Benewake TF-Luna - Page 27

SJ-PM-TF-Luna A05 Product Manual
Benewake (Beijing) Co. Ltd.
Page27
4. Trigger mode ID_SAMPLE_TRIG=0x04
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
Data frame
Sample instruction: [5A 04 04 00]
5. Output format setting ID_OUTPUT_FORMAT=0x05
This format is supported for any firmware after Ver. 0.0.5
Downward
byte
0
1
2
3
Len-1
Description
Head(0x5A)
Len
ID
Format
Check_sum
Default
0x01
Format:
0x01 = 9-byte/cm
0x02 = PIX
0x06 = 9-byte/mm
0x07 = 32-byte with timestamp
0x08 = ID-0
0x09 = 8-byte/cm
0x0A = Output with device ID
Upward
byte
0
1
2
3
Len-1
Description
Head(0x5A)
Len
ID
Format
Check_sum
Format: TF-Luna’s current output format setting
Example: [5A 05 05 02 00] means PIX
6. Baud rate setting ID_BAUD_RATE=0x06
This format is supported for any firmware after Ver. 0.0.5
Downward
byte
0
1
2
3~6
Len-1
Description
Head(0x5A)
Len
ID
Baud rate
Check_sum
Default
115200
Upward
byte
0
1
2
3~6
Len-1
Description
Head(0x5A)
Len
ID
Baud rate
Check_sum
Baud rate: TF-Luna’s current baud rate.
Note: Only baud rate in [9600, 921600] are supported.
Example:
9600 [5A 08 06 80 25 00 00 00]