Benewake TF-Luna - Functional Descriptions and Configuration; Description about Line Sequence and Connection; Serial Port Communication Protocol

SJ-PM-TF-Luna A05 Product Manual
Benewake (Beijing) Co. Ltd.
Page12
6 Functional Descriptions and Configuration
Figure 4 TF-Luna’s pin numbers
6.1 Description about Line Sequence and Connection
Table 6 The Function and Connection Description of Each Pin
No.
Function
Description
1
+5V
Power supply
2
RXD/SDA
Receiving/Data
3
TXD/SCL
Transmitting/Clock
4
GND
Ground
5
Configuration Input
Ground: I2C mode
Disconnected/3.3V: Serial
port Communications mode
6
Multiplexing output
On/off mode: Output
I2C mode: Data ready signal
6.2 Serial Port Communication Protocol
Serial port communication starts when pin 5 is disconnected or connected to 3.3v. It will set
TF-Luna receiving RXD on pin 2 and sending TXD on pin 3. The serial port communication protocol is
defined as follows: 8 data bits, 1 stop bit with no parity check and default baud rate of 115200 bps.
Serial port communication protocol data byte format:
byte
0
1
2
3~Len-2
Len-1
Description
Head(0x5A)
Len
ID
Payload
Checksum
Head: Fixed 0x5A.
Len: The length of bytes from the head byte to check-sum at the end, and it has to be in between
4 to 255.