Manual

SJ-PM-TFmini Plus-T-01 A04 Benewake (Beijing) Co. Ltd.
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5.2 Serial port Communication Protocol
TFmini Plus adopts the serial port data communication protocol, as given in Table 6.
Table 6 Data Communication Protocol of TFmini Plus
Communication interface UART
Default baud rate 115200
Data bit 8
Stop bit 1
Parity check None
5.3 Data Output Format of Serial port
TFmini Plus is available with two formats of data output, namely, the standard data output format and the
character string data format, both of which are switchable with command.
 Standard data output format (default):
Data structure: each data frame contains 9 bytes, including the distance value, signal strength, temperature
of chip and data check byte (Checksum), etc. Data format is hexadecimal (HEX). Data codes are detailed
in Table 7.
Table 7 Data Format and Code Explanation
Byte0 -1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8
0x59 59 Dist_L Dist_H Strength_L Strength_H Temp_L Temp_H Checksum
Data code explanation
Byte0 0x59, frame header, same for each frame
Byte1 0x59, frame header, same for each frame
Byte2 Dist_L distance value lower by 8 bits
Byte3 Dist_L distance value higher by 8 bits
Byte4 Strength_L low 8 bits
Byte5 Strength_L high 8 bits
Byte6
Temp_L low 8 bits (suit for version later than V1.3.0)
Byte7
Temp_H high 8 bits (suit for version later than V1.3.0)
Byte8 Checksum is the lower 8 bits of the cumulative sum of the numbers of the first 8 bytes.
 Character string data format(Pix Mode)
The data output is in the format of character string and its unit is m(meter). For example, if the measurement