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User Guide for NOOPLOOP models including: TOF Serise Lidar Range 8M FOV 27 Degree Resolution, TOF Serise, Lidar Range 8M FOV 27 Degree Resolution, 8M FOV 27 Degree Resolution, 27 Degree Resolution, Degree Resolution
29 feb 2024 — Information|文档信息. Nooploop reserves the right to change product specifications without notice. As far as possible.
File Info : application/pdf, 15 Pages, 684.57KB
DocumentDocumentTOFSense-M V2.1
Language| Firmware|V2.0.2 NAssistant|N V4.10.1 Product Series|TOFSense-MTOFSense-M S
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| .................................................................................................... 6 4 FOV| .................................................................................................................................. 7 5 Pixel| .................................................................................................................................. 7 6 CascadeRanging| ........................................................................................................... 8 7 Protocol Unpack| ........................................................................................................... 8 7.1 Introduction| ...............................................................................................................8 7.2 Composition| ..............................................................................................................9
7.2.1 UART| ........................................................................................................... 9 7.2.2 CAN| ..........................................................................................9 7.3 Example| .................................................................................................................. 10 7.3.1 NLink_TOFSense_M_Frame0 ............................................................................ 10 7.3.2 NLink_TOFSense_Read_Frame0 ....................................................................... 11 7.3.3 NLink_TOFSense_CAN_Frame0 ....................................................................... 11 7.3.4 NLink_TOFSense_CAN_Read_Frame0 .............................................................11 8 FAQ| ............................................................................................................................ 12 9 Reference| ............................................................................................................................ 14 10 Abbreviation and Acronyms| .....................................................................14 11 Update Log| ............................................................................................................... 14 12 Further Information| .................................................................................................. 15
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-M 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-M 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-M TOFSense-M
Copyright © Nooploop LTd 2023. All Rights Reserved.
3
Disclaimer|
TOFSense-M 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.
TOFSense-M GB 7247.1-2012 1
1. 2. GB 7247.1-2012 - 1
Copyright © Nooploop LTd 2023. All Rights Reserved.
4
Introduction|
1 Introduction|
TOFSens-MTOFSens-M S TOFSense-M_Datasheet.pdf
2 UART Output|
UART Active Output Query Output NAssistant
USB TTL TOFSense NAssistant
2.1 Active Output|
UART UART ACTIVEUART 1 8*8 15Hz4*4 60Hz NLink_TOFSense_M_Frame0
1UART
2.2 Query Output|
UART UART INQUIREUART 2 ID NLink_TOFSense_Read_Frame0 NLink_TOFSense_M_Frame0
Copyright © Nooploop LTd 2023. All Rights Reserved.
5
Can Output|CAN
2UART
3 Can Output|CAN
CAN Active Output Query Output NAssistant
USB TTL TOFSense NAssistant CAN IO FAQ
3.1 Active Output|
CAN CAN ACTIVECAN 3 CAN NAssistant CAN 10Hz 8*8 4*4 64 16 NLink_TOFSense_CAN_Frame0
3CAN
3.2 Query Output|
CAN CAN INQUIRECAN 4 CAN NAssistant CAN
Copyright © Nooploop LTd 2023. All Rights Reserved.
6
FOV| ID 8*8 64 4*4 16 NLink_TOFSense_CAN_Read_Frame0 NLink_TOFSense _CAN_Frame0
4CAN
4 FOV|
& 45° 63°TOFSense-M FOV FOV R = L * tan45°LTOFSense-M
5TOFSense-M FOV
5 Pixel|
64 (8*8) 16 (4*4) 5
Copyright © Nooploop LTd 2023. All Rights Reserved.
7
CascadeRanging|
6: FOV
6 CascadeRanging|
ID 6 TOFSense-M S
7:
UART CAN CAN
7 Protocol Unpack|
7.1 Introduction|
NLink C NlinkUnpack
Copyright © Nooploop LTd 2023. All Rights Reserved.
8
Protocol Unpack|
TOFSense-M
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){ sum += data[i]; } return sum == data[length-1];
}
7.2 Composition|
7.2.1 UART|
8bit 1bit 921600 UART 16 1 Protocol Frame Header Function MarkData Sum Check
1: Protocol
Frame Header + Function Mark + Data + Sum Check Frame Header 0x57 Function Mark 0x01 0x10 Data ID System_time 0~63 x_dis x_dis status x_signal strengthx:0~63 ID Sum Check Frame Header Data 8 2 NLink_TOFSense_M_Frame0 3 NLink_TOFSense_Read_Frame0
7.2.2 CAN|
CAN ID 1000000 ID 0x200+ ID ID 0x402 Data dis dis status signal strength index ID CAN TOFSense-M 8*84*4 6416 index 6416 4NLink_TOFSense_CAN_Frame0 5
Copyright © Nooploop LTd 2023. All Rights Reserved.
9
Protocol Unpack|
NLink_TOFSense_CAN_Read_Frame0
7.3 Example|
7.3.1 NLink_TOFSense_M_Frame0
UART NLink_TOFSense_M_Frame0 FAQ
57 01 ff 00 03 a0 00 00 40 e0 81 07 00 9f 00 f0 43 03 00 58 00 c0 c8 03 00 55 00 90 e2 00 00 44 00 d0 84 00 00 57 00 18 79 00 00 61 00 e8 80 00 00 7a 00 90 65 00 00 8e 00 d8 d0 01 00 27 00 e8 74 02 00 28 00 00 f4 01 00 2e 00 f8 a7 00 00 39 00 50 c3 00 00 41 00 30 75 00 00 5b 00 70 94 00 00 61 00 00 7d 00 00 9b 00 30 e0 03 00 19 00 c8 79 09 00 1a 00 28 cf 0d 00 3a 00 b0 b3 00 00 20 00 30 75 00 00 31 00 60 6d 00 00 40 00 e8 80 00 00 4b 00 d0 84 00 00 71 00 40 3c 10 00 1e 00 88 b3 0f 00 24 00 20 b9 03 00 12 00 e8 26 0f 00 34 00 f0 d2 00 00 2c 00 c8 af 00 00 30 00 58 98 00 00 3a 00 f8 a7 00 00 47 00 d8 ed 11 09 1c 00 60 84 11 00 1c 00 e0 c8 10 00 21 00 d0 a1 10 00 25 00 88 90 00 00 1c 00 e0 ab 00 00 24 00 18 79 00 00 41 00 08 cf 00 00 41 00 68 47 14 ff 0b 00 c8 b4 14 00 0e 00 20 d6 13 00 11 00 d8 e1 13 00 14 00 d0 84 00 00 1d 00 f0 6c 11 00 19 00 a0 8c 00 00 47 00 90 65 00 00 50 00 88 41 22 ff 12 00 e8 f6 16 00 07 00 80 31 17 ff 0b 00 70 10 16 00 0c 00 40 9c 00 00 20 00 f8 a7 00 00 32 00 80 bb 00 00 33 00 a0 8c 00 00 50 00 90 d6 02 ff 2c 00 b0 e1 22 ff 0b 00 40 19 01 ff 10 00 d8 d6 00 ff 11 00 28 a0 00 00 25 00 e8 80 00 00 2b 00 c8 af 00 00 25 00 90 65 00 00 3c 00 ff ff ff ff ff ff 7d
2NLink_TOFSense_M_Frame0
Data
Type
Length(Bytes)
Hex
Result
Frame Header
uint8
1
57
0x57
Function Mark
uint8
1
01
0x01
reserved
uint8
1
...
*
id
uint8
1
00
0
system_time
uint32
4
03 a0 00 00
40963ms
zone map
uint8
1
40
64
data0{dis*1000
{uint24,
e0 81 07
492mm
dis_status
uint8,
6
00
0
signal_strength}
uint16}
9f 00
159
...
...
...
...
...
dataindex{dis*1000
{uint24,
dis_status
uint8,
6
signal_strength}
uint16}
...
...
...
...
...
...
...
data63{dis*1000
{uint24,
90 65 00
26mm
dis_status
uint8,
6
00
0
signal_strength}
uint16}
3c 00
60
Reserved
*
6
*
*
SumCheck
uint8
1
7d
0x7d
Copyright © Nooploop LTd 2023. All Rights Reserved.
10
Protocol Unpack|
7.3.2 NLink_TOFSense_Read_Frame0
UART id 0
ID id 57 10 FF FF 00 FF FF 63
3NLink_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
7.3.3 NLink_TOFSense_CAN_Frame0
CAN id 1 CAN StdID:0x201 + Data: ec 01 00 00 9f 00 00 FF
4NLink_TOFSense_CAN_Frame0
Field name
Part
Level Type
Length(bits)
Hex
Start Of Frame
SOF
*
1
*
ID Arbitration Field
RTR
*
11
*
1
0x200+id *
IDE
*
1
*
Control Field
r0
*
1
*
DLC
*
4
*
dis
uint24
24
ec 01 00
dis_status
uint8
8
00
Data Field
signal_strength
uint16
16
9f 00
index
uint8
8
00
reserved
uint8
8
...
CRC
*
15
*
CRC Field
CRC_delimiter
*
1
*
ACK Slot
*
1
*
ACK Field
ACK_delimiter
*
1
*
End Of Frame
EOF
*
7
*
Result *
0x201 * * * *
492mm 0 159 0 * * * * * *
Dominant level Dominant or recessive level
Recessive level
7.3.4 NLink_TOFSense_CAN_Read_Frame0
CAN id 1 CAN id_s
Copyright © Nooploop LTd 2023. All Rights Reserved.
11
FAQ|
2 StdID:0x402 + Data: FF FF FF 01 FF FF FF FF
5NLink_TOFSense_CAN_Read_Frame0
Field name
Part
Level Type
Length(bits)
Hex
Start Of Frame
SOF
*
1
*
ID Arbitration Field
RTR
*
11
0x400+id_s
*
1
*
IDE
*
1
*
Control Field
r0
*
1
*
DLC
*
4
*
reserved
uint24
24
...
Data Field
id
uint8
8
01
reserved
uint32
32
...
CRC
*
15
*
CRC Field
CRC_delimiter
*
1
*
ACK Slot
*
1
*
ACK Field
ACK_delimiter
*
1
*
End Of Frame
EOF
*
7
*
Result *
0x402 * * * * *
id = 1 * * * * * *
Dominant level Dominant or recessive level
Recessive level
8 FAQ|
Q1.
Q2.
Q3.
CAN 120
Q4. FOV
FOV
Q5. UART CAN UART CAN
Copyright © Nooploop LTd 2023. All Rights Reserved.
12
FAQ|
Q6. CAN NAssistant
NAssistant UART UART CAN CAN TOFSense-M UART UART TOFSense-M S UART 54 20 00 ff 00 ff ff ff ff 00 ff ff 00 10 0e ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff 7b
Q7. USB TTL
USB TTL TOFSense-M/MS NAssistant
UART 921600 INQUIRE USB TTL USB TTL USB TTL
Q8. FOV 8*8 64 4*4 16
Q9. 255
Q10.CAN ? CAN TOFSense-M 120R
NLink_TOFSense_CAN_Read_Frame0 ID
Q11.CAN /
CAN
1 2 7 4 1 2 VCCGND 3 4 VCCGND 5 6 VCCGND 7 VCCGND 7 CAN_HCAN_L CAN 2 3
Q12.
Copyright © Nooploop LTd 2023. All Rights Reserved.
13
Reference|
Q13. UART UART
Q14. GH1.25 GH1.25
GH1.25-GH1.25
Q15. e0 81 07 e0 81 07
16 0x0781e0 10 492000 1000 492
Q16. 55 01 00 ef 03
0x55+0x01+0x00+0xef+0x03=0x0148 48 55 01 00 ef 03 48
Q17.ROS ROS README.MD
ROS
9 Reference|
[1] TOFSense-M
10 Abbreviation and Acronyms|
Abbreviation TOF FOV HW
VCSEL
6 Full Title Time of Flight Field of View Half Wave Vertical Cavity Surface Emitting Laser
11 Update Log|
Version 1.0
Firmware Version 1.0.1
7 Data 20211112 1.
Description
Copyright © Nooploop LTd 2023. All Rights Reserved.
14
Further Information|
1.1
1.0.1
20220211 1.
1.
1.2
1.0.4
20220924
2.
1.3
1.0.4
20221205 1.
1.
1.4
1.0.6
20230404
2. FAQ
1. FAQ
2.0
2.0.0
20230808
2. CAN dis
1.
2. FOV
2.1
2.0.2
20240226
3.
4.
12 Further Information|
1 A2-207 sales@nooploop.com www.nooploop.com
Copyright © Nooploop LTd 2023. All Rights Reserved.
15