NOOPLOOP TOFSense Lidar Range 8M FOV 27° Resolution 1mm User Manual
- May 15, 2024
- Nooploop
Table of Contents
NOOPLOOP TOFSense Lidar Range 8M FOV 27° Resolution 1mm
Specifications
- Product Name: TOFSense V2.6
- Firmware Version: V2.0.4
- NAssistant Version: N V4.10.1
- Product Series: TOFSense, TOFSense P, TOFSense PS
- Laser Safety Class: IEC 60825-1:2014 Class 1
- Maximum Laser Power Output: 50.5uW
Product Usage Instructions
UART Output:
The TOFSense device supports UART output for communication.
Active Output:
Configure the UART to actively output data at a frequency of 10Hz for TOFSense and 30Hz for TOFSense P/TOFSense PS.
Query Output:
Set the UART to query mode to request specific information from the device.
CAN Output:
TOFSense also supports CAN output for communication.
Active Output:
Activate CAN output with a frequency of 10Hz for TOFSense and 30Hz for TOFSense P/TOFSense PS.
Query Output:
Inquire specific CAN data from the device using query mode.
I/O Output:
The device offers I/O output options for connecting external devices.
Single Threshold:
Set the band start to 1000mm and bandwidth to 0 for single threshold configurations.
Double Threshold:
Configure dual thresholds with a band start at 1000mm and bandwidth of 500mm.
FOV (Field of View):
The TOFSense device provides a field of view for accurate sensing capabilities.
Cascade Ranging:
Enable cascade ranging mode to use both UART and CAN protocols for communication.
Protocol Unpack:
The protocol unpack feature allows for decoding and interpreting data received from the device.
FAQs
- Q: Can I change the laser output power?
- A: No, the laser power output is fixed at 50.5uW and cannot be adjusted by the user.
- Q: What is the maximum bandwidth supported for I/O configurations?
- A: The device supports a maximum bandwidth of 5000mm (or 8000mm in some cases) for I/O configurations.
TOFSense V2.6
Language| Firmware|V2.0.4 NAssistant|N V4.10.1 Product Series|TOFSenseTOFSense
PTOFSense PS
Copyright © Nooploop LTd 2024. 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 2024. All Rights Reserved.
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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 2024. All Rights Reserved.
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Introduction
1 Introduction|
TOFSenseTOFSense PTOFSense PS TOFSense_Datasheet.pdf
2 UART Output|
UART Active Output Query Output NAssistant
USB TTL TOFSense NAssistant
2.1 Active Output|
UART UART ACTIVEUART 1 TOFSense 10HzTOFSense P/TOFSense PS 30Hz
NLink_TOFSense_Frame0
1UART
2.2 Query Output|
UART UART INQUIREUART 2 ID NLink_TOFSense_Read_Frame0 NLink_TOFSense_Frame0
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Can Output|CAN
UART
3 Can Output|CAN
CAN Active Output Query Output NAssistant
USB TTL TOFSense NAssistant CAN IO FAQ Q6
3.1 Active Output|
CAN CAN ACTIVECAN 3 CAN NAssistant CAN TOFSense 10HzTOFSense P/TOFSense PS
30Hz NLink_TOFSense_CAN_Frame0
3CAN
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I/O Output|I/O
3.2 Query Output|
CAN CAN INQUIRECAN 4 CAN NAssistant CAN ID NLink_TOFSense_CAN_Read_Frame0
NLink_TOFSense_CAN_Frame0
4CAN
4 I/O Output|I/O
I/O TX/CAN_L RX/CAN_H 3.3V 0V
UART NAssistant I/O USB TTL TOFSense NAssistant
I/O Band_StartBandwidth FAQ UART
4.1 Single Threshold|
IOBand Start 1000Band Width 0IO 5
=Band Start=1000(mm)<1m RX TX >1m RX TX
0.3 RX TX 1.2 RX TX
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I/O Output|I/O
5IO
4.2 Double Threshold|
IO Band Start 1000 Band Width 500 IO 6
6I/O
I/O 1 1.5 = Band Start
= Band Start+ Band Width 0.3 RX TX 1.2 RX TX 1.5 RX TX 1.5 1.2 RX TX 1 RX TX 7
Band Start Band width [0~5000(8000)] :mm
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FOV|
7
5 FOV|
TOFSense FOV 27° FOV R = L * tan27°LTOFSense
8TOFSense FOV
fov.x=27°fov.y=27°fov.x_offset=0°fov.y_offset=0° X 25° 8 Y 15° 8 X 1°Y -1° 9
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FOV|
9FOV
FOV 2
10FOV
FOV FOV TOFSense ( ) FOV 10TOFSense P TOFSense PS
TOF Sense FOV
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CascadeRanging|
6 CascadeRanging|
ID 11 TOFSense PS
12:
UART CAN CAN
Protocol Unpack
7.1 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){ sum += data[i]; } return sum ==
data[length-1];
}
7.2 Composition|
7.2.1 UART|
8bit 1bit 921600 UART 16 1 Protocol Frame Header Function MarkData Sum Check
1: Protocol
Frame Header + Function Mark + Data + Sum Check Frame Header 0x57 Function
Mark 0x00 0x10
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Protocol Unpack|
Data ID System_time dis dis status signal strength ID
Sum Check Frame Header Data 8 2 NLink_TOFSense_Frame0 3
NLink_TOFSense_Read_Frame0
7.2.2 CAN|
CAN ID 1000000 ID 0x200+ ID ID 0x402 Data dis dis status signal strength ID
4NLink_TOFSense_CAN_Frame0 5 NLink_TOFSense_CAN_Read_Frame0
7.3 Example|
7.3.1 NLink_TOFSense_Frame0
UART NLink_TOFSense_Frame0 FAQ
57 00 ff 00 9e 8f 00 00 ad 08 00 00 03 00 ff 3a
2NLink_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
7.3.2 NLink_TOFSense_Read_Frame0
UART id 0 ID id
57 10 ff ff 00 ff ff 63
3NLink_TOFSense_Read_Frame0
Data
Type
Length (Bytes)
Hex
Result
Frame Header
uint8
1
57
0x57
Function Mark
uint8
1
10
0x10
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Protocol Unpack|
reserved
uint16
2
id
uint8
1
reserved
uint16
2
Sum Check
uint8
1
…
00
0
…
63
0x63
7.3.3 NLink_TOFSense_CAN_Frame0
CAN id 1 CAN StdID:0x201 + Data: ad 08 00 00 03 00 ff ff
4NLink_TOFSense_CAN_Frame0
Field name
Part
Level Type
Length(bits)
Hex
Start Of Frame
SOF
1
ID Arbitration Field
RTR
11
1
0x200+id *
IDE
1
Control Field
r0
1
DLC
4
dis*1000
uint24
24
ad 08 00
Data Field
dis_status signal_strength
uint8
8
uint16
16
00 03 00
reserved
uint16
16
…
CRC
15
CRC Field
CRC_delimiter
1
ACK Slot
1
ACK Field
ACK_delimiter
1
End Of Frame
EOF
7
Result
0x201
2.221m 0 3 *
Dominant level Dominant or recessive level
Recessive level
7.3.4 NLink_TOFSense_CAN_Read_Frame0
CAN id 1 CAN id_s 2
StdID:0x402 + Data: ff ff ff 01 ff ff ff ff
5NLink_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
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Data Field
CRC Field ACK Field End Of Frame
reserved id
reserved CRC
CRC_delimiter ACK Slot
ACK_delimiter EOF
uint24
24
uint8
8
uint32
32
15
1
1
1
7
FAQ|
…
01
id = 1
…
Dominant level Dominant or recessive level
Recessive level
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
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FAQ|
TOFSense-PS CAN USB TTL 921600 USB TTL
Q7. USB TTL
Q8. FOV
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.
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Reference|
55 01 00 ef 03 0x55+0x01+0x00+0xef+0x03=0x0148 48 55 01 00 ef 03 48
Q16.ROS ROS README.MD
ROS
9 Reference|
[1] TOFSense
10 Abbreviation and Acronyms|
Abbreviation TOF FOV HW
VCSEL
6 Full Title Time of Flight Field of View Half Wave Vertical Cavity Surface Emitting Laser
11 Update Log|
Version 1.0
1.1
1.2
2.0
2.1 2.2 2.3 2.4 2.5 2.6
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 2.0.4
Data 20190817
20190923
20191213
20200730
20210623 20220211 20220924 20221205 20230404 20240221
7 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 1. FOV
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2. 3. 4.
Further Information
12 Further Information|
1 A2-207
[email protected]
www.nooploop.com
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