Benewake TF02-Pro User Manual

REV: 13/05/2022 · ©2022 Benewake (Beijing) Co., Ltd. | en.benewake.com | All rights reserved
BP-UM-30 A01
7
 Strength：The signal strength, the default output is between 0 and 65535. When
the distance measuring gear is certain, the farther the distance is measured, the
lower the signal intensity; the lower the reflectivity of the target, the lower the signal
intensity
 Temp(Temperature): The chip temperature, temperature(℃) = Temp / 8 -256.
3.2.2 Character string data format
The data output is in the format of character string and its unit is m(meter). For example,
if the measurement distance is 1.21m, the string 1.21 will be output, followed by the
escape character \r\n.
3.3 I²C Communication Protocol
TF02-Pro supports I
2
C data communication interface, as shown in the table below:
Table 3-3 Data Communication Protocol of TF02-Pro: I²C
Communication interface
I²C
Max transmission rate
400kbps
Master/Slave mode
Slave mode
Default Address
0x10
Address range
0x01~0x7F
3.4 Timing Sequence Description of I²C
Different from the serial mode, the I
2
C communication is initiated by the master. TF02-
Pro can only send and receive data passively, as slave. After sending the command from
master to slave, one needs to wait for a period for the command to be processed, then
read response of LiDAR. The suggested waiting period is 100ms. Data is detailed in Table
3-4.
Table 3-4 Timing Sequence of I
2
C
Write
operation
Start
Addr
W
A
Byte0
A
---
ByteN
A
Stop
Wait 100ms
Read
operation
Start
Addr
R
A
Byte0
A
---
ByteN
A
Stop
3.5 I/O Communication Mode
I/O output mode is supported and could be enabled by related command. Through the
communication level change of pin 3 (green wire), whether there is an object in the

Benewake TF02-Pro Specifications

General

Brand	Benewake
Model	TF02-Pro
Category	Measuring Instruments
Language	English