Nooploop TOFSense-F - IIC Frame Protocol Details

Protocol Unpack
Copyright © Nooploop LTd 2023. All Rights Reserved.
11
Sum Check
uint8
1
the sum check is equal to all previous bytes addded
7.2.4 NLink_TOFSense_IIC_Frame0
Slave address: The module acts as a slave on the I2C bus and its default address is 0x08 (7-bit
address). The slave address is 0x08 + the module ID, so changing the module's ID parameter will
change the slave address. When communicating, it is important to pay attention to address shifting and
adding the read/write bit, i.e., when the address is 0x08, the byte with the read/write bit is 0x10 (write)
or 0x11 (read).
Register address: If there is no corresponding parameter in the register, the default output is 0xff.
Table 4: NLink_TOFSense_IIC_Frame0 Register parsing and communication flow chart
Starting
address
bit
R/W
0x00
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
RO
Reserved
product version
[15-0] product version
0x04
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
RO
bootloader version
hardware version
[15-0] hardware version
[31-16] bootloader version
0x08
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
RO
firmware version
[0-31] firmware version
0x0C
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
RW
Reserved
ID
Reserved
Ragne mode
Output mode
Interface mode
[0-2] Interface mode: 0-UART , 1-CAN , 2-I/O , 3-IIC (RW)
[3] Output mode: 0-Active output,1-Query output (RO)
[4-5] Ragne mode: 0- Short,1-Median,2-Long (RO)
[8-15] ID: Device ID (RW), the slave address will take effect only after a power cycle after changing the ID.
0x10
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
RW
UART Baudrate
[0-31] uart baudrate
0x14
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
RO
CAN Baudrate
[0-31] can baudrate
0x18
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
RO
FOV.y_offest
FOV.x_offest
FOV.y
FOV.x
[0-7] FOV.x : X direction FOV, unit: °
[8-15] FOV.y : Y direction FOV, unit: °
[16-23] FOV.x_offest : FOV offset in the X direction, unit: °
[24-31] FOV.y_offest : FOV offset in the Y direction, unit: °