Datasheet

Version: A01
Document No.: SJ-GU-TFmini-01
Page 6 of 10
Benewake (Beijing) Co. Ltd.
Communication protocol
UART
Baud rate
115200
Data bit
8
Stop bit
1
Parity bit
0
Table 5 External communications
5.1 Standard Data Format of Serial Port
The module data is a hexadecimal output data; each frame data is encoded with 9 bytes, including 1
distance data (Dist); each distance data has corresponding signal strength information (Strength); the
frame end is the data parity bit.
Byte1-2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
Byte9
0x59 59
Dist_L
Dist_H
Strength_L
Strength_H
Int.time
Reserved
CheckSum_L
Data encoding interpretation
Byte1
0x59, frame header, all frames are the same
Byte2
0x59, frame header, all frames are the same
Byte3
Dist_L distance value is a low 8-bit. Note: The distance value is a hexadecimal value, for
example, Distance 1,000= 03 E8 (HEX)
Byte4
Dist_H distance value is a high 8-bit.
Byte5
Strength_L is a low 8-bit.
Byte6
Strength_H is a high 8-bit.
Byte7
Int.time Integration time
Byte8
Reserved bytes
Byte9
Checksum parity bit is a low 8-bit, Checksum = Byte1 + Byte2 + ... + Byte8, Checksum is
the sum of the first 8 bytes of actual data; here is only a low 8-bit.
Table 6 Data encoding format and detailed description
5.2 Line sequence description