TOFSense Laser Range Sensor User Manual
- June 12, 2024
- TOFSense
Table of Contents
TOFSense Laser Range Sensor
Product Information
- Product Name: TOFSense V2.5
- Language: Firmware V2.0.4
- Assistant: NAssistant V4.4.0
- Product Series: TOFSense
- Product Models: TOFSense P, TOFSense PS
Product Usage Instructions
Caution – Laser Safety
1. Use of controls or adjustments or performance of procedures
other than those specified herein may result in hazardous radiation
exposure.
2. 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.
UART Output
2.1 Active Output
The UART output of TOFSense is active at a frequency of 10Hz for
TOFSense P and TOFSense PS, and 30Hz for NLink_TOFSense_Frame0.
Connection: USB TTL to TOFSense NAssistant UART.
2.2 Query Output
The UART query output of TOFSense requires the following ID:
NLink_TOFSense_Read_Frame0 and NLink_TOFSense_Frame0.
Connection: USB TTL to TOFSense NAssistant UART.
CAN Output
3.1 Active Output
The CAN output of TOFSense is active at a frequency of 10Hz for
TOFSense P and TOFSense PS, and 30Hz for
NLink_TOFSense_CAN_Frame0.
Connection: USB TTL to TOFSense NAssistant CAN.
3.2 Query Output
The CAN query output of TOFSense requires the following ID:
NLink_TOFSense_CAN_Read_Frame0 and NLink_TOFSense_CAN_Frame0.
Connection: USB TTL to TOFSense NAssistant CAN.
I/O Output
The I/O output of TOFSense supports RX/TX communication and has
a bandwidth of 0.5mm to 500mm.
Connection: USB TTL to TOFSense NAssistant I/O.
NAssistant Operations
5.1 Firmware Update
To update the firmware, use NAssistant.
5.2 Record, Replay and Export
NAssistant allows you to record, replay, and export data in .dat
or .xlsx format.
FOV (Field of View)
The TOFSense has a field of view of 8 degrees for TOFSense P and
TOFSense PS.
Cascade Ranging
The Cascade Ranging feature is available for TOFSense PS with ID
9. It supports UART and CAN communication.
Protocol Unpack
8.1 Introduction
The NLink C and NlinkUnpack are used for protocol unpacking in
TOFSense. The product supports int24 and int32 data types with a
range of -256 to 1000.
TOFSense V2.5
Language| Firmware|V2.0.4 NAssistant|N V4.4.0 Product Series|TOFSenseTOFSense
PTOFSense PS
Content|
Content| ……………………………………………………………………………………………………………………..2 Disclaimer|
………………………………………………………………………………………………………….3 1 Introduction|
……………………………………………………………………………………………………………5 2 UART Output|
………………………………………………………………………………………………… 5
2.1 Active Output| ……………………………………………………………………………………….5 2.2 Query Output|
………………………………………………………………………………………. 5 3 Can Output|CAN
…………………………………………………………………………………………………… 6 3.1 Active Output|
……………………………………………………………………………………….6 3.2 Query Output|
………………………………………………………………………………………. 7 4 I/O Output|I/O
………………………………………………………………………………………………………..7 5 NAssistant Operations|NAssistant
……………………………………………………………………………8 5.1 Firmware Update|
…………………………………………………………………………………. 8 5.2 Record, Replay and Export|
………………………………………………………9 6 FOV| ……………………………………………………………………………………………………………….. 10
7 CascadeRanging| …………………………………………………………………………………………… 11 8 Protocol Unpack|
…………………………………………………………………………………………… 11 8.1 Introduction|
……………………………………………………………………………………………….11 8.2 Example|
…………………………………………………………………………………………………… 12
8.2.1 NLink_TOFSense_Frame0 ……………………………………………………………………….12 8.2.2
NLink_TOFSense_Read_Frame0 …………………………………………………………….. 12 8.2.3
NLink_TOFSense_CAN_Frame0 …………………………………………………………….. 12 8.2.4
NLink_TOFSense_CAN_Read_Frame0 …………………………………………………….13 9 FAQ|
……………………………………………………………………………………………………………. 14 10 Reference|
………………………………………………………………………………………………………….. 16 11 Abbreviation and Acronyms|
……………………………………………………………16 12 Update Log| …………………………………………………………………………………………………
16 13 Further Information| …………………………………………………………………………………….. 16
Copyright © Nooploop LTd 2023. All Rights Reserved.
Disclaimer|
Disclaimer|
Document Information| Nooploop reserves the right to change product
specifications without notice. As far as possible changes to functionality and
specifications will be issued in product specific errata sheets or in new
versions of this document. Customers are advised to check with Nooploop for
the most recent updates on this product. Nooploop Nooploop
Life Support Policy| Nooploop products are not authorized for use in safety-
critical applications (such as life support) where a failure of the 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. Nooploop Nooploop Nooploop Nooploop Nooploop Nooploop
Regulatory Approvals| The TOFSense series sensors, as supplied from Nooploop
currently have the following laser product certifications. Users need to
confirm whether these certifications are applicable according to the region
where such products are used or sold. All products developed by the user
incorporating the TOFSense series sensors must be approved by the relevant
authority governing radio emissions in any given jurisdiction prior to the
marketing or sale of such products in that jurisdiction and user bears all
responsibility for obtaining such approval as needed from the appropriate
authorities. Nooploop TOFSense TOFSense
Copyright © Nooploop LTd 2023. All Rights Reserved.
3
Disclaimer|
TOFSense IEC 60825-1:2014 3 Class1
1. Caution – Use of controls or adjustments or performance of procedures
other than those specified herein may result in hazardous radiation exposure.
2. 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 GB 7247.1-2012 1
1. 2. GB 7247.1-2012 – 1
50.5uW
Copyright © Nooploop LTd 2023. All Rights Reserved.
4
Introduction|
1 Introduction|
TOFSenseTOFSense PTOFSense PS TOFSense_Datasheet.pdf
2 UART Output|
2.1 Active Output|
UART TOFSense 10HzTOFSense P/TOFSense PS 30Hz NLink_TOFSense_Frame0
USB TTL TOFSense NAssistant UART 1
1UART
2.2 Query Output|
UART ID NLink_TOFSense _Read_Frame0 NLink_TOFSense_Frame0
USB TTL TOFSense NAssistant UART 2
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5
Can Output|CAN
2UART
3 Can Output|CAN
3.1 Active Output|
CAN TOFSense 10HzTOFSense P/TOFSense PS 30Hz NLink_TOFSense_CAN_Frame0
USB TTL TOFSense NAssistant CAN 3 CAN IO FAQ UART
3CAN
Copyright © Nooploop LTd 2023. All Rights Reserved.
6
I/O Output|I/O
3.2 Query Output|
CAN ID NLink_TOFSense_CAN_Read_Frame0 NLink_TOFSense_CAN_Frame0
USB TTL TOFSense NAssistant CAN 4 CAN IO FAQ UART
4CAN
4 I/O Output|I/O
I/O I/O
UART NAssistant I/O USB TTL TOFSense NAssistant Band_Start Bandwidth I/O
5;TX/CAN_L RX/CAN_H 6
I/O Band_StartBandwidth FAQ UART
Band_Start Bandwidth 500mm 0.5 1 0.3 RX TX 0.8 RX TX 1 RX TX 1 0.8 RX TX 0.5
RX TX
Bandwidth 0 3.3V
Copyright © Nooploop LTd 2023. All Rights Reserved.
7
NAssistant Operations|NAssistant
5I/O
Band_Start Bandwidth [0~5000]:mm
6
5 NAssistant Operations|NAssistant
5.1 Firmware Update|
NAssistant
1
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8
NAssistant Operations|NAssistant
“””” Nooploop “OK”
2″” NAssistant “” “”
3 100
7
5.2 Record, Replay and Export|
NAssistant .dat .dat NAssistant
.xlsx NAssistant .dat
log “export_data”
Copyright © Nooploop LTd 2023. All Rights Reserved.
9
FOV|
8
6 FOV|
fov.x=27° fov.y=27°fov.x_offset=0°fov.y_offset=0° X 25°Y 15°X 1°Y -1° 7
9FOV
FOV FOV TOFSense ( ) FOV 8TOFSense P TOFSense PS
Copyright © Nooploop LTd 2023. All Rights Reserved.
10
CascadeRanging|
10TOFSense FOV
7 CascadeRanging|
ID 9 TOFSense PS
11:
UART CAN CAN
8 Protocol Unpack|
8.1 Introduction|
NLink C NlinkUnpack
TOFSense
int24 int32 256 int24 1000
uint8_t byte[] = {0xe6,0x0e,0x00};//3.814 //uint8_t byte[] =
{0xec,0xfb,0xff};//-1.044 int32_t temp = (int32_t)(byte[0] << 8 | byte[1] <<
16 | byte[2] << 24) / 256; float result = temp/1000.0f;
uint8_t verifyCheckSum(uint8_t *data, int32_t length){ uint8_t sum = 0; for(int32_t i=0;i<length-1;++i){
Copyright © Nooploop LTd 2023. All Rights Reserved.
11
Protocol Unpack|
sum += data[i]; } return sum == data[length-1]; }
8.2 Example|
8.2.1 NLink_TOFSense_Frame0
UART NLink_TOFSense_Frame0 FAQ
57 00 ff 00 9e 8f 00 00 ad 08 00 00 03 00 ff 3a
1NLink_TOFSense_Frame0
Data
Type
Length (Bytes)
Hex
Result
Frame Header
uint8
1
57
0x57
Function Mark
uint8
1
00
0x00
reserved
uint8
1
…
id
uint8
1
00
0
System_time
uint32
4
9e 8f 00 00
36766ms
dis*1000
uint24
3
ad 08 00
2.221m
dis_status
uint8
1
00
0
signal_strength
uint16
2
03 00
3
reserved
uint8
1
…
Sum Check
uint8
1
3a
0x3a
8.2.2 NLink_TOFSense_Read_Frame0
UART id 0 ID id
57 10 FF FF 00 FF FF 63
2NLink_TOFSense_Read_Frame0
Data
Type
Length (Bytes)
Hex
Result
Frame Header
uint8
1
57
0x57
Function Mark
uint8
1
10
0x10
reserved
uint16
2
…
id
uint8
1
00
0
reserved
uint16
2
…
Sum Check
uint8
1
63
0x63
8.2.3 NLink_TOFSense_CAN_Frame0
CAN id 1 CAN StdID:0x201 + Data: AD 08 00 00 03 00 FF FF
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12
Field name Start Of Frame Arbitration Field Control Field
Data Field
CRC Field ACK Field End Of Frame
Protocol Unpack|
3NLink_TOFSense_CAN_Frame0
Part
Level Type
Length(bits)
SOF
1
ID
11
RTR
1
IDE
1
r0
1
DLC
4
dis*1000
uint24
24
dis_status
uint8
8
signal_strength
uint16
16
reserved
uint16
16
CRC
15
CRC_delimiter
1
ACK Slot
1
ACK_delimiter
1
EOF
7
Hex
0x200+id
ad 08 00 00
03 00 …
Result
0x201
2.221m 0 3 *
Dominant level Dominant or recessive level
Recessive level
8.2.4 NLink_TOFSense_CAN_Read_Frame0
CAN id 1 CAN id_s 2
StdID:0x402 + Data: FF FF FF 01 FF FF FF FF
4NLink_TOFSense_CAN_Read_Frame0
Field name
Part
Level Type
Length(bits)
Hex
Result
Start Of Frame
SOF
1
ID Arbitration Field
RTR
11
0x400+id_s
0x402
1
IDE
1
Control Field
r0
1
DLC
4
reserved
uint24
24
…
Data Field
id
uint8
8
01
id = 1
reserved
uint32
32
…
CRC Field
CRC CRC_delimiter
15
1
ACK Field
ACK Slot ACK_delimiter
1
1
End Of Frame
EOF
7
Copyright © Nooploop LTd 2023. All Rights Reserved.
13
Dominant level Dominant or recessive level
Recessive level
FAQ|
9 FAQ|
Q1.
Q2.
Q3. TOFSense
CAN 120 I/O I/O
Q4. FOV
FOV
Q5. UART CAN I/O UART CAN
Q6. CAN IO NAssistant
NAssistant UART UART CAN IO CAN IO UART UART
TOFSense-PS CAN USB TTL 921600 USB TTL
Q7. USB TTL
Q8. FOV
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14
FAQ|
Q9.
Q10. TOFSense: -0.01 0xFFFFF6 1~2m
1~2m
TOFSense P/TOFSense PS: 0
Q11.CAN ? CAN TOFSense 120R
NLink_TOFSense_CAN_Read_Frame0 ID
Q12. UART UART
Q13. GH1.25 GH1.25
GH1.25-GH1.25
Q14. ad 08 00 ad 08 00
16 0x0008ad 10 2221 1000 2.221
Q15. 55 01 00 ef 03
0x55+0x01+0x00+0xef+0x03=0x0148 48 55 01 00 ef 03 48
Q16.ROS ROS README.MD
ROS
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15
10 Reference|
[1] TOFSense
Reference|
11 Abbreviation and Acronyms|
Abbreviation TOF FOV HW
VCSEL
5 Full Title Time of Flight Field of View Half Wave Vertical Cavity Surface Emitting Laser
12 Update Log|
Version 1.0
1.1
1.2
2.0
2.1 2.2 2.3 2.4 2.5
Firmware Version 1.0.0
1.0.4
1.0.6
2.0.0
2.0.0 2.0.3 2.0.4 2.0.4 2.0.4
Data 20190817
20190923
20191213
20200730
20210623 20220211 20220924 20221205 20230404
6 Description
1. 1. UART FOV 2. FOV 3. FAQ 4. 1. FOV 2. 1. I/O 2. FAQ 3. 1. TOFSense
PTOFSense PS 2. FAQ 3. 1. 1. 1. 1. 2. FAQ
13 Further Information|
1 A2-207 marketing@nooploop.com www.nooploop.com
Copyright © Nooploop LTd 2023. All Rights Reserved.
16
References
Read User Manual Online (PDF format)
Read User Manual Online (PDF format) >>