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Summary of Contents for Nooploop TOFSense-M
- Page 1 TOFSense-M User Manual V3.0 Languag: English Firmware: V2.0.2 NAssistant: V4.11.0 Product Series: TOFSense-M, TOFSense-M S...
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Page 2: Table Of Contents
7.3.2 NLink_TOFSense_Read_Frame0 ................11 7.3.3 NLink_TOFSense_CAN_Frame0 ................12 7.3.4 NLink_TOFSense_CAN_Read_Frame0 ..............12 8 FAQ .............................. 13 9 Reference ............................15 10 Abbreviation and Acronyms .......................15 11 Update Log ..........................16 12 Further Information ........................16 Copyright © 2024 Nooploop. All Rights Reserved. Catalogue... -
Page 3: Disclaimer
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. - Page 4 According to IEC 60825-1:2014 Safety of laser products - Part 1:Equipment classification and requirements. TOFSense-M series products comply with the Class 1 laser product standard specified in GB 7247.1-2012 Attention: If control or adjustment devices are not used according to regulations, or if various steps of operation are not carried out according to regulations, it may cause harmful radiation exposure.
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Page 5: Introduction
Figure 2. After Write Parameter module is restarted, it will no longer actively report data. In this mode, the controller sends a query instruction containing the module ID to the expected query Copyright © 2024 Nooploop. All Rights Reserved. -
Page 6: Can Output
In this mode, the module outputs measurement information actively at a frequency of 10Hz (64 frames for 8*8 mode and 16 frames for 4*4 mode, each frame outputting ranging information for one pixel), the output format follows the protocol NLink_TOFSense_CAN_Frame0. Copyright © 2024 Nooploop. All Rights Reserved. -
Page 7: Query Output
The module's FOV parameter is 45° horizontally & vertically, and 65° diagonally. As shown in the figure below, the FOV area of the TOFSense-M series is a pyramid-like shape with a square base and its vertex at the emission window. When facing a sufficiently large object, the side length of the square coverage area on the measured plane can be estimated through trigonometric functions: R = L*tan45°... -
Page 8: Pixel
Pixel Figure 5: Illustration of TOFSense-M Series FOV Coverage Area 5 Pixel The module supports 64 (8*8) and 16 (4*4) pixel point outputs. The relationship between pixel points and actual objects is shown in Figure 6. Figure 6: Illustration of FOV and Pixel Point Correspondence... -
Page 9: Protocol Unpack
NlinkUnpack example parsing code is provided, effectively reducing user development time. Given the TOFSense-M series product data, to represent more data with fewer bytes, we use integers to represent floating-point numbers through protocol frames. Therefore, unpacked integer data with multipliers are effectively floating-point types and need to be divided by the multipliers indicated in the protocol. -
Page 10: Can
(signal strength), and the pixel point position index (index) for this frame. The inquiry protocol frame only contains the ID of the inquired module. Due to CAN transmission byte limitations, TOFSense-M series 8*8 (4*4) mode data is transmitted in 64 (16) frames. -
Page 11: Nlink_Tofsense_Read_Frame0
Raw Data: 57 10 FF FF 00 FF FF 63 Table 3: NLink_TOFSense_Read_Frame0 Data Type Length (Bytes) Result Frame Header uint8 0x57 Function Mark uint8 0x10 reserved uint16 … uint8 reserved uint16 … Copyright © 2024 Nooploop. All Rights Reserved. -
Page 12: Nlink_Tofsense_Can_Frame0
Raw data: StdID:0x402 + Data: FF FF FF 01 FF FF FF FF Table 5: NLink_TOFSense_CAN_Read_Frame0 Field name Part Level Type Length(bits) Result Start Of Frame 0x400+id_s 0x402 Arbitration Field Control Field Data Field reserved uint24 … Copyright © 2024 Nooploop. All Rights Reserved. -
Page 13: Faq
However, if two modules are at the same horizontal height and facing each other, the measurement may be affected for both of them. Q3. Why is there no data output from TOFSense-M? Each module has undergone strict testing before shipping. If there is no data, please first check if the... - Page 14 UART mode. Then enter the settings page through the upper computer and select UART mode to write parameters; TOFSense-M S can switch back to UART mode by sending the following serial command to the module several times: 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.
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Page 15: Reference
You can also refer to the official website's "ROS Driver Application Pictorial Tutorial" for usage. 9 Reference [1] TOFSense-M Datasheet.pdf 10 Abbreviation and Acronyms Table 6: Abbreviations and Acronyms Abbreviation Full Title Time of Flight Field of View Copyright © 2024 Nooploop. All Rights Reserved. -
Page 16: Update Log
Optimized some FAQ descriptions 12 Further Information Company: SZ Nooploop Technology Co.,Ltd. Address: A2-218, Peihong building, No.1, Kehui Road, Science Park community, Yuehai street, Nanshan District, Shenzhen Email: sales@nooploop.com Tel: +86 0755-86680090 Website: www.nooploop.com Copyright © 2024 Nooploop. All Rights Reserved.
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