Manual

SJ-PM-TFmini Plus-T-01 A04 Benewake (Beijing) Co. Ltd.
Page13
distance is 1.21m, the string 1.21 will be output, followed by the escape character \r\n.
This data format is for Ardupilot firmware version lower than v3.6.2. If your Ardupilot firmware version is
greater than or equal to v3.6.2, you can use the standard data format directly.
5.4 Descriptions of default Output Data
Dist(Distance): Represents the output of the distance value detected by TFmini Plus, with the unit in cm
by default. This value is interpreted into the decimal value in the range of 0-1200. When the signal strength
is lower than 100 or equal to 65535, the detection is unreliable, TFmini Plus will set distance value to 0.
Strength：Represents the signal strength with the default value in the range of 0-65535. After the distance
mode is set, the longer the measurement distance is, the lower the signal strength will be; the lower the
reflectivity is, the lower the signal strength will be. When the signal strength is lower than 100 or equal to
65535, the detection is unreliable, TFmini Plus will set distance value to 0.
Temp(Temperature): Represents the chip temperature of TFmini Plus. Degree centigrade = Temp / 8 -256
5.5 I
2
C data communication
Table 8 TFmini Plus data communication protocol——I²C
Interface I²C
Max transmission rate 400kbps
Master/slave mode Slave mode
Default address 0x10
Address range 0x01~0x7F
5.6 Timing sequence description of I
2
C mode
Different from the serial mode, the I
2
C communication is initiated by the master. TFmini Plus as the slave,
can only send and receive data passively. After the sending the config-frame from the master to the slave,
one needs to wait for a period for the command to be processed. Then continue the reading procedure. The
suggested waiting period is 100ms. To ensure the instantaneity of the measured distance, there is no need
to set up the waiting period when sending the ‘obtain measuring result’ frame. Once the command frame is
sent by the master, the measured distance can be obtained immediately.
Table 9 Timing sequence of the I
2
C mode
Start Addr W A Byte0 A --- ByteN A Stop Wait 100ms Start Addr RAByte0 A --- ByteN A Stop