Benewake TF02-Pro, Руководство по эксплуатации продукта

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SJ-PM-TF02-Pro Product Manual Alpha
Benewake (Beijing) Co. Ltd.
Page
8
Edge length of
detection range (cm)
5 10 16 21 26 31 37 42 47 52 79 105 115
4 Communication Protocol and Data Formats
4.1
Serial port Communication Protocol
TF02-Pro adopts the serial port data communication protocol, as given in Table 4.
Table 4: Data Communication Protocol of TF02-Pro
——
UART
Communication interfce UART
Default baud rate 115200
Data bit 8
Stop bit 1
Parity check None
4.2
Data Output Format of Serial port
TF02-Pro is available with two formats of data output, namely, the standard data output format and the
character string data format, both of which are switchable with command.
Standard data output format (default):
Data structure: each data frame contains 9 bytes, including the distance value, signal strength,
temperature of chip and data check byte (Checksum), etc. Data format is hexadecimal (HEX). Data codes
are detailed in Table
5
.
Table 5: 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_L low 8 bits
Byte7 Temp_H high 8 bits
Byte8 Checksum is the lower 8 bits of the cumulative sum of the number of the first 8 bytes