but must not be viewed using binoculars or other optical devices Notwithstanding the safety rating av...

Page 22: ...d in the technical specifications section Keep the device free of moisture as this device is not IP rated The electrical wiring layout of this device is provided in the hardware section Mechanical safety Ensure that there is adequate airflow permitted for the sensor The mechanical dimensions for mounting the SF000 B are provided in the hardware overview 22 of 47 SF000 microLiDAR sensor Product gui...

Page 23: ...is required Service maintenance The SF000 B is not field serviceable For any repairs the equipment should be completely isolated removed then packaged carefully Please visit LightWare LLC s refund policy for Return Merchandise Authorization RMA details or contact support lightwarelidar com Cleaning Use a dry and clean microfiber cloth to gently wipe across the lenses of the sensor taking care not ...

Page 24: ...t and a correctly formatted request will always be replied to with a response There are cases where the SF000 B will send a request packet to the host these packets are considered streaming packets as they arrive without a direct request from the host they do not require a response from the host Streaming data is only available through the Serial interface Requests are made using one of the availa...

Page 25: ...13 12 11 10 9 8 7 6 5 4 3 2 1 0 Payload length 0 to 1023 Reserved W The ID byte represents which command the request response relates to There will be between 1 and 1023 Payload bytes inclusive depending on the command type Each command under the detailed command descriptions section documents how the data bytes are used The ID byte will always be present in the payload The CRC bytes form a 16 bit...

Page 26: ...ode code code 5 crc code code code 7 crc code return crc JavaScript function createCRC data size let crc 0 for let i 0 i size i let code crc 8 0xFF code data i 0xFF code code 4 crc crc 8 0xFFFF crc code code code 5 0xFFFF crc code code code 7 0xFFFF crc code return crc 26 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2021 www lightwarelidar com ...

Page 27: ...cess for reading the raw serial byte stream and identifying packets Once a packet has been successfully read it can be processed based on its command ID 27 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2021 www lightwarelidar com ...

Page 28: ...e Every request sent to the SF000 B will receive a response it is often useful to use the response as a way to determine if the request was received and processed Here is the recommended procedure for sending a command request and reading the response The values used for timeout or number of retries should be tuned to the specific application 28 of 47 SF000 microLiDAR sensor Product guide Rev 5 Li...

Page 29: ...atform then you can use the information here to build a compatible system The SF000 B will always be the slave on the I2C interface Therefore data will only be transmitted when requested by the master Streaming data is only available through the Serial interface Requests are made using one of the available commands When a read request is issued then the response will contain the requested data Whe...

Page 30: ...man readable text message 9 User data 16 byte store for user data RW 16 16 Y 10 Token Next usable safety token R 2 12 Save parameters Store persistent parameters W 2 14 Reset Restart the unit W 2 27 Distance output Distance output configuration RW 4 4 N 30 Stream Current data stream type RW 4 4 N 44 Distance data in cm Measurement distance data in cm R varies 45 Distance data in mm Measurement dis...

Page 31: ...rial baud rate RW 1 1 Y 80 I2C address I2C address RW 1 1 Y 82 Median filter enable Enables median filter RW 1 1 Y 83 Median filter size Size of median filter RW 4 4 Y 84 Smoothing filter enable Enables smoothing filter RW 1 1 Y 85 Smoothing factor Strength of smoothing filter RW 4 4 Y 93 Rolling average enable Enables rolling average RW 1 1 Y 94 Rolling average size Size of rolling average RW 4 4...

Page 32: ...ring 1 Hardware version The hardware revision number as a uint32 Read Write Persists uint32 2 Firmware version The version of currently installed firmware is represented as 4 bytes This can be used to identify the product for API compatibility The product support section details which firmware versions this document applies to 1 2 3 4 Patch Minor Major Reserved Read Write Persists 4 bytes 32 of 47...

Page 33: ...ial interface only A null terminated ASCII string The SF000 B will send this command when it needs to communicate a human readable message Read Write Persists 9 User data This command allows 16 bytes to be stored and read for any purpose Read Write Persists 16 byte 16 bytes Yes 33 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2021 www lightwarelidar com ...

Page 34: ...ss power cycles These parameters will only persist once the Save parameters command has been written with the appropriate token The safety token is used to prevent unintentional writes and once a successful save has completed the token will expire Read Write Persists uint1 6 14 Reset Writing the safety token to this command will restart the SF000 B Read Write Persists uint1 6 34 of 47 SF000 microL...

Page 35: ...tput of specific data Bit Output 0 First return raw 1 First return filter 2 First return strength 3 Last return raw 4 Last return filter 5 Last return strength 6 Background noise 7 Temperature 8 Yaw angle Read Write Persists uint32 uint3 2 No 35 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2021 www lightwarelidar com ...

Page 36: ...nd will set the type of data to be streamed Value Streamed data 0 disabled 5 44 Stream distance data cm Streaming commands will only output on the serial and USB interface While it is possible to read and write the Stream command over I2C the resulting streamed data will not be retrievable Read Write Persists uint32 uint3 2 No 36 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelec...

Page 37: ...nt update rate The data will be packed in order based on the bits set in the Distance output parameter Data output bit Description Size 0 First return raw cm int16 1 First return filtered cm int16 2 First return strength int16 3 Last return raw cm int16 4 Last return filtered cm int16 5 Last return strength int16 6 Background noise int16 7 Temperature 1 100 degC int16 8 Yaw angle 1 100 deg int16 R...

Page 38: ...the Distance output parameter Data output bit Description Size 0 First return raw mm int32 1 First return filtered mm int32 2 First return strength int32 3 Last return raw mm int32 4 Last return filtered mm int32 5 Last return strength int32 6 Background noise int32 7 Temperature 1 100 degC int32 8 Yaw angle 1 100 deg int32 Read Write Persists varies 38 of 47 SF000 microLiDAR sensor Product guide ...

Page 39: ... enable or disable the firing of the laser Value Description 0 Disabled 1 Enabled Read Write Persists uint8 uint8 No 57 Temperature Reading this command will return the temperature in 100ths of a degree Read Write Persists uint32 39 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2021 www lightwarelidar com ...

Page 40: ...ate rate Writing this command will set the update rate The update rate is selected from the following table Command value Update rate samples second 1 48 2 55 3 64 4 77 5 97 6 129 7 194 8 388 Read Write Persists uint8 uint8 Yes 40 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2021 www lightwarelidar com ...

Page 41: ...ead in mm Read Write Persists int32 int32 Yes 76 Lost signal counter The lost signal counter is used to determine the number of lost signal returns that needs to be generated before a lost signal indication is output on the distance value The lost signal indication on the distance output value is 1000 Read Write Persists uint32 uint3 2 Yes 41 of 47 SF000 microLiDAR sensor Product guide Rev 5 Light...

Page 42: ...abled after power up or restart Reading this command will return the baud rate Writing to this command will set the baud rate Value Baud rate bps 0 9600 1 19200 2 38400 3 57600 4 115200 5 230400 6 460800 7 921600 Read Write Persists uint8 uint8 Yes 42 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2021 www lightwarelidar com ...

Page 43: ...l Read Write Persists uint8 uint8 Yes 82 Median filter enable Reading this command will return the status of the median filter Writing this command will set the status of the median filter Value Description 0 disabled 1 enabled Read Write Persists uint8 uint8 Yes 43 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2021 www lightwarelidar com ...

Page 44: ... 3 to 32 Read Write Persists uint32 uint3 2 Yes 84 Smoothing filter enable Reading this command will return the status of the smoothing filter Writing this command will set the status of the smoothing filter Value Description 0 disabled 1 enabled Read Write Persists uint8 uint8 Yes 44 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2021 www lightwarelidar com ...

Page 45: ... 0 to 100 Read Write Persists uint32 uint3 2 Yes 93 Rolling average enable Reading this command will return the status of the rolling average filter Writing this command will set the status of the rolling average filter Value Description 0 disabled 1 enabled Read Write Persists uint8 uint8 Yes 45 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2021 www lightware...

Page 46: ...n the size of the rolling average filter Writing this command will set the size of the rolling average filter The valid range is 2 to 32 Read Write Persists uint32 uint3 2 Yes 46 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2021 www lightwarelidar com ...

Page 47: ...Rev 3 2021 06 17 Typo on page 1 and 3 constraint to constrained Rev 2 2021 02 17 Breakout Board section has been inserted Rev 1 2020 11 18 FDA accession number added notification that I2C pins 2 and 4 need to be used as for SDA Rev 0 2020 08 03 First edition 47 of 47 SF000 microLiDAR sensor Product guide Rev 5 LightWare Optoelectronics Pty Ltd 2021 www lightwarelidar com ...

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