Benewake TF-Luna - Appendix I Serial port output format

SJ-PM-TF-Luna A05 Product Manual
Benewake (Beijing) Co. Ltd.
Page24
Appendix I Serial port output format
1. 9-byte/cm (Default)
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: cm
Amp: Signal strength indicator. Dist value is unreliable when Amp < 100 or Amp = 65535 (Overexposure)
Temp: Celsius temperature = Temp / 8 - 256℃
2. PIX
This format is supported for any firmware after Ver. 0.0.5
“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