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Summary of Contents for Nooploop TOFSense
- Page 1 TOFSense User Manual V3.0 Language: English Firmware: V3.0.4 NAssistant: V4.11.0 Product Series: TOFSense, TOFSense-UART, TOFSense S...
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Page 2: Table Of Contents
7.3.2 NLink_TOFSense_Read_Frame0 ................14 7.3.3 NLink_TOFSense_CAN_Frame0 ................14 7.3.4 NLink_TOFSense_CAN_Read_Frame0 ..............15 8 FAQ .............................. 15 9 Reference ............................18 10 Abbreviation and Acronyms .......................18 11 Update Log ..........................18 12 Further Information ........................19 Copyright©2024 Nooploop. All Rights Reserved. 目录... -
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. The maximum output laser power of the product is 50.5uW. TOFSense series products comply with the Class 1 laser product standard specified in GB 7247.1-2012...
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Page 5: Introduction
UART mode has two output modes: active output and query output. The two output modes can be switched by modifying the data output mode on NAssistant . Connect TOFSense series products to NAssistant through USB to TTL module (line sequence and power supply voltage reference datasheet). After successful recognition, click to enter the settings page. -
Page 6: Can Output
CAN Output mode has two output modes: Active Output and Query Output. The two output modes can be switched by modifying the data output mode on NAssistant . Connect TOFSense series products to NAssistant through the USB to TTL module (line sequence and power supply voltage reference datasheet). After successful recognition, click to enter the settings page. -
Page 7: Query Output
CAN Output Figure 3: Configuration Diagram For CAN Active Output Mode 3.2 Query Output CAN query output mode can be used in single module and cascading situations. Interface type is set to CAN, Data Output Method is set to INQUIRE, and CAN query output mode configuration is shown in Figure 4. -
Page 8: O Output
When the module is in UART mode (note that NAssistant cannot recognize modules in I/O mode), Connect TOFSense series products to NAssistant software through USB to TTL module (line sequence and power supply voltage reference data manual). After successful recognition, click to enter the settings page. - Page 9 I/O Output Figure 6: I/O Mode Dual Threshold Setting After following the above settings, the distance value in this mode is converted into high and low level output through hysteresis comparison. Invert the I/O port level when the distance increases from small to large and exceeds the high threshold, or when it decreases from large to small and falls below the low threshold.
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Page 10: Fov
The Field Of View angle parameter represents the angle that the module can cover by emitting ranging light. As shown in the figure below, the FOV area of the TOFSense series products is a cone with a circular vertex on the bottom surface in the emission window. Taking a 27° field of view angle as an example, when facing a sufficiently large object under test, the diameter of the FOV coverage circle on the measured plane can be estimated using a trigonometric function to be R=L*tan27°... - Page 11 The relationship between the farthest ranging distance and the field of view angle FOV in a certain TOFSense scene (indoor, white wall background) is shown in Figure 11. Users need to choose the appropriate field of view angle based on the actual scene.
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Page 12: Cascade Ranging
Multiple sensors can be configured with different IDs and connected in series, and the ranging information of all sensors can be read through a single communication interface. The connection schematic is shown in Figure 12. TOFSense S only has one communication interface, so a converter is required for cascading. -
Page 13: Composition
Protocol Unpack 7.2 Composition 7.2.1 UART The default configuration of the serial port is: data bit 8 bit, stop bit 1 bit, no parity check, no flow control, default baud rate 921600bps. Each data frame containing distance under the UART interface consists of 16 bytes of hexadecimal numbers. -
Page 14: Nlink_Tofsense_Read_Frame0
Protocol Unpack Table 2: NLink_TOFSense_Frame0 Data Type Length (Bytes) Result Frame Header uint8 0x57 Function Mark uint8 0x00 reserved uint8 … uint8 System_time uint32 9e 8f 00 00 36766ms dis*1000 uint24 ad 08 00 2.221m dis_status uint8 signal_strength uint16 03 00 reserved uint8 …... -
Page 15: Nlink_Tofsense_Can_Read_Frame0
dis_status uint8 signal_strength uint16 03 00 reserved uint16 … CRC Field CRC_delimiter ACK Slot ACK Field ACK_delimiter End Of Frame Dominant level Dominant or recessive level Recessive level 7.3.4 NLink_TOFSense_CAN_Read_Frame0 Data source: The module is configured for CAN query output mode with an ID of 1. Connect the CAN query device, and the query device's ID (id_s) is 2. - Page 16 UART mode on the settings page and write the parameters into the module through the host computer. For TOFSense S, in CAN mode, you can use a USB-to-TTL module to connect to the host computer. Change the baud rate to 921600 and connect it to the corresponding port of the USB-to-TTL module.
- Page 17 Q11.What is the reason for not being able to query data in CAN query mode? First, make sure that the wire sequence between the CAN devices is correct. Secondly, the TOFSense series port does not contain a 120R matching resistor, so make sure that the resistance of the query device matches.
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Page 18: Reference
Add explanation for FOV settings 1.0.6 20191213 Corrected some data Added the explanation of I/O mode 2.0.0 20200730 Extended FAQ Corrected some data Added descriptions of TOFSense P and TOFSense PS 2.0.0 20210623 Extended FAQ Optimized manual description 2.0.3 20220211 Optimized manual description 2.0.4... -
Page 19: Further Information
Optimize some illustrations 3.0.4 20240703 Optimization section FAQ description Remove some abbreviations 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...
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