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Benewake TFmini-Plus-IIC Operation Instructions Manual

Lidar distance sensor quick implementation and computer communication
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Quick Implementation of TFmini-Plus-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-Plus (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-Plus LiDAR.

2.2. Communication Protocol Switching

TFmini-Plus 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-Plus 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 but you can use any TTL-USB board). Check whether the computer COM drivers are installed.
If the board is not recognized by the computer, the drivers may not be installed, please install the driver
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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-/312761534249
2
https://drive.google.com/drive/folders/1aWltEhSFPEp-iFsVmaRzotptOLwmhoA5?usp=sharing
Fig.1 USB-UART converter connecting TFmini-Plus-IIC to PC
Benewake (Beijing) Co. Limited
1
, 4P DuPont
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.

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Summary of Contents for Benewake TFmini-Plus-IIC

  • Page 1 Figure 1 (the TTL-USB board shown in the picture is manufactured by Benewake but you can use any TTL-USB board). Check whether the computer COM drivers are installed. 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-Plus-IIC 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 Fig.3 Communication interface setup command...
  • Page 3 Table 2 Description of the USBCOM2I2C converter IIC interface Signal Function Explanation Output IIC Bus Clock Input/Output IIC Bus Data Power Power 3.3V output, support max. current 200mA 3.3V output, depends on USB port power Power capability USBCOM2I2C TFmini-Plus-IIC Converter Fig.7 connect TFmini-Plus-IIC and USBCOM2I2C converter...
  • Page 4 3.2. Get the Distance Value The command to obtain the measured distance of TFmini-Plus-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 0x09: Read 9 bytes of data. 0x50: P command of the USBCOM2I2C converter, initiating the “stop” signal. Fig.10 Acquisition of distance values After sending the above command, the TFmini-Plus-IIC returns 9 bytes of data in the following format. Table 3 Data frame format Byte0-1...
  • Page 6 Benewake (Beijing) Co. Limited For example, the returned data: 59 59 A9 00 0F 3E 60 09 11. The interpretation of the returned data is explained as follows. 0x59 0x59: Frame header. 0xA9: Lower 8 bits of the distance value.
  • Page 7 Benewake (Beijing) Co. Limited Fig.11 Modifying the IIC slave address and obtaining the range value After modifying the address to 0x20, 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.

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