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TF03 Laser Range Sensor

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Communication Protocol Description

The standard version of TF03 supports two communication modes: TTL and CAN. Users can send commands to change the default TTL mode. The two modes cannot be used simultaneously.

Serial Port Mode

TF03 serial port mode adopts UART-LVTTL interface. The output level is LVTTL level (0~3.3V), and the details are shown below:

Item Content
Communication Protocols UART
Band Rate 115200
Data Byte 8
Stop Byte 1
Check Byte None

Standard Serial Data Format(UART)

TF03 outputs data in the format shown below. All values are hexadecimal, and each frame contains 9 bytes. The data includes the measured distance (DIST); other bytes are reserved; the last byte is the checksum.

Data Byte Define Description
Byte0 Frame Head 0x59
Byte1 Frame Head 0x59
Byte2 DIST_L DIST low eight bits
Byte3 DIST_H DIST high eight bits
Byte4 Reserved /
Byte5 Reserved /
Byte6 Reserved /
Byte7 Reserved /
Byte8 Check Low eights bytes of Checksum, Checksum=Byte0 + Byte1 + ...+ Byte7

Serial Port Pixhawk Data Format

Pixhawk data format is output in the form of string, unit m. For example, if the measured distance is 1.21m, then output the string 1.21. There is a linefeed behind each distance value. In serial communication, the output mode can be changed to pixhawk output mode via command.

High/Low Level Output

Set a threshold (adjustable), when the measured distance is more /less than the threshold, output high/low.

  • a) The high/low level can be adjusted. By defaut, high level for short distance, low level for long distance.
  • b) Adjustable buffer area(prevent level jumping caused by datashake)
  • c) Adjustable delay function of High and low level
    • Delay before triggering. Set a threshold 10m, and if the distance is less than 10m, output high. When the distance is less than 10m, add an adjustable delay(default as 0ms). Now if the distance is still less than 10m after the delay, output High.
    • Delay after triggering. Set a threshold 10m, and if the distance is less than 10m, output high. When the output distance is more than 10m, add an adjustable delay(default as 0ms). Now if the distance is still more than 10m after the delay, output low.

For example：

  • a) Set the output mode of TF03 as IO high/low level output, command: ---5a 05 05 05 69
  • b) Set: When the distance is less than threshold, output high, otherwise, low. Command:---5A 05 61 01 C1
  • c) Add a delay of 100ms for the level change when the distance increases or decreases. Command: ---5A 08 62 64 00 64 00 8C
  • d) Set the distance threshold to 500cm, buffer area to 5cm. Command: ---5A 08 63 F4 01 05 00 BF
  • e) Save the settings, command: ---5A 04 11 6F
  • f) Restore the factory configuration(if necessary), command: ---5A 04 10 6E

CAN Bus Mode

The CAN communication protocol of TF03 can be customized. CAN band rate, ID, and Frame format are adjustable. As seen below:

Item Content
Communication Protocols CAN
Band Rate 1M
Receive ID 0x3003
Transmit ID 0x3
Check Byte Transmit Frame is regarded as standard frame by default, and receive frame supports standard frame and expension frame

The data format TF03 in CAN mode is shown below. All the data are hexadecimal number and there are 8 bytes in each data frame. The data includes real measured distance(DIST); the other bytes are reserved.

Data Byte Define Description
Byte0 DIST_L DIST low eight bits
Byte1 DIST_H DIST high eight bits
Byte2 Reserved /
Byte3 Reserved /
Byte4 Reserved /
Byte5 Reserved /

Principle

TF03 employs the pulsed time-of-flight principle. The unique design of the optical system and the signal processing circuit improved the detecting performance in a compact size.

Customized Configuration

General Command Description

The product parameters can be changed to meet requirements of various application. Users can send the related command to revise the original parameters, such as output data format, frame rate and so on. After the setting completed, input write-in configuration command then the parameters will be saved in Flash and users don't need to reset after restarting the device.

Please change the parameters according to the instruction, and do not try sending irrelevant or unstated command in case of causing unnecessary lost.

Byte byte0 byte1 byte2 byte3~byteN-2 byteN-1
Description Head Len ID Payload Checksum
  • Head: fixed 0x5A
  • Len: length of the entire command frame (bytes)
  • ID: identifies the function of the command
  • Payload: parameter field (varies by command)
  • Checksum: sum of all bytes except checksum, low 8 bits
Function Downstream Upstream Description Factory Configuration
Get firmware Version 5A 04 01 5F 5A 07 01 V1 V2 V3 SU Version: V3.V2.V1; SU: checksum /
System Reset 5A 04 02 60 Succeed: 5A 05 02 00 61; Fail: timeout 1s, no response / /
Set Output frame rate 5A 06 03 LL HH SU Succeed: same as downstream; Fail: timeout 1s, no response / 100fps
Enable Output Enable: 5A 05 07 01 67; Disable: 5A 05 07 00 66 Succeed: same as downstream; Fail: timeout 1s, no response / Enable
Single Trigger 5A 04 04 62 Data Frame / /
Set Output Format 5A 05 05 LL SU Succeed: same as downstream; Fail: timeout 1s, no response LL: output format, for instance: 00：ASCII output(reserved);01: binary output; 02: PIX output; 05: IO output Binary
Set serial band rate 5A 08 06 H1 H2 H3 H4 SU Succeed: same as downstream; Fail: timeout 1s, no response band rate=(H4 << 24)+(H3 << 16)+(H2 << 8)+H1 115200
Check and Enable Enable:5A 05 08 01 68; Disable: 5A 05 08 00 67 Succeed: same as downstream; Fail: timeout 1s, no response / Enable
Restore Factory Configuration 5A 04 10 6E Succeed: 5A 05 10 00 6F; Fail: 5A 05 10 ER SU Fails if ER is not equal to 0 /
Save Configuration 5A 04 11 6F Succeed:5A 05 11 00 70; Fail:5A 05 11 ER SU Fails if ER is not equal to 0 /
Configure Over Range Value 5A 06 4F LL HH SU Succeed: 5A 05 4F 00 AE; Fail: timeout 1s, no response Over Range Value=(HH << 8) + LL, unit: cm 18000
Configure CAN transmit ID 5A 08 50 H1 H2 H3 H4 SU Succeed:5A 05 50 00 AF; Fail: timeout 1s, no response ID=(H4 << 24)+(H3 << 16)+(H2 << 8)+H1 0x3
Configure CAN receive ID 5A 08 51 H1 H2 H3 H4 SU Succeed: 5A 05 51 00 B0; Fail: timeout 1s, no response ID=(H4 << 24)+(H3 << 16)+(H2 << 8)+H1 0x3003
Configure CAN band rate 5A 08 52 H1 H2 H3 H4 SU Succeed:5A 05 52 00 B1; Fail: timeout 1s, no response Baudrate=(H4 << 24)+(H3 << 16)+(H2 << 8)+H1 1000000
Configure CAN transmit frame type Standard frame:5A 05 5D 00 BC; Expanded Frame:5A 05 5D 01 BD Succeed:5A 05 5D 00 BC; Fail: timeout 1s, no response / Standard Frame
Configure transmit mode TTL: 5A 05 45 01 A5; CAN: 5A 05 45 02 A6 Succeed: 5A 05 45 00 A4; Fail: timeout 1s, no response / TTL
Environment Compensation Algorithm Enable:5A 05 64 00 C3; Disable: 5A 05 64 01 C4 Succeed: 5A 05 64 00 C3; Fail: timeout 1s, no response / Enable
Configure offset 5A 06 69 LL HH SU Succeed:5A 05 69 00 C8; Fail: timeout 1s, no response Offset = (HH << 8) + LL, unit: cm 0
Set Trigger level for short distance 5A 05 61 LV SU Succeed: 5A 05 61 00 C0; Fail: timeout 1s, no response LV=0, low level trigger; LV=1, high level trigger Low
Set IO output delay 5A 08 62 L1 H1 L2 H2 SU Succeed: 5A 05 62 00 C1; Fail: timeout 1s, no response Delay1 = (H1 << 8) + L1，Delay2 = (H2 << 8) + L2 (unit:ms), respectively represent the delays of IO level change in short or long distance. Range: 0~65000 0, 0
Set distance threshold and buffer distance 5A 08 63 L1 H1 L2 H2 SU Succeed: 5A 05 63 00 C2; Fail: timeout 1s, no response Dist= (H1 << 8) + L1，Buff=(H2 << 8) + L2 (unit: cm), respectively represent the distance threshold and buffer distance of IO change. Range: 0~18000. 18000，0
Description
  • Supported output frame rates:
    • 1, 2 … 9
    • 10, 20 … 90
    • 100, 200 … 900
    • 1000, 2000 … 9000, 10000
  • In trigger mode, disable continuous output before sending trigger commands.
  • PIX format is "x.yz\r\n" in meters. Example: "1.23" for 123 cm.
  • Supported CAN baud rates: 1M, 500K, 250K, 125K
  • Firmware v1.11.3 and above supports user-commanded secondary laser calibration via “configure offset”
  • The configured CAN ID must be valid; otherwise unexpected results may occur.
  • To use IO trigger mode, set output format to IO mode and configure trigger level, delay, threshold, and buffer distance.

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