Benewake TF-Luna User Manual
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Summary of Contents for Benewake TF-Luna
- Page 1 (Underwater) TF-Luna User Manual Benewake (Beijing) Co., Ltd...
- Page 2 If you have any problems in the process of usage, you are welcome to contact Benewake at any time for help. Contact Details Official website: en.benewake.com...
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Page 3: Table Of Contents
CONTENTS 1 REVISIONS ...............................1 2 CAUTIONS ...............................2 2.1 About document ......................... 2 2.2 About product ..........................2 2.3 Common errors and other notes ....................2 3 PRINCIPLE DESCRIPTION AND KEY PARAMETERS ..................3 3.1 Ranging Principle ........................3 3.2 Basic Characteristic Parameters ....................3 4 APPEARANCE AND STRUCTURE ...................... - Page 4 4. 32-byte with timestamp ......................15 5. ID-0 output ..........................15 6. 8-byte/cm ...........................15 7. Output with Device ID .........................16 Appendix II Serial communication protocol................... 17 1. Version information ID_GET_VERSION=0x01................17 2. System software restore ID_SOFT_RESET=0x02 ................17 3. Output frequency ID_SAMPLE_FREQ=0x03 ................17 4.
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Page 5: Revisions
REVISIONS 1 REVISIONS Version History Date 2024.7.24 Original ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024... -
Page 6: Cautions
Please use ESD wrist strap or antistatic gloves to ground yourself if any operation is necessary; Otherwise, the product may be damaged by static electricity. ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024... -
Page 7: Principle Description And Key Parameters
PARAMETERS Ranging Principle TF-Luna is using Time of Flight (ToF) principle to measure the distance and it periodically emits near infrared modulated waves. TF-Luna calculates the time by measuring the phase difference between the original wave and the reflection wave and uses that time to get relative distance, as shown in Figure 1 . -
Page 8: Appearance And Structure
APPEARANCE AND STRUCTURE 4 APPEARANCE AND STRUCTURE Dimensions Figure 3 TF-Luna appearance and size drawing ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024... -
Page 9: Electrical Characteristics
This product has no over-voltage nor polarity protection, so please make sure that the product is well connected, and the power supply voltage is inside the given range. ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024... -
Page 10: Functional Descriptions And Configuration
Serial port communication starts when pin 5 is disconnected or connected to 3.3v. It will set TF-Luna receiving RXD on pin 2 and sending TXD on pin 3. The serial port communication protocol is defined as follows: 8 data bits, 1 stop bit with no parity check and default baud rate of 115200 bps. -
Page 11: C Communication
C mode, then its pin 2 is used as SDA data and pin 3 is the SCL clock sending data. TF-Luna supports up to 400kps clock speed as slave machine and its default address is 0x10. For more information about I... -
Page 12: Continuous Ranging Mode
Amp Threshold The distance calculation may get false result if the Amp value is too low, so TF-Luna set the Dist value to dummy_dist(Default 0) when Amp is lower than amp_threshold (Default ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024... -
Page 13: Distance Limit
When the power is supplied with 5V, the power consumption is about 350mW. The user can change TF-Luna's luminous duty cycle in two ways. The first is to use the command trigger mode. TF-Luna does not emit light when it does not receive a ranging command. -
Page 14: Ultra-Low Power Mode With Serial Port Communication
Users can attempt reading any one of valid or invalid register addresses (which will not make us receive ACK from the slave device). In this way, TF-Luna will detect the change of voltage on Pin 2 and thus it will be awakened. TF-Luna will perform range-finding once... -
Page 15: Caveats
The error can reach tens of meters. In some application scenarios, the target reflection rate is low so that AMPs lower than 100 are needed. In this case, users can set TF-Luna to Single Frequency Mode. In Single Frequency Mode, when AMP is lower than 100, the stability of range data is low. -
Page 16: Quick Test Guide
Connecting hardware and cables Figure 9 Schematic Diagram of Correct Connection Please connect TF-Luna, TTL-USB converter, and USB cable properly as shown in Figure 9. Please check if there is any loose connection, and then plug the USB cable into your PC. - Page 17 TF-Luna output in millimeter. For instance, suppose the actual measurement is one meter and the distance value from TF-Luna is 1000 mm, then the value read by the PC software is 1000. Thus, the software will display 1000 with unit cm.
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Page 18: Firmware Upgrade
The tools for an upgrade are mostly the same as those in the Quick Test Guide, including a TTL-USB convertor to connect TF-Luna with PC. Open the Updater.exe after connecting TF-Luna to your PC, and then select the correct port and baud rate, “①COM8” and “② 115200” in this case. Click “④ Open Bin” to choose the updating firmware, then the file directory will be displayed in the textbox above. -
Page 19: Appendix I Serial Port Output Format
Amp: Signal strength indicator. Dist value is unreliable when Amp < 100 or Amp = 65535 (Overexposure) Timestamp: Timestamp (ms) is in small-end format 8-byte/cm This format is supported for any firmware after Ver. 0.0.5 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024... -
Page 20: Output With Device Id
Amp: Signal strength, if AMP is lower than 100, the range value is considered not reliable. Overexposure value is 65535 Timestamp：Timestamp (ms) is in little-endian format Dev_Id: device ID, same as the address of I C slave device ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024... -
Page 21: Appendix Ii Serial Communication Protocol
10Hz [5A 06 03 0A 00 00] 250Hz [5A 06 03 FA 00 00] Trigger mode ID_SAMPLE_TRIG=0x04 This format is supported for any firmware after Ver. 0.0.5 Downward ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024... -
Page 22: Output Format Setting Id_Output_Format=0X05
115200 [5A 08 06 00 C2 01 00 00] 230400 [5A 08 06 00 84 03 00 00] 460800 [5A 08 06 00 08 07 00 00] 921600 [5A 08 06 00 10 0E 00 00] ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024... -
Page 23: Enable/Disable Output Id_Output_En=0X07
Len-1 byte Description Head(0x5A) c_slave_addr Check_sum 0x10 Default c_slave_addr: range [0x08, 0x77] Upward Len-1 byte Description Head(0x5A) c_slave_addr Check_sum Example: Change to 0x20 [5A 05 0B 20 00] ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024... -
Page 24: Restore Default Setting Id_Restore_Default=0X10
Get full-length version number ID_GET_FULL_VERSION=0x14 This format is supported for any firmware after Ver. 0.0.5 Downward Len-1 byte Description Head(0x5A) Check_sum Upward 3-10 12-19 21-22 24-25 27-28 Len-1 byte ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024... -
Page 25: Amp Threshold Setting Id_Amp_Threshold=0X22
This format is supported for any firmware after Ver. 0.0.5 Downward Len-1 byte Description Head(0x5A) Check_sum Default Std: The current std timestamp specified Example: To set timestamp to 1000ms [5A 08 31 E8 03 00 00 00] ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024... -
Page 26: Enable/Disable Power Saving Mode (Eco) Id_Low_Consumption=0X35
Output limit when out of range with the minimum set to be 20cm and the maximum set to be 500cm [5A 09 3A 14 00 F4 01 00 00] ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024... -
Page 27: Enable/Disable On-Off Mode Id_On_Off_Mode=0X3B
[5A 05 58 00 00 5A 05 58 00 00 5A 05 58 00 00 5A 05 58 00 00 5A 05 58 00 00] Frequency Calibration ID_FREQ_CNT_CALIB=0x59 This format is supported for any firmware after Ver. 3.0.7 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024... - Page 28 Calib_freq_cnt ： For frequency calibration parameters, a non-zero value indicates the completion of calibration Example: Execute frequency calibration [5A 05 59 01 00] Read frequency calibration parameters [5A 05 59 02 00] ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...
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Page 29: Appendix Iii I2C Register Table
Amp threshold value 0x2B 0x00 AMP_THR_HIGH 0x2C 0x00 DUMMY_DIST_LOW Dummy dist value 0x2D 0x00 DUMMY_DIST_HIGH 0x2E 0x00 Minimum dist in mm, but not MIN_DIST_LOW working on DUMMY_DIST 0x2F 0x00 MIN_DIST_HIGH ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024... - Page 30 Appendix III I2C REGISTER TABLE 0x30 0x20 Maximum dist in mm, but not MAX_DIST_LOW working on DUMMY_DIST 0x31 0x03 MAX_DIST_HIGH 0x32-0x3B Hold 0x3C-0x3F SIGNATURE ‘L’ ’U’ ‘N’ ‘A’ ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...
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