User Manual

SJ-PM-TFmini-T-01 A03
Benewake (Beijing) Co. Ltd.
Page11
Table 4: The Function and Connection Description of each pin
No.
Pin
Function
Corresponding connection item
①
GND
Power supply
Power Ground
②
+5V
Power supply
Positive pole of power supply
③
RXD
Receiving
TXD
④
TXD
Transmitting
RXD
Type of connecting terminal: GH1.25-4P. The product includes a 10cm long connecting wire, the other end
of which is a conventional 1.25-4p terminal (Molex510210400). The user may extend this wire as he/she
needs. In order to ensure effective data transmission, it is recommended that the length of the connecting
wire welded by the user should be less than 1m.
5.2 Data Communication Protocol
TFmini adopts the serial port data communication protocol, as given in Table 5.
Table 5 Data Communication Protocol of TFmini
Communication interface
UART
Default baud rate
115200
Data bit
8
Stop bit
1
Parity check
None
5.3 Data Output Format and Code
TFmini is available with two formats of data output, namely, the standard data output format and the
Pixhawk data format, both of which can be mutually switchable via the instruction command.
 Standard data output format (default):
Data structure: each data package is 9 Byte, including the distance information (Dist), signal strength
information (Strength), distance mode (Mode) and data check byte (CheckSum), etc. Data format is
hexadecimal (HEX). Data codes are detailed in Table 6
Table 6 Data Format and Code Explanation
Byte0 -1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
0x59 59
Dist_L
Dist_H
Strength_L
Strength_H
Mode
0x00
CheckSum
Data code explanation
Byte0
0x59, frame header, same for each frame