Reference
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which translates to 2,221 in decimal, and divided by 1000 to become 2.221 meters.
Q11.How is the checksum calculated?
The checksum is the sum of all the bytes in the previous data, and the lowest byte is taken as the
data. For example, the checksum for the data "55 01 00 ef 03" is 0x55 + 0x01 + 0x00 + 0xef + 0x03 =
0x0148, so the checksum is 48. Therefore, the complete data of this frame is 55 01 00 ef 03 48.
Q12.Why cannot I communicate in IIC mode?
In IIC mode, the SDA and SCL pins of the device are recommended to output in open drain mode,
and a pull-up resistor is required on the bus. When communicating, it is necessary to write the start,
stop, read, write, acknowledge, etc. functions according to the standard IIC communication timing, and
when communicating with the TOF module, refer to the NLink_TOFSense_IIC_Frame0 protocol in the
user manual to read and write the registers. It is particularly important to note the shifting of the 7-bit
slave address and the addition of the read-write bit transmission.
Q13.What if there is an error or no data when compiling the ROS driver package
Before using the ROS driver package, the user needs to read the README.MD document in the
driver package and follow the steps and precautions in the document. The user can also refer to the
"ROS Driver Application Graphic Tutorial" on the official website for use.
9
Reference
[1] TOFSense-F_Datasheet.pdf
10
Abbreviation and Acronyms
Table 5: Abbreviation and Acronyms
Vertical Cavity Surface Emitting Laser
Universal Asynchronous Receiver/Transmitter
11 Update Log
Table 6: Update Log
1. Release first edition manual
1. Added explanation of serial setting frame protocol
2. Optimized some descriptions
1. Optimized the description in the FAQ section
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