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Quick Implementation of TF-Luna-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 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's address.
This document applies to the product model: TF-Luna (IIC interface) (verify the product hardware version and
firmware version before testing).
2. Test Preparation
2.1. Tool preparation
Serial port testing tool (Serial Assistant), USBCOM2I2C converter
IIC communication test
3.
3.1. Pin Description
Note: If you are testing other hardware versions, please consult the corresponding product manual for pin definition
confirmation of the electrical interface.
Number
1
2
3
4
5
6
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
Fig.1 Pinout
Table 1 Line Sequence Description
Colour
Red
White
Green
Black
Interface Configuration
Suspended or connected to 3.3V:
Input
Use UART mode
Multiplexed Output
Benewake (Beijing) Co. Limited
1
, 4P DuPont Line, TF-Luna.
Function
+5V
RXD/SDA
TXD/SCL
GND
Grounding: Activate to IIC mode;
Multiplexed output: Switching
mode function: Switching output
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Summary of Contents for Benewake TF-Luna-IIC
- Page 1 Benewake (Beijing) Co. Limited Quick Implementation of TF-Luna-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 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's address.
- Page 2 Benewake (Beijing) Co. Limited IIC mode and switch mode off: data ready indication Fig.2 USBCOM2I2C converter 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 Power 3.3V output, depends on USB port power capability...
- Page 3 Benewake (Beijing) Co. Limited Fig.4 USBCOM2I2C converter connecting TFLuna-IIC to PC 3.2. Test Steps 3.2.1. Establishing connection with PC Connect the IIC-USB converter, 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.
- Page 4 Benewake (Beijing) Co. Limited Fig.6 TFLuna-IIC Mode Communication Timing 3.2.2. Get the distance value The command to obtain the measured distance of TF-Luna via serial port is: 53 20 05 5A 05 00 01 60 50 53 21 09 50.
- Page 5 Benewake (Beijing) Co. Limited 0x50: P command of the USBCOM2I2C converter, initiating the “stop” signal. After sending the above command, the TFLuna-IIC returns 9 bytes of data in the following format. Table 3 Data frame format Byte0-1 Byte2 Byte3 Byte4...
- Page 6 Benewake (Beijing) Co. Limited 0x05: Read 5 bytes of data. 0x50: P command of the USBCOM2I2C converter, initiating the “stop” signal. Send the command as shown in the figure below. LiDAR returns the original command if configuration is successful. Fig.3 Modifying the IIC slave address and obtaining the range value After changing 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.
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