NOOPLOOP TOF Serise Lidar Range 8M FOV 27 Degree Resolution User Guide

: May 15, 2024
: Nooploop

Table of Contents

NOOPLOOP TOF Serise Lidar Range 8M FOV 27 Degree Resolution
Specifications
Product Usage Instructions
Frequently Asked Questions
Disclaimer
Introduction
Can Output
Protocol Unpack
Further Information
References
Read User Manual Online (PDF format)
Download This Manual (PDF format)

NOOPLOOP TOF Serise Lidar Range 8M FOV 27 Degree Resolution

NOOPLOOP-TOF-Serise-Lida-Range-8M-FOV-27-Degree-Resolution-
image

Specifications

Product Name: TOFSense-M V2.1
Language: Firmware V2.0.2
NAssistant Version: N V4.10.1
Product Series: TOFSense-M
Classification: IEC 60825-1:2014 Class 1

Product Usage Instructions

1. Introduction

The TOFSense-M V2.1 is a laser product with specific safety classifications. It is essential to follow the instructions provided in this manual to ensure safe usage.

2. UART Output

The TOFSense-M supports UART output for active and query purposes. Connect the device via USB TTL to access the UART functionality.

2.1 Active Output

Configure the UART settings to enable active output for real-time data transmission.

2.2 Query Output

Utilize the UART query output feature to request specific information from the TOFSense-M device.

3. CAN Output

The TOFSense-M also supports CAN output for communication purposes. Connect via USB TTL to access the CAN functionality.

3.1 Active Output

Activate the CAN output to transmit data at a specified frequency and format.

3.2 Query Output

Use the CAN query output feature to request data from the TOFSense-M device over the CAN bus.

4. Field of View (FOV)

The TOFSense-M has a defined FOV with specific pixel configurations for accurate sensing capabilities.

5. Cascade Ranging

Enable cascade ranging to enhance the TOFSense-M’s measurement capabilities across different fields of view.

6. Protocol Unpack

Understand the protocol unpacking process to decode and interpret data received from the TOFSense-M device accurately.

Frequently Asked Questions

Q: Can I update the firmware of TOFSense-M?
- A: Nooploop reserves the right to update product specifications without notice. Please check with Nooploop for any firmware updates for your TOFSense-M device.
Q: How do I connect TOFSense-M to my computer?
- A: Use a USB TTL cable to connect the TOFSense-M device to your computer for data transfer and configuration.

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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-M 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-M 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-M TOFSense-M

3

Disclaimer|

TOFSense-M 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.
TOFSense-M GB 7247.1-2012 1
1. 2. GB 7247.1-2012 – 1

4

Introduction

1 Introduction|
TOFSens-MTOFSens-M S TOFSense-M_Datasheet.pdf
2 UART Output|
UART Active Output Query Output NAssistant
USB TTL TOFSense NAssistant
2.1 Active Output|
UART UART ACTIVEUART 1 88 15Hz44 60Hz NLink_TOFSense_M_Frame0

1UART
2.2 Query Output|
UART UART INQUIREUART 2 ID NLink_TOFSense_Read_Frame0 NLink_TOFSense_M_Frame0

5

Can Output

2UART
3 Can Output|CAN
CAN Active Output Query Output NAssistant
USB TTL TOFSense NAssistant CAN IO FAQ
3.1 Active Output|
CAN CAN ACTIVECAN 3 CAN NAssistant CAN 10Hz 88 44 64 16 NLink_TOFSense_CAN_Frame0

3CAN

3.2 Query Output|
CAN CAN INQUIRECAN 4 CAN NAssistant CAN

6

FOV| ID 88 64 44 16 NLink_TOFSense_CAN_Read_Frame0 NLink_TOFSense _CAN_Frame0
4CAN
4 FOV|
& 45° 63°TOFSense-M FOV FOV R = L * tan45°LTOFSense-M

5TOFSense-M FOV
5 Pixel|
64 (88) 16 (44) 5

7

CascadeRanging|

6: FOV
6 CascadeRanging|
ID 6 TOFSense-M S

7:
UART CAN CAN

Protocol Unpack

7.1 Introduction|
NLink C NlinkUnpack

8

Protocol Unpack|

TOFSense-M
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 0x01 0x10 Data ID System_time 0~63 x_dis x_dis status x_signal strengthx:0~63 ID Sum Check Frame Header Data 8 2 NLink_TOFSense_M_Frame0 3 NLink_TOFSense_Read_Frame0

7.2.2 CAN|
CAN ID 1000000 ID 0x200+ ID ID 0x402 Data dis dis status signal strength index ID CAN TOFSense-M 8844 6416 index 6416 4NLink_TOFSense_CAN_Frame0 5

9

Protocol Unpack|

NLink_TOFSense_CAN_Read_Frame0

7.3 Example|

7.3.1 NLink_TOFSense_M_Frame0

UART NLink_TOFSense_M_Frame0 FAQ
57 01 ff 00 03 a0 00 00 40 e0 81 07 00 9f 00 f0 43 03 00 58 00 c0 c8 03 00 55 00 90 e2 00 00 44 00 d0 84 00 00 57 00 18 79 00 00 61 00 e8 80 00 00 7a 00 90 65 00 00 8e 00 d8 d0 01 00 27 00 e8 74 02 00 28 00 00 f4 01 00 2e 00 f8 a7 00 00 39 00 50 c3 00 00 41 00 30 75 00 00 5b 00 70 94 00 00 61 00 00 7d 00 00 9b 00 30 e0 03 00 19 00 c8 79 09 00 1a 00 28 cf 0d 00 3a 00 b0 b3 00 00 20 00 30 75 00 00 31 00 60 6d 00 00 40 00 e8 80 00 00 4b 00 d0 84 00 00 71 00 40 3c 10 00 1e 00 88 b3 0f 00 24 00 20 b9 03 00 12 00 e8 26 0f 00 34 00 f0 d2 00 00 2c 00 c8 af 00 00 30 00 58 98 00 00 3a 00 f8 a7 00 00 47 00 d8 ed 11 09 1c 00 60 84 11 00 1c 00 e0 c8 10 00 21 00 d0 a1 10 00 25 00 88 90 00 00 1c 00 e0 ab 00 00 24 00 18 79 00 00 41 00 08 cf 00 00 41 00 68 47 14 ff 0b 00 c8 b4 14 00 0e 00 20 d6 13 00 11 00 d8 e1 13 00 14 00 d0 84 00 00 1d 00 f0 6c 11 00 19 00 a0 8c 00 00 47 00 90 65 00 00 50 00 88 41 22 ff 12 00 e8 f6 16 00 07 00 80 31 17 ff 0b 00 70 10 16 00 0c 00 40 9c 00 00 20 00 f8 a7 00 00 32 00 80 bb 00 00 33 00 a0 8c 00 00 50 00 90 d6 02 ff 2c 00 b0 e1 22 ff 0b 00 40 19 01 ff 10 00 d8 d6 00 ff 11 00 28 a0 00 00 25 00 e8 80 00 00 2b 00 c8 af 00 00 25 00 90 65 00 00 3c 00 ff ff ff ff ff ff 7d
2NLink_TOFSense_M_Frame0

Data

Type

Length(Bytes)

Hex

Result

Frame Header

uint8

1

57

0x57

Function Mark

uint8

1

01

0x01

reserved

uint8

1

…

id

uint8

1

00

0

system_time

uint32

4

03 a0 00 00

40963ms

zone map

uint8

1

40

64

data0{dis*1000

{uint24,

e0 81 07

492mm

dis_status

uint8,

6

00

0

signal_strength}

uint16}

9f 00

159

…

dataindex{dis*1000

{uint24,

dis_status

uint8,

6

signal_strength}

uint16}

…

data63{dis*1000

{uint24,

90 65 00

26mm

dis_status

uint8,

6

00

0

signal_strength}

uint16}

3c 00

60

Reserved

6

SumCheck

uint8

1

7d

0x7d

10

Protocol Unpack|

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

reserved

uint16

2

…

id

uint8

1

00

0

reserved

uint16

2

…

Sum Check

uint8

1

63

0x63

7.3.3 NLink_TOFSense_CAN_Frame0

CAN id 1 CAN StdID:0x201 + Data: ec 01 00 00 9f 00 00 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

uint24

24

ec 01 00

dis_status

uint8

8

00

Data Field

signal_strength

uint16

16

9f 00

index

uint8

8

00

reserved

uint8

8

…

CRC

15

CRC Field

CRC_delimiter

1

ACK Slot

1

ACK Field

ACK_delimiter

1

End Of Frame

EOF

7

Result
0x201
492mm 0 159 0 *

Dominant level Dominant or recessive level
Recessive level

7.3.4 NLink_TOFSense_CAN_Read_Frame0
CAN id 1 CAN id_s

11

FAQ|

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

Start Of Frame

SOF

1

ID Arbitration Field
RTR

11

0x400+id_s

1

IDE

1

Control Field

r0

1

DLC

4

reserved

uint24

24

…

Data Field

id

uint8

8

01

reserved

uint32

32

…

CRC

15

CRC Field

CRC_delimiter

1

ACK Slot

1

ACK Field

ACK_delimiter

1

End Of Frame

EOF

7

Result
0x402
id = 1

Dominant level Dominant or recessive level
Recessive level

FAQs

Q1.

Q2.

Q3.
CAN 120

Q4. FOV
FOV

Q5. UART CAN UART CAN

12

FAQ

Q6. CAN NAssistant
NAssistant UART UART CAN CAN TOFSense-M UART UART TOFSense-M S UART 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. USB TTL
USB TTL TOFSense-M/MS NAssistant
UART 921600 INQUIRE USB TTL USB TTL USB TTL
Q8. FOV 88 64 44 16

Q9. 255

Q10.CAN ? CAN TOFSense-M 120R
NLink_TOFSense_CAN_Read_Frame0 ID
Q11.CAN /
CAN
1 2 7 4 1 2 VCCGND 3 4 VCCGND 5 6 VCCGND 7 VCCGND 7 CAN_HCAN_L CAN 2 3
Q12.

13

Reference|

Q13. UART UART

Q14. GH1.25 GH1.25
GH1.25-GH1.25

Q15. e0 81 07 e0 81 07
16 0x0781e0 10 492000 1000 492
Q16. 55 01 00 ef 03
0x55+0x01+0x00+0xef+0x03=0x0148 48 55 01 00 ef 03 48
Q17.ROS ROS README.MD
ROS

9 Reference|
[1] TOFSense-M

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

Firmware Version 1.0.1

7 Data 20211112 1.

Description

14

Further Information|

1.1