REV: 13/05/2022 · ©2022 Benewake (Beijing) Co., Ltd. | en.benewake.com | All rights reserved
BP-UM-30 A01
6
3 COMMUNICATION PROTOCOL
3.1 Serial Communication Protocol
TF02-Pro adopts the serial data communication protocol, as given in Table 3-1.
Table 3-1 Data Communication Protocol of TF02-Pro: UART
3.2 Serial Communication Data Format
TF02-Pro is available with two formats of data output, namely the standard data output
format and the character string data format, both of which are switchable with
command.
3.2.1 Standard data output format
The serial data format of TF02-Pro is shown in Table 3-2，the data is hexadecimal, each
data frame contains 9 bytes, including the distance value, signal strength, temperature
of chip and data check byte (Checksum).
Table 3-2 Data Format and Code Explanation
0x59, frame header, same for each frame
0x59, frame header, same for each frame
Dist_L distance value low 8 bits
Dist_H distance value high 8 bits
Checksum is the lower 8 bits of the cumulative sum of number of first 8
bytes
Dist (Distance)：The detection distance value with TF02-Pro, default unit is cm.
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