Benewake TFmini-S User Manual

SJ-PM-TFmini-S A01 Product Manual
Benewake (Beijing) Co. Ltd.
Page11
5.2 Serial port Communication Protocol
TFmini-S adopts the serial port data communication protocol, as given in Table 6.
Table 6 Data Communication Protocol of TFmini-S —— UART
Communication interface
UART
Default baud rate
115200
Data bit
8
Stop bit
1
Parity check
None
5.3 Data Output Format of Serial port
TFmini-S 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.
 Standard data output format (default):
Data structure: each data frame contains 9 bytes, including the distance value, signal strength,
temperature of chip and data check byte (Checksum), etc. Data format is hexadecimal (HEX). Data
codes are detailed in Table 7:
Table 7 Data Format and Code Explanation
Byte0 -1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
0x59 59
Dist_L
Dist_H
Strength_L
Strength_H
Temp_L
Temp_H
Checksum
Data code explanation
Byte0
0x59, frame header, same for each frame
Byte1
0x59, frame header, same for each frame
Byte2
Dist_L distance value low 8 bits
Byte3
Dist_H distance value high 8 bits
Byte4
Strength_L low 8 bits
Byte5
Strength_H high 8 bits
Byte6
Temp_L low 8 bits
Byte7
Temp_H high 8 bits
Byte8
Checksum is the lower 8 bits of the cumulative sum of the numbers of the first 8 bytes.
 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.

Benewake TFmini-S Specifications

General

Product color	Black
Detection angle	2 °
Scrambling function	Laser

Weight and Dimensions

Depth	42 mm
Width	15 mm
Height	16 mm
Weight	5 g