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User Manual for TOFSense models including: V2.5, TOFSense PS, TOFSense P, TOFSense, TOFSense Laser Range Sensor, Laser Range Sensor, Range Sensor, Sensor
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File Info : application/pdf, 16 Pages, 1.32MB
DocumentDocumentTOFSense V2.5
Language| Firmware|V2.0.4 NAssistant|N V4.4.0 Product Series|TOFSenseTOFSense PTOFSense PS
Content|
Content| ......................................................................................................................................2 Disclaimer| .........................................................................................................................3 1 Introduction| ...........................................................................................................................5 2 UART Output| ............................................................................................................... 5
2.1 Active Output| ....................................................................................................5 2.2 Query Output| .................................................................................................... 5 3 Can Output|CAN .................................................................................................................. 6 3.1 Active Output| ....................................................................................................6 3.2 Query Output| .................................................................................................... 7 4 I/O Output|I/O .......................................................................................................................7 5 NAssistant Operations|NAssistant .......................................................................................8 5.1 Firmware Update| .............................................................................................. 8 5.2 Record, Replay and Export| ...............................................................9 6 FOV| ................................................................................................................................ 10 7 CascadeRanging| ......................................................................................................... 11 8 Protocol Unpack| ......................................................................................................... 11 8.1 Introduction| .............................................................................................................11 8.2 Example| .................................................................................................................. 12
8.2.1 NLink_TOFSense_Frame0 ..................................................................................12 8.2.2 NLink_TOFSense_Read_Frame0 ....................................................................... 12 8.2.3 NLink_TOFSense_CAN_Frame0 ....................................................................... 12 8.2.4 NLink_TOFSense_CAN_Read_Frame0 .............................................................13 9 FAQ| ............................................................................................................................ 14 10 Reference| .......................................................................................................................... 16 11 Abbreviation and Acronyms| .....................................................................16 12 Update Log| ............................................................................................................... 16 13 Further Information| .................................................................................................. 16
Copyright © Nooploop LTd 2023. All Rights Reserved.
Disclaimer|
Disclaimer|
Document Information| Nooploop reserves the right to change product specifications without notice. As far as possible changes to functionality and specifications will be issued in product specific errata sheets or in new versions of this document. Customers are advised to check with Nooploop for the most recent updates on this product. Nooploop Nooploop
Life Support Policy| Nooploop products are not authorized for use in safety-critical applications (such as life support) where a failure of the Nooploop product would cause severe personal injury or death. Nooploop customers using or selling Nooploop products in such a manner do so entirely at their own risk and agree to fully indemnify Nooploop and its representatives against any damages arising out of the use of Nooploop products in such safety-critical applications. Nooploop Nooploop Nooploop Nooploop Nooploop Nooploop
Regulatory Approvals| The TOFSense series sensors, as supplied from Nooploop currently have the following laser product certifications. Users need to confirm whether these certifications are applicable according to the region where such products are used or sold. All products developed by the user incorporating the TOFSense series sensors must be approved by the relevant authority governing radio emissions in any given jurisdiction prior to the marketing or sale of such products in that jurisdiction and user bears all responsibility for obtaining such approval as needed from the appropriate authorities. Nooploop TOFSense TOFSense
Copyright © Nooploop LTd 2023. All Rights Reserved.
3
Disclaimer|
TOFSense IEC 60825-1:2014 3 Class1
1. Caution - Use of controls or adjustments or performance of procedures other than those specified herein may result in hazardous radiation exposure.
2. According to IEC 60825-1:2014 Safety of laser products - Part 1:Equipment classification and requirements. The maximum output laser power of the product is 50.5uW.
TOFSense GB 7247.1-2012 1
1. 2. GB 7247.1-2012 - 1
50.5uW
Copyright © Nooploop LTd 2023. All Rights Reserved.
4
Introduction|
1 Introduction|
TOFSenseTOFSense PTOFSense PS TOFSense_Datasheet.pdf
2 UART Output|
2.1 Active Output|
UART TOFSense 10HzTOFSense P/TOFSense PS 30Hz NLink_TOFSense_Frame0
USB TTL TOFSense NAssistant UART 1
1UART
2.2 Query Output|
UART ID NLink_TOFSense _Read_Frame0 NLink_TOFSense_Frame0
USB TTL TOFSense NAssistant UART 2
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5
Can Output|CAN
2UART
3 Can Output|CAN
3.1 Active Output|
CAN TOFSense 10HzTOFSense P/TOFSense PS 30Hz NLink_TOFSense_CAN_Frame0
USB TTL TOFSense NAssistant CAN 3 CAN IO FAQ UART
3CAN
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6
I/O Output|I/O
3.2 Query Output|
CAN ID NLink_TOFSense_CAN_Read_Frame0 NLink_TOFSense_CAN_Frame0
USB TTL TOFSense NAssistant CAN 4 CAN IO FAQ UART
4CAN
4 I/O Output|I/O
I/O I/O
UART NAssistant I/O USB TTL TOFSense NAssistant Band_Start Bandwidth I/O 5;TX/CAN_L RX/CAN_H 6
I/O Band_StartBandwidth FAQ UART
Band_Start Bandwidth 500mm 0.5 1 0.3 RX TX 0.8 RX TX 1 RX TX 1 0.8 RX TX 0.5 RX TX
Bandwidth 0 3.3V
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7
NAssistant Operations|NAssistant
5I/O
Band_Start Bandwidth [0~5000]:mm
6
5 NAssistant Operations|NAssistant
5.1 Firmware Update|
NAssistant
1
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NAssistant Operations|NAssistant
"""" Nooploop "OK"
2"" NAssistant "" ""
3 100
7
5.2 Record, Replay and Export|
NAssistant *.dat *.dat NAssistant
.xlsx NAssistant .dat
log "export_data"
Copyright © Nooploop LTd 2023. All Rights Reserved.
9
FOV|
8
6 FOV|
fov.x=27° fov.y=27°fov.x_offset=0°fov.y_offset=0° X 25°Y 15°X 1°Y -1° 7
9FOV
FOV FOV TOFSense ( ) FOV 8TOFSense P TOFSense PS
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10
CascadeRanging|
10TOFSense FOV
7 CascadeRanging|
ID 9 TOFSense PS
11:
UART CAN CAN
8 Protocol Unpack|
8.1 Introduction|
NLink C NlinkUnpack
TOFSense
int24 int32 256 int24 1000
uint8_t byte[] = {0xe6,0x0e,0x00};//3.814 //uint8_t byte[] = {0xec,0xfb,0xff};//-1.044 int32_t temp = (int32_t)(byte[0] << 8 | byte[1] << 16 | byte[2] << 24) / 256; float result = temp/1000.0f;
uint8_t verifyCheckSum(uint8_t *data, int32_t length){ uint8_t sum = 0; for(int32_t i=0;i<length-1;++i){
Copyright © Nooploop LTd 2023. All Rights Reserved.
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Protocol Unpack|
sum += data[i]; } return sum == data[length-1]; }
8.2 Example|
8.2.1 NLink_TOFSense_Frame0
UART NLink_TOFSense_Frame0 FAQ
57 00 ff 00 9e 8f 00 00 ad 08 00 00 03 00 ff 3a
1NLink_TOFSense_Frame0
Data
Type
Length (Bytes)
Hex
Result
Frame Header
uint8
1
57
0x57
Function Mark
uint8
1
00
0x00
reserved
uint8
1
...
*
id
uint8
1
00
0
System_time
uint32
4
9e 8f 00 00
36766ms
dis*1000
uint24
3
ad 08 00
2.221m
dis_status
uint8
1
00
0
signal_strength
uint16
2
03 00
3
reserved
uint8
1
...
*
Sum Check
uint8
1
3a
0x3a
8.2.2 NLink_TOFSense_Read_Frame0
UART id 0 ID id
57 10 FF FF 00 FF FF 63
2NLink_TOFSense_Read_Frame0
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
8.2.3 NLink_TOFSense_CAN_Frame0
CAN id 1 CAN StdID:0x201 + Data: AD 08 00 00 03 00 FF FF
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12
Field name Start Of Frame Arbitration Field Control Field
Data Field
CRC Field ACK Field End Of Frame
Protocol Unpack|
3NLink_TOFSense_CAN_Frame0
Part
Level Type
Length(bits)
SOF
*
1
ID
*
11
RTR
*
1
IDE
*
1
r0
*
1
DLC
*
4
dis*1000
uint24
24
dis_status
uint8
8
signal_strength
uint16
16
reserved
uint16
16
CRC
*
15
CRC_delimiter
*
1
ACK Slot
*
1
ACK_delimiter
*
1
EOF
*
7
Hex *
0x200+id * * * *
ad 08 00 00
03 00 ... * * * * *
Result *
0x201 * * * *
2.221m 0 3 * * * * * *
Dominant level Dominant or recessive level
Recessive level
8.2.4 NLink_TOFSense_CAN_Read_Frame0
CAN id 1 CAN id_s 2
StdID:0x402 + Data: FF FF FF 01 FF FF FF FF
4NLink_TOFSense_CAN_Read_Frame0
Field name
Part
Level Type
Length(bits)
Hex
Result
Start Of Frame
SOF
*
1
*
*
ID Arbitration Field
RTR
*
11
0x400+id_s
0x402
*
1
*
*
IDE
*
1
*
*
Control Field
r0
*
1
*
*
DLC
*
4
*
*
reserved
uint24
24
...
*
Data Field
id
uint8
8
01
id = 1
reserved
uint32
32
...
*
CRC Field
CRC CRC_delimiter
*
15
*
1
*
*
*
*
ACK Field
ACK Slot ACK_delimiter
*
1
*
1
*
*
*
*
End Of Frame
EOF
*
7
*
*
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13
Dominant level Dominant or recessive level
Recessive level
FAQ|
9 FAQ|
Q1.
Q2.
Q3. TOFSense
CAN 120 I/O I/O
Q4. FOV
FOV
Q5. UART CAN I/O UART CAN
Q6. CAN IO NAssistant
NAssistant UART UART CAN IO CAN IO UART UART
TOFSense-PS CAN USB TTL 921600 USB TTL
Q7. USB TTL
Q8. FOV
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14
FAQ|
Q9.
Q10. TOFSense: -0.01 0xFFFFF6 1~2m
1~2m
TOFSense P/TOFSense PS: 0
Q11.CAN ? CAN TOFSense 120R
NLink_TOFSense_CAN_Read_Frame0 ID
Q12. UART UART
Q13. GH1.25 GH1.25
GH1.25-GH1.25
Q14. ad 08 00 ad 08 00
16 0x0008ad 10 2221 1000 2.221
Q15. 55 01 00 ef 03
0x55+0x01+0x00+0xef+0x03=0x0148 48 55 01 00 ef 03 48
Q16.ROS ROS README.MD
ROS
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10 Reference|
[1] TOFSense
Reference|
11 Abbreviation and Acronyms|
Abbreviation TOF FOV HW
VCSEL
5 Full Title Time of Flight Field of View Half Wave Vertical Cavity Surface Emitting Laser
12 Update Log|
Version 1.0
1.1
1.2
2.0
2.1 2.2 2.3 2.4 2.5
Firmware Version 1.0.0
1.0.4
1.0.6
2.0.0
2.0.0 2.0.3 2.0.4 2.0.4 2.0.4
Data 20190817
20190923
20191213
20200730
20210623 20220211 20220924 20221205 20230404
6 Description
1. 1. UART FOV 2. FOV 3. FAQ 4. 1. FOV 2. 1. I/O 2. FAQ 3. 1. TOFSense PTOFSense PS 2. FAQ 3. 1. 1. 1. 1. 2. FAQ
13 Further Information|
1 A2-207 marketing@nooploop.com www.nooploop.com
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