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Quick Implementation of TFmini-S-IIC and Computer
Communication Operation Instructions
1. Overview
This document enables first-time users to quickly understand the tools and methods for conducting IIC
communication tests, connect the LiDAR to the PC by consulting the corresponding instruction manual, and
complete product testing under the IIC communication protocol by sending commands to obtain distance
values and modify the slave address.
This document applies to the product model: TFmini-S (verify the product hardware version and
firmware version before testing).
2. Test Preparation
2.1. Necessary Tools
Serial port testing tool (Serial Assistant), USB-UART converter, USBCOM2I2C converter
Line, TFmini-S LiDAR.
2.2. Communication Protocol Switching
TFmini-S factory default communication protocol is UART serial communication. If you want to test
IIC communication protocol, you need to convert the communication protocol by sending commands in
UART communication mode. The specific operation steps are as follows:
Step 1: Connect TFmini-S to PC via USB-UART converter (any TTL-USB board with 3.3V/5V logical
voltage can be used) as shown in Figure 1 (the TTL-USB board shown in the picture is manufactured by
Benewake).Check whether the computer COM driver recognizes the converter. If the board is not
recognized by the computer, the drivers may not be installed, please install the driver
1
https://fr.aliexpress.com/item/32830015255.html
https://www.ebay.com/itm/UsenDz-USBCOM2I2C-USB-serial-port-to-I2C-UART-to-I2C-COM-to-I2C-USB-to-I2C-/312761534
249
2
https://drive.google.com/drive/folders/1aWltEhSFPEp-iFsVmaRzotptOLwmhoA5?usp=sharing
Fig.1 USB-UART converter connecting TFmini-S to PC
Benewake (Beijing) Co. Limited
1
, 4P DuPont
2
.
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Related Manuals for Benewake TFmini-S-IIC
Summary of Contents for Benewake TFmini-S-IIC
- Page 1 Figure 1 (the TTL-USB board shown in the picture is manufactured by Benewake).Check whether the computer COM driver recognizes the converter. If the board is not recognized by the computer, the drivers may not be installed, please install the driver Fig.1 USB-UART converter connecting TFmini-S to PC...
- Page 2 Benewake (Beijing) Co. Limited Converter port number Fig.2 Port number identification Step 2. Open the Serial Assistant (any serial port tool can be used) and select the correct port number, baud rate: 115200. Modify to IIC communication protocol: Send communication interface setting command: 5A 05 0A 01 6A Save settings: 5A 04 11 6F Reboot the device and the device boots to IIC mode.
- Page 3 IIC Bus Clock Input/Output IIC Bus Data Power Power 3.3V output, support max. current 200mA Power 3.3V output, depends on USB port power capability USBCOM2I2C TFmini-S-IIC Converter Fig.7 Connect TFmini-S-IIC and USBCOM2I2C converter Fig.8 USBCOM2I2C converter connecting TFmini-S-IIC to PC...
- Page 4 3.2. Get the Distance Value The command to obtain the measured distance of TFmini-S-IIC via serial port is: 53 20 05 5A 05 00 01 60 50 53 21 09 50. Send the command as shown in the figure below.
- Page 5 1, i.e. 00100001, which is 0x21 in decimal). 0x09: Read 9 bytes of data. 0x50: P command of the USBCOM2I2C converter, initiating the “stop” signal. After sending the above command, the TFmini-S-IIC returns 9 bytes of data in the following format. Table 3 Data frame format Byte0-1...
- Page 6 After modifying the address to 20, the command to obtain the distance value is: 53 40 05 5A 05 00 01 60 50 53 41 09 50. Refer to 3.2.2. for the explanation of the command meaning. For more details, please refer to the SJ-PM-TFmini-S-IIC A01 manual.
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