Benewake TF-Luna - Page 28

SJ-PM-TF-Luna A05 Product Manual
Benewake (Beijing) Co. Ltd.
Page28
19200 [5A 08 06 00 4B 00 00 00]
38400 [5A 08 06 00 96 00 00 00]
57600 [5A 08 06 00 E1 00 00 00]
115200 [5A 08 06 00 C2 01 00 00]
230400 [5A 08 06 00 84 03 00 00]
460800 [5A 08 06 00 08 07 00 00]
921600 [5A 08 06 00 10 0E 00 00]
7. Enable/disable output ID_OUTPUT_EN=0x07
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
Enable
Check_sum
Default
1
Enable: 0 to disable, 1 to enable.
Upward
byte
0
1
2
3
Len-1
Description
Head(0x5A)
Len
ID
Enable
Check_sum
Example:
Enable output [5A 05 07 01 00]
Disable output [5A 05 07 00 00]
8. Enable/disable checksum comparison ID_FRAME_CHECKSUM_EN=0x08
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
Enable
Check_sum
Default
0
Enable: 0 to disable, 1 to enable.
Note: Even if the Downward data checksum comparison is disabled, the valid checksum is still included in the upward
data frame
Upward
byte
0
1
2
3
Len-1
Description
Head(0x5A)
Len
ID
Enable
Check_sum
Example:
Enable checksum comparison [5A 05 08 01 00]
Disable checksum comparison [5A 05 08 00 67]
9. I2C slave machine address configuration ID_I2C_SLAVE_ADDR=0x0B
This format is supported for any firmware after Ver. 1.0.0
Downward
byte
0
1
2
3
Len-1
Description
Head(0x5A)
Len
ID
I2c_slave_addr
Check_sum