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