Nooploop TOFSense-F - Nlink_Tofsense_F_Setting_Frame0

Protocol Unpack
Copyright © Nooploop LTd 2023. All Rights Reserved.
10
Table 2: NLink_TOFSense_Read_Frame0 Parsing table
Data
Type
Length (Bytes)
Hex
Result
Frame Header
uint8
1
57
0x57
Function Mark
uint8
1
10
0x10
reserved
uint16
2
…
*
id
uint8
1
00
0
reserved
uint16
2
…
*
Sum Check
uint8
1
63
0x63
7.2.3 NLink_TOFSense_F_Setting_Frame0
This protocol is a module parameter setting protocol, which can modify the parameters of the
module through serial instructions. This function is an advanced feature and if the parameters are
modified incorrectly, it may cause the module to not work properly. It is recommended to use this
function after having a certain understanding of the entire system parameters.
Table 3: NLink_TOFSense_F_Setting_Frame0 Parsing table
Data
Type
Length (Bytes)
Description
Frame Header
uint8
1
value = 0x54
Function Mark
uint8
1
value = 0x20
mix
uint8
1
bit0: [0:write],[1:read]---WO
reserved
*
1
Reserved.The default value is 0xFF
id
uint8
1
Node ID---RW
system_time
uint32
4
terminal system time,unit:ms---WO
node system time,unit:ms---RO
mode
uint8
1
bit1:output mode-[0:active],[1:inquire]---WR
bit2-3:range mode-[00:short],[01:medium],[10:long]---WR
bit4:0:interface mode-[00:uart],[01:can],[10:io],[11:iic]---WR
reserved
*
2
Reserved.The default value is 0xFF
uart_baudrate
uint24
3
UART:4800,9600,14400,19200,38400,43000,57600,76800,115200,230400,46
0800,921600,1000000,1200000,1500000,2000000,3000000
CAN:100000,250000,500000,1000000,2000000,3000000
FOV.x
uint8
1
Reserved.The default value is 0xFF
FOV.y
uint8
1
Reserved.The default value is 0xFF
FOV.x_offect
int8
1
Reserved.The default value is 0xFF
FOV.y_offect
int8
1
Reserved.The default value is 0xFF
band_start
uint16
2
[0,25000],unit:mm
band width
uint16
2
[0,25000],unit:mm
reserved
uint8
1
Reserved.The default value is 0xFF
refresh rate
uint16
2
Data refresh rata:1,2,5,10,25,50,100,200,350Hz
filter factor
uint8
1
Filter factor: 0~255.Default:5
reserved
uint8
4
Reserved.The default value is 0xFF