| sensor_name: tof_cascade |
| manufacturer: Nooploop |
| model: TOFSense-M |
| product_family: |
| - TOFSense-M |
| - TOFSense-M S |
| firmware_version_from_manual: V2.0.2 |
| sensor_type: time_of_flight_matrix_laser_ranger |
|
|
| dataset_topic: |
| topic: /nlink_tofsensem_cascade |
| ros_message_type: nlink_parser/TofsenseMCascade |
| node_message_type: nlink_parser/TofsenseMFrame0 |
| pixel_message_type: nlink_parser/TofsenseMFrame0Pixel |
|
|
| collection_configuration: |
| interface: UART |
| output_mode: query |
| cascade_nodes: 6 |
| pixel_mode: 8x8 |
| pixels_per_node: 64 |
| expected_pixels_per_message: 384 |
| nominal_refresh_hz_per_node: 15 |
| uart: |
| baud_rate_bps: 921600 |
| data_bits: 8 |
| stop_bits: 1 |
| parity: none |
| flow_control: none |
| protocol: |
| query_frame: NLink_TOFSense_Read_Frame0 |
| output_frame: NLink_TOFSense_M_Frame0 |
| byte_order: little_endian |
|
|
| message_layout: |
| nodes: |
| type: array |
| expected_length: 6 |
| fields: |
| id: |
| type: uint8 |
| description: Module ID in the cascade. |
| system_time: |
| type: uint32 |
| description: Sensor-side system time from the TOFSense-M frame. |
| pixel_count: |
| type: uint8 |
| expected_value: 64 |
| pixels: |
| type: array |
| expected_length: 64 |
| order: row_major_index_0_to_63 |
| pixel_fields: |
| dis: |
| type: float32 |
| unit: mm |
| valid_when: dis_status == 0 and dis > 0 |
| description: Distance decoded by the nlink_parser from the protocol integer scale. |
| dis_status: |
| type: uint8 |
| description: Per-pixel distance status code. |
| signal_strength: |
| type: uint16 |
| unit: raw_count |
| description: Return signal strength. Larger values mean stronger returns. |
|
|
| distance_status_codes: |
| 0: measurement_usable |
| 1: signal_strength_too_low |
| 2: phase_target |
| 3: target_noise_estimate_too_high |
| 4: target_consistency_check_failed |
| 5: measurement_not_updated |
| 6: wraparound_not_performed_usually_first_measurement |
| 7: rate_inconsistent |
| 8: current_target_signal_strength_low |
| 9: large_pulse_valid_range_possible_merged_target |
| 10: usable_but_target_not_detected_in_previous_detection |
| 11: measurement_inconsistent |
| 12: target_ambiguous |
| 13: target_detected_but_data_inconsistent_usually_secondary_target |
| 255: target_not_detected |
|
|
| specifications: |
| ranging_range_m: |
| at_600_lux: |
| min: 0.015 |
| max: 4.0 |
| at_60000_lux: |
| min: 0.015 |
| max: 2.0 |
| at_100000_lux: |
| min: 0.015 |
| max: 1.2 |
| distance_resolution_mm: 1 |
| typical_accuracy_cm: 1.5 |
| typical_standard_deviation_cm: 1.0 |
| typical_standard_deviation_condition: indoor_600_lux_at_4m |
| field_of_view_deg: |
| horizontal: 45 |
| vertical: 45 |
| diagonal: 65 |
| supported_pixel_modes: |
| - mode: 8x8 |
| pixels: 64 |
| nominal_refresh_hz: 15 |
| - mode: 4x4 |
| pixels: 16 |
| nominal_refresh_hz: 60 |
| wavelength_nm: 940 |
| laser_class: |
| iec_60825_1_2014: Class 1 |
| gb_7247_1_2012: class_1_laser_product |
| power: |
| typical_power_mw: 670 |
| supply_voltage_v: |
| uart: |
| min: 3.7 |
| max: 5.2 |
| can: |
| min: 4.2 |
| max: 5.2 |
| communication: |
| supported_interfaces: |
| - UART |
| - CAN |
| max_cascade_nodes: |
| uart: 8 |
| can: 7 |
|
|
| manuals: |
| - TOFSense-M_Datasheet_V3.0_zh.pdf |
| - TOFSense-M_User_Manual_V3.0_zh.pdf |
|
|
