Data Sheet

Page 5
SJ-GU-TFmini Plus-01 A04
Benewake (Beijing) Co., Ltd
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(2) Downlink frame:data from master computer to LiDAR
(3) Uplink frame: data from LiDAR to master computer or other terminal
8.2 Frame definition
Byte 0 1 2 3~Len-2 Len-1
Description
Head Len ID Payload Checksum
Head: frame head of command frame(0x5A)
Len: length of the frame, head and checksum included
ID: identifier code of command
Payload: data segment. Little endian format
Checksum: sum of all bytes from Head to payload. Lower 8 bits.
8.3 Commands
Table 6 Common commands of TFmini Plus
Commands Downlink frame Uplink frame Description
Obtain firmware
version
5A 04 01 5F 5A 07 01 01 02 03 SU Represent V3.2.1
System reset
5A 04 02 60 5A 05 02 00 SU
00-Succeeded
01-Failed
Set update rate
5A 06 03 00 00 SU 5A 06 03 00 00 SU
Set Frame rate
(1~1000Hz)
①
Set measurement
unit
5A 05 05 01 SU 5A 05 05 01 SU
01-cm
06-mm
Set baud rate
5A 08 06 00 00 00 00 SU 5A 08 06 00 00 00 00 SU
Set baud rate
②
Enable/Disable
output
5A 05 07 00 SU 5A 05 07 00 SU
0-Disable
1-Enable
Communication
interface mode
5A 05 0A MODE SU
/
MODE
0：UART，1：IIC