Benewake TF-Luna - Appendix II Serial communication protocol

SJ-PM-TF-Luna A05 Product Manual
Benewake (Beijing) Co. Ltd.
Page26
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:
byte
0
1
2
Len-1
Description
Head(0x5A)
Len
ID
Check_sum
Upward:
byte
0
1
2
3~5
Len-1
Descri
ption
Head(0x5A)
Len
ID
*Version
Check_sum
*Version: For instance, if the third, fourth, and fifth bytes are 112, 50, 9, then the version is 9.50.112
Sample instruction: [5A 04 01 00]
2. System software restore ID_SOFT_RESET=0x02
This format is supported for any firmware after Ver. 0.0.5
Downward
byte
0
1
2
Len-1
Descri
ption
Head(0x5A)
Len
ID
Check_sum
Upward
byte
0
1
2
3
Len-1
Descri
ption
Head(0x5A)
Len
ID
*Status
Check_sum
*Status: 0 (success), otherwise (fail)
Note: Any change without “save current setting” instruction will not be saved and will restore to original setting.
Sample instruction: [5A 04 02 00]
3. Output frequency ID_SAMPLE_FREQ=0x03
This format is supported for any firmware after Ver. 0.0.5
Downward
byte
0
1
2
3~4
Len-1
Description
Head(0x5A)
Len
ID
Freq
Check_sum
Default
100
Freq: Working frequency if Freq > 0, and Trigger mode if Freq = 0.
Upward
byte
0
1
2
3~4
Len-1
Description
Head(0x5A)
Len
ID
Freq
Check_sum
Freq: The current working frequency of the LiDAR
Sample instruction:
10Hz [5A 06 03 0A 00 00]
250Hz [5A 06 03 FA 00 00]