NOOPLOOP TOFSense-M Lidar Sensor User Manual

: July 31, 2024
: Nooploop

Table of Contents

TOFSense-M Lidar Sensor
Product Information
Specifications:
- Product Usage Instructions
Introduction:
UART Output:
FAQs:

TOFSense-M Lidar Sensor

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Product Information

Specifications:

Product Name: TOFSense-M
Firmware Version: V2.0.2
NAssistant Version: V4.11.0
Product Series: TOFSense-M, TOFSense-M S
Compliance: Class 1 laser product standard (IEC 60825-1:2014,
GB 7247.1-2012)

Product Usage Instructions

Introduction:

This document provides guidance on using the TOFSense-M and
TOFSense-M S systems along with necessary precautions.

UART Output:

The TOFSense series products support UART output modes: active
output and query output.

Connecting to NASsistant:

Connect TOFSense products to NASsistant through USB to TTL
module.
Access the settings page on NASsistant to configure
parameters.
Save the parameters by clicking the ‘Write Parameter’
button.
The module will restart automatically after parameter
configuration.

Active Output Mode:

UART active output mode is for single module use. The module
outputs measurement information actively at a fixed frequency
following the NLink_TOFSense_M_Frame0 protocol.

FAQ

FAQs:

Q: Can I use the TOFSense-M series products in safety-critical

applications?

A: No, these products are not authorized for use in
safety-critical applications where failure could cause severe
injury or death.

Q: How do I switch between active output and query output

modes?

A: You can switch between the two modes by modifying the data
output mode on NASsistant.

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TOFSense-M User Manual V3.0
Languag: English Firmware: V2.0.2 NAssistant: V4.11.0 Product Series: TOFSense-M, TOFSense-M S

Catalogue
Catalogue ………………………………………………………………………………………………………………………….2 Disclaimer …………………………………………………………………………………………………………………………3 1 Introduction …………………………………………………………………………………………………………………… 5 2 UART Output ………………………………………………………………………………………………………………… 5
2.1 Active Output ………………………………………………………………………………………………………. 5 2.2 Query Output ……………………………………………………………………………………………………….. 5 3 CAN Output ……………………………………………………………………………………………………………………6 3.1 Active Output ………………………………………………………………………………………………………. 6 3.2 Query Output ……………………………………………………………………………………………………….. 7 4 FOV ……………………………………………………………………………………………………………………………… 7 5 Pixel ………………………………………………………………………………………………………………………………8 6 Cascade Ranging ……………………………………………………………………………………………………………. 8 7 Protocol Unpack …………………………………………………………………………………………………………….. 9 7.1 Introduction …………………………………………………………………………………………………………. 9 7.2 Composition ………………………………………………………………………………………………………… 9
7.2.1 UART ……………………………………………………………………………………………………….. 9 7.2.2 CAN …………………………………………………………………………………………………………10 7.3 Example ……………………………………………………………………………………………………………..10 7.3.1 NLink_TOFSense_M_Frame0 ……………………………………………………………………. 10 7.3.2 NLink_TOFSense_Read_Frame0 ……………………………………………………………….. 11 7.3.3 NLink_TOFSense_CAN_Frame0 ……………………………………………………………….. 12 7.3.4 NLink_TOFSense_CAN_Read_Frame0 ………………………………………………………. 12 8 FAQ ……………………………………………………………………………………………………………………………. 13 9 Reference …………………………………………………………………………………………………………………….. 15 10 Abbreviation and Acronyms ………………………………………………………………………………………….15 11 Update Log ………………………………………………………………………………………………………………… 16 12 Further Information …………………………………………………………………………………………………….. 16

Catalogue

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.
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.
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.

3

Disclaimer
Certification instructions
TOFSense-M series products comply with the Class1 standard specified in IEC 60825-1:2014 3rd edition
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 series products comply with the Class 1 laser product standard specified in GB 7247.1-2012
1. Attention: If control or adjustment devices are not used according to regulations, or if various steps of operation are not carried out according to regulations, it may cause harmful radiation exposure.
2. According to GB 7247.1-2012 Safety of Laser Products – Part 1: Equipment Classification and Requirements.

4

Introduction

1 Introduction
This document mainly introduces how to use TOFSens-M and TOFSens-M S systems, as well as the precautions that need to be taken during the usage process. You may need to refer to the following materials for a better understanding: TOFSense-M_Datasheet.pdf

2 UART Output

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 data manual). After successful recognition, click

to enter the

settings page. After configuring the parameters, click Write Parameter button to save the parameters.

After the parameters are successfully written, the module will restart automatically. After waiting for

the restart, the parameters can be read once to confirm whether the parameters are successfully written.

2.1 Active Output
UART active output mode can only be used in a single module. Interface type is set to UART, data Output method is set to Active, and UART active output mode configuration is shown in Figure 1. After the parameter module is written and restarted, it will report data actively. In this mode, the module outputs measurement information actively at a fixed frequency (88 mode 15Hz, 44 mode 60Hz), and the output format follows the NLink_TOFSense_M_Frame0 protocol.

Figure 1: Configuration Diagram For UART Active Output Mode

2.2 Query Output
UART query output mode can be used in single module and cascading situations. Set Interface type as UART, set Output mode as INQUIRE. The configuration of UART query output mode is shown in Figure 2. After Write Parameter module is restarted, it will no longer actively report data. In this mode, the controller sends a query instruction containing the module ID to the expected query

5

CAN Output
module, and the module can output one frame of measurement information. The query frame format follows the protocol NLink_TOFSense_Read_Frame0, and the output frame format follows the protocol NLink_TOFSense_M_Frame0.
Figure 2: Configuration Diagram for UART Query Output Mode
3 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 USB to TTL module (line sequence and power supply voltage reference datasheet). After successful recognition, click to enter the settings page. After configuring the parameters, click the write parameter button to save the parameters. (If CAN or IO mode has already been switched to before, the host computer will not be able to recognize it directly, and the mode needs to be changed according to the method in FAQ.)
3.1 Active Output
CAN active output mode can be used in single module and cascading situations. Interface type is set to CAN, data Output method is set to Active, and the CAN active output mode configuration is shown in Figure 3. After Write Parameter module is restarted, it will report data actively(After writing the parameters, the module will return to CAN mode after being powered on again, and NAssistant will be temporarily unavailable for testing, requiring the use of equipment such as a CAN analyzer). In this mode, the module outputs measurement information actively at a frequency of 10Hz (64 frames for 88 mode and 16 frames for 44 mode, each frame outputting ranging information for one pixel), the output format follows the protocol NLink_TOFSense_CAN_Frame0.

6

FOV

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. After Write Parameter module is restarted, it will no longer report data actively(After writing the parameters, the module will return to CAN mode after being powered on again, and NAssistant will be temporarily unavailable for testing, requiring the use of equipment such as a CAN analyzer). In this mode, the controller sends a query instruction containing the module ID to the expected query module, and the module can output measurement information of all pixels in the module (64 frames in 88 mode and 16 frames in 44 mode). The query frame format follows the protocol NLink_TOFSense_CAN_Read_Frame0, and the output frame format follows the protocol NLink_TOFSense_CAN_Frame0.

Figure 4: Configuration Diagram for CAN Query Output Mode

4 FOV
The Field of View (FOV) parameter represents the angle covered by the module’s emitted ranging light. The module’s FOV parameter is 45° horizontally & vertically, and 65° diagonally. As shown in the figure below, the FOV area of the TOFSense-M series is a pyramid-like shape with a square base and its vertex at the emission window. When facing a sufficiently large object, the side length of the square coverage area on the measured plane can be estimated through trigonometric functions: R = L*tan45° (L: the distance between the TOFSense-M series module and the measured object).

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Pixel
Figure 5: Illustration of TOFSense-M Series FOV Coverage Area
5 Pixel
The module supports 64 (88) and 16 (44) pixel point outputs. The relationship between pixel points and actual objects is shown in Figure 6.

Figure 6: Illustration of FOV and Pixel Point Correspondence

6 Cascade Ranging
Multiple sensors can be configured with different IDs and connected in series, and the ranging

8

Protocol Unpack
information of all sensors can be read through a single communication interface. The connection schematic is shown in Figure 7. TOFSense MS only has one communication interface, If cascading functionality is needed, users must create their own adapters.

Figure 7: Cascade Ranging Diagram
Under cascade ranging, three methods are suitable: UART query, CAN query, and CAN active output.

7 Protocol Unpack

7.1 Introduction
The protocol unpacking examples in this chapter are based on the NLink protocol, and C language-based NlinkUnpack example parsing code is provided, effectively reducing user development time. Given the TOFSense-M series product data, to represent more data with fewer bytes, we use integers to represent floating-point numbers through protocol frames. Therefore, unpacked integer data with multipliers are effectively floating-point types and need to be divided by the multipliers indicated in the protocol. Specifically, for type int24 , we first convert them to type int32 . To maintain the sign, we use the method of left shift and then divide by 256. For example, position data represented by int24 with a multiplier of 1000 is parsed as follows:
uint8_t byte[] = {0xe6,0x0e,0x00};//Decimal value: 3.814 //uint8_t byte[] = {0xec,0xfb,0xff};//Decimal value: 1.044 int32_t temp = (int32_t)(byte[0] << 8 | byte[1] << 16 | byte[2] << 24) / 256; float result = temp/1000.0f;
Currently, the protocol verification is mainly based on the single-byte checksum at the end of the protocol frame. Example code:
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
The default UART configuration is: 8 data bits, 1 stop bit, no parity check, no flow control, and a default baud rate of 921600bps. Each UART data frame containing distance information consists of 400/112 (88/44) bytes of hexadecimal data. Distance and other data are arranged in little-endian mode. The UART

9

Protocol Unpack
communication output protocol frame format is shown in Table 1, consisting of Frame Header, Function Mark, Data, and Sum Check.
Table 1: Protocol Composition
Frame Header + Function Mark + Data + Sum Check Frame Header: Fixed as 0x57. Function Mark: Fixed as 0x01 for output protocol frames and 0x10 for inquiry protocol frames. Data: Data segment, The output protocol frame contains module ID, system time (System_time), and data packets for each pixel point in the order of 0~63, with each packet containing measured value (dis), distance status (dis status), and signal strength (signal strength). The inquiry protocol frame only contains the ID of the inquired module. Sum Check: The checksum is calculated by summing all bytes from Frame Header to Data and taking the low 8 bits.
Detailed output protocol frame formats are shown in Table 2: NLink_TOFSense_M_Frame0 Analysis Table, and inquiry protocol frame formats are shown in Table 3: NLink_TOFSense_Read_Frame0 Analysis Table.
7.2.2 CAN
CAN communication supports baud rate and ID modification, the content of the protocol is as follows: The default baud rate is 1000000bps, the receive ID is 0x200 + module ID, and the transmit ID is fixed at 0x402. Data: Data segment, the output protocol frame contains measured value (dis), distance status (dis status), signal strength (signal strength), and the pixel point position index (index) for this frame. The inquiry protocol frame only contains the ID of the inquired module. Due to CAN transmission byte limitations, TOFSense-M series 88 (44) mode data is transmitted in 64 (16) frames.
Detailed output protocol frame formats are shown in Table 4: NLink_TOFSense_CAN_Frame0 parsing table, and inquiry protocol frame formats are shown in Table 5: NLink_TOFSense_CAN_Read_Frame0 parsing table.

7.3 Example
This document uses a single-module continuous ranging scenario as an application example.
7.3.1 NLink_TOFSense_M_Frame0
Data Source: Connect the module to a host computer, configure UART for active output mode, and use the NLink_TOFSense_M_Frame0 protocol. Distance data parsing can refer to the FAQ.
Raw Data: 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

10

Protocol Unpack

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
Table 2: NLink_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

7.3.2 NLink_TOFSense_Read_Frame0

Data source: Connect the module to the host computer, configure it as UART query output mode with ID set to 0. To query data, send the following bytes from the host computer. If you need to query modules with different IDs, simply change the ID and checksum bytes accordingly. For example, module id=3, the query instruction should be 57 10 FF FF 03 FF FF 66. Raw Data: 57 10 FF FF 00 FF FF 63
Table 3: NLink_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

…

11

Protocol Unpack

Sum Check

uint8

1

63

0x63

7.3.3 NLink_TOFSense_CAN_Frame0

Data source: Configure the module as CAN active output mode with ID set to 1, and connect it to the CAN receiving device. Raw data: StdID:0x201 + Data: e0 81 07 00 9f 00 00 FF
Table 4: NLink_TOFSense_CAN_Frame0

Field name

Part

Level Type

Length(bits)

Hex

Result

Start Of Frame

SOF

1

ID Arbitration Field
RTR

11

1

0x200+id *

0x201 *

IDE

1

Control Field

r0

1

DLC

4

dis

uint24

24

ec 01 00

492mm

dis_status

uint8

8

00

0

Data Field

signal_strength

uint16

16

9f 00

159

index

uint8

8

00

0

reserved

uint8

8

…

CRC

15

CRC Field

CRC_delimiter

1

ACK Slot

1

ACK Field

ACK_delimiter

1

End Of Frame

EOF

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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

Connect the CAN query device, and the query device’s ID (id_s) is 2.

Raw data: StdID:0x402 + Data: FF FF FF 01 FF FF FF FF

Table 5: NLink_TOFSense_CAN_Read_Frame0

Field name

Part

Level Type

Length(bits)

Start Of Frame

SOF

1

ID Arbitration Field
RTR

11

1

IDE

1

Control Field

r0

1

DLC

4

Data Field

reserved

uint24

24

Hex
0x400+id_s * …

Result
0x402
12

FAQ

CRC Field ACK Field End Of Frame

id reserved
CRC CRC_delimiter
ACK Slot ACK_delimiter
EOF

uint8

8

uint32

32

15

1

7

01

id = 1

…

Dominant level Dominant or recessive level
Recessive level

8 FAQ
Q1. Can it be used outdoors (in bright light) conditions? The module is affected by natural light. Generally speaking, the stronger the natural light, the more it will be affected, resulting in shorter ranging distance, poorer accuracy, and larger fluctuations. In strong light conditions (such as sunlight), it is generally recommended to use the module for short-range detection scenarios.

Q2. Is there interference between multiple modules? When multiple modules are working at the same time, even if the infrared light emitted from one module crosses or hits the same position as another module, it will not affect the actual measurement. However, if two modules are at the same horizontal height and facing each other, the measurement may be affected for both of them.

Q3. Why is there no data output from TOFSense-M? Each module has undergone strict testing before shipping. If there is no data, please first check if the mode, wiring (power supply voltage, wire sequence correctness, and whether the pins on both sides of the communication are conducting as recommended by using a multimeter to test), baud rate and other configurations are correct. For CAN output mode, please check if there is a terminal resistor(usually 120).

Q4. What should be noted during installation? If you do not want to detect the ground or other reflective surfaces, it is necessary to avoid obstructions within the FOV angle during installation. Additionally, the ground height should be taken into consideration, and it is necessary to avoid obstructions such as ground reflections within the FOV. If the installation height is close to the ground, the module can be slightly tilted upwards for installation.

Q5. Are the module’s UART, CAN, and I/O the same interface? The UART interface and the CAN interface of the module share the same physical interface. To switch between different communication modes, simply convert the corresponding wire sequence.

Q6. Why can’t NAssistant recognize the module after switching to CAN mode? How to switch

13

FAQ
between different communication modes? Currently, NAssistant only supports recognizing modules in UART mode. In UART mode, after successfully recognizing the module through the upper computer, you can enter the settings page to configure the module for CAN communication mode; in CAN communication mode, TOFSense-M needs to hold the button and power on the module. When the indicator light changes from fast flashing to slow flashing, release the button, and the module will forcibly enter the temporary UART mode. Then enter the settings page through the upper computer and select UART mode to write parameters; TOFSense-M S can switch back to UART mode by sending the following serial command to the module several times: 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. Does the module output the shortest distance, the longest distance, or the average distance? The module will obtain multiple distance values within the FOV for a single measurement (64 points in 88 mode, 16 points in 44 mode) and output the distances to all points in the specified order.
Q8. How is the distance output when it is out of range? When out of range, the distance output remains unchanged from the previous moment’s value. At this time, the distance status is 255, and you can refer to the distance status indicator for judgment.
Q9. What is the reason for not being able to obtain data in CAN query mode? First, ensure that the wire sequence between CAN devices is correct. Secondly, the TOFSense-M series ports do not include 120R matching resistors. Ensure that the query device’s side resistance matches, and finally, check whether the sent query frame format meets the NLink_TOFSense_CAN_Read_Frame0 protocol, paying special attention to the correct standard frame ID.
Q10. Why can’t the cascaded modules in CAN mode receive data or receive incomplete data? Cascaded modules may experience a voltage drop. Therefore, in general use, a single line is used to connect all the modules, with the voltage decreasing for modules further down the line. If the voltage received by later modules is lower than the minimum working voltage required for CAN mode, issues such as not receiving data or incomplete data may occur. In this case, you can optimize in two ways: 1. Use a better power supply to increase the power supply capacity. 2. Use a star-shaped power supply method. For example, if you need to cascade 7 modules, first divide the power supply into 4 outputs: the first output connects to VCC and GND of module 1 and 2, the second output connects to VCC and GND of module 3 and 4, the third output connects to VCC and GND of module 5 and 6, and the fourth output connects to VCC and GND of module 7. Then connect the CAN_H and CAN_L of all 7 modules in series to the CAN bus. Testing has shown that connecting 2 modules per power supply line is the most stable. If it’s a short-term test, you can connect 3 modules per power supply line.
Q11. Does the reflectivity of an object’s surface affect the sensor? Yes, the sensor’s range and accuracy can be influenced by the reflectivity of the measured object. In the same environment, measurements may vary for objects with different reflectivity. Therefore, users are advised to conduct sufficient testing in the actual scene and calibrate the sensor as needed for more

14

Reference
accurate results. Suggest comparing the test data of cardboard and the one of the actual object being tested, analyzing and compensating for and optimizing based on signal strength.
Q12.Why can’t I enter UART configuration mode by pressing the button? The function button is tested before shipping. If you cannot enter UART mode, try again. Note that the button must be pressed before powering on, and released after the light slowly flashes.
Q13.What is the serial communication terminal model used by the module? What if there is no such terminal interface on the flight controller or microcontroller? The module uses a GH1.25 terminal. You can purchase a GH1.25 to another terminal adapter cable or cut the included GH1.25-GH1.25 cable and solder another terminal. For wire sequence, power supply voltage, and signal line voltage levels, please refer to the datasheet.
Q14.How to convert received e0 81 07 into distance value? The data in the protocol frame is stored in little-endian mode and multiplied by a certain ratio when encoded. For example, e0 81 07 is first converted to hexadecimal data 0x0781e0, which is 492000 in decimal, and divided by 1000 to get 492 millimeters.
Q15.How is the checksum calculated? The checksum is the sum of all previous bytes and then taking the least significant byte of the result. For example, the checksum of 55 01 00 ef 03 is 0x55+0x01+0x00+0xef+0x03=0x0148, so the checksum is 48, and the complete data for this frame is 55 01 00 ef 03 48.
Q16.What to do if there is an error or no data when compiling the ROS driver package? Before using the ROS driver package, users need to read the README.MD document inside the package and follow the steps and precautions in the document. You can also refer to the official website’s “ROS Driver Application Pictorial Tutorial” for usage.

9 Reference
[1] TOFSense-M Datasheet.pdf

10 Abbreviation and Acronyms

Table 6: Abbreviations and Acronyms

Abbreviation

Full Title

TOF

Time of Flight

FOV

Field of View

15

Update Log

11 Update Log

Version 1.0 1.1
1.2
1.3
1.4

Firmware Version 1.0.1 1.0.1
1.0.4
1.0.4
1.0.6

2.0

2.0.0

2.1

2.0.2

3.0

2.0.2

Table 7: Update Log

Data

Description

20211112 1. Published the first edition of the manual

20220211 1. Optimized some descriptions

1. Added authentication-related instructions 20220924
2. Optimized some descriptions

20221205 1. Optimized some descriptions

1. Added firmware update instructions 20230404
2. Expanded FAQ, and optimized some descriptions

1. Expanded FAQ, optimized some descriptions 20230808
2. Fixed CAN protocol parsing dis variable scale issue

1. Removed firmware update description

2. Added FOV description 20240226
3. Optimized protocol frame composition

4. Optimized some description

1. Corrected bytes per frame

20240629 2. Optimized FOV illustration

3. Optimized some FAQ descriptions

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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