Data Communication Protocol; Data Output Format - Benewake TFmini Plus Product Manual

5.2 Data Communication Protocol

TFmini Plus adopts the serial port data communication protocol, as given in Table 5.

5.3 Data Output Format

TFmini Plus is available with two formats of data output, namely, the standard data output format and the
Pixhawk data format, both of which are switchable with command.
 Standard data output format (default):
Data structure: each data frame contains 9 bytes, including the distance value, signal strength, temperature
of chip and data check byte (Checksum), etc. Data format is hexadecimal (HEX). Data codes are detailed
in Table 6
Byte0 -1 Byte2
0x59 59 Dist_L
Byte0 0x59, frame header, same for each frame
Byte1 0x59, frame header, same for each frame
Byte2 Dist_L distance value lower by 8 bits
Byte3 Dist_L distance value higher by 8 bits
Byte4 Strength_L low 8 bits
Byte5 Strength_L high 8 bits
Temp_L low 8 bits (suit for version later than V1.3.0)
Byte6
Temp_H high 8 bits (suit for version later than V1.3.0)
Byte7
Byte8 Checksum is the lower 8 bits of the cumulative sum of the numbers of the first 8 bytes.
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Table 5 Data Communication Protocol of TFmini Plus
Communication interface
Default baud rate
Data bit
Stop bit
Parity check
Table 6 Data Format and Code Explanation
Byte3 Byte4
Dist_H Strength_L
Data code explanation
Benewake (Beijing) Co. Ltd.
UART
115200
8
1
None
Byte5 Byte6
Strength_H Temp_L
Byte7 Byte8
Temp_H Checksum