Benewake TF-Luna Instruction Manual

SJ-PM-TF-Luna A03
Benewake (Beijing) Co. Ltd.
Page20
“X .YZ\r\n” is a sample ASCII string and only keep two significant digits in meter where “X.YZ” is the result.
3. 9-byte/mm
This format is supported for any firmware after Ver. 0.0.5
byte 0 1 2 3 4 5 6 7 8
Description 0x59 0x59 Dist_L Dist_H Amp_L Amp_H Temp_L Temp_H Check_sum
Dist: mm
Amp: Signal strength indicator. Dist value is unreliable when Amp < 100 or Amp = 65535 (Overexposure)
Temp: Celsius temperature = Temp / 8 - 256℃
4. 32-byte with timestamp
This format is supported for any firmware after Ver. 0.0.5
byte 0 1 2 3 4 5 6-9 10
Description 0x59 0x59 Dist_L Dist_H Amp_L Amp_H Timestamp Check_sum
Dist: cm
Amp: Signal strength indicator. Dist value is unreliable when Amp < 100 or Amp = 65535 (Overexposure)
Timestamp: Timestamp (ms) is in small-end format
5. ID-0 output
This format is supported for any firmware after Ver. 0.0.5
byte 0 1 2 3 4 5 6 7-10 11
Description
0x5A
Len
0x00
Dist_L
Dist_H
Amp_L
Amp_H
Timestamp
Check_sum
Dist: cm
Amp: Signal strength indicator. Dist value is unreliable when Amp < 100 or Amp = 65535 (Overexposure)
Timestamp: Timestamp (ms) is in small-end format
6. 8-byte/cm
This format is supported for any firmware after Ver. 0.0.5
byte
0
1
2
3
4-7
Description Dist_L Dist_H Amp_L Amp_H Timestamp
Dist: cm
Amp: Signal strength indicator. Dist value is unreliable when Amp < 100 or Amp = 65535 (Overexposure)
Timestamp: Timestamp (ms) is in small-end format
9 Appendix II Serial communication protocol
1. Version information ID_GET_VERSION=0x01
This format is supported for any firmware after Ver. 0.0.5
Downward:

Benewake TF-Luna Specifications

General

Brand	Benewake
Model	TF-Luna
Category	Control Unit
Language	English