User Manual

SJ-PM-TFmini-T-01 A03
Benewake (Beijing) Co. Ltd.
Page26
{
uart[0]=HEADER;
if(Serial1.read()==HEADER)//assess data package frame header 0x59
{
uart[1]=HEADER;
for(i=2;i<9;i++)//save data in array
{
uart[i]=Serial1.read();
}
check=uart[0]+uart[1]+uart[2]+uart[3]+uart[4]+uart[5]+uart[6]+uart[7];
if(uart[8]==(check&0xff))//verify the received data as per protocol
{
dist=uart[2]+uart[3]*256;//calculate distance value
strength=uart[4]+uart[5]*256;//calculate signal strength value
Serial.print("dist = ");
Serial.print(dist);//output measure distance value of LiDAR
Serial.print('\t');
Serial.print("strength = ");
Serial.print(strength);//output signal strength value
Serial.print('\n');
}
}
}
}
}
Step 3: Viewing of Data
Download the program into Arduino board and open the monitor for the serial port. Then real-time distance
values as well as the the corresponding signal strength can be viewed, as shown in Figure 3.