Data Sheet

TF03 Product Manual V0.4
Benewake(Beijing)Co., Ltd.
Page10
2) Serial Pixhawk data format
Output in the form of strings (unit: m), for example, range of 1.21m and it will output
the string 1.21; each distance value ends by line feed. The products of the serial
port version can support the output in the form of Pixhawk changed by instructions.
4.2 CAN version
The CAN communication protocol can be customized according to users’ needs;
the CAN baud rate, ID and frame format can be modified.
Table 5 TF03 CAN communication protocol
Parameter
Description
Communication protocol
CAN
Baud rate
1M
ID
0x0003
Frame format
Standard frame
The output data (hexadecimal numbers) of TF03 is shown in the table below. Each
data frame contains 8 bytes and the data contains the distance information, namely,
Dist; other bits are reserved.
Table 6 TF03 CAN data frame format
Data bit
Definition
Description
Byte0
DIST_L
DIST low 8 bits
Byte1
DIST_H
DIST high 8 bits
Byte2
Reserved
/
Byte3
Reserved
/
Byte4
Reserved
/
Byte5
Reserved
/
4.3 Custom parameter configurations
In order to solve your problem more flexibly, TF03 has specially enabled the
function for customizing the product configuration parameters via its serial port.
Users can modify the product original parameters by sending relevant instructions,
such as output data format and output frame rate. After parameter configuration is
successful, input/write in configuration instructions, and the configuration