TOF Command

Tag 0x60-0x6f command for Time Of Flight (TOF) function are explained in this page.

Keyword

NA: Not applicable, this command should no be sent by the sensor/application.

None: No data contained in this command, data length can be set to 0x00.

Tag 0x60

Meaning:
Start TOF streaming with specific configuration. Recording continue until user call the stop recording command tag 0x61. Data replay from TOF sensor will use tag 0x66.

Data format - app send:

Byte Length 1 1 1 1 1
Meaning ODR Timing Budget Distance Mode Reply Mode ROI (optional)

Output Data Rate (ODR): Output data rate of the distance measured while streaming, all support output data rate are listed below.

Timing Budget: Increasing the timing budget improves the measurement reliability but also increases power consumption. Longer timing budget have lower maximum support ODR, user should choose the capable ODR depend on timing budget.

Distance Mode: There are short mode and long mode, which support maximum distance measurable are 1.3m and 4m. Short mode have better ambient immunity.

Reply Mode: Choose the reply mode with time stamp or not. Code listed below.

Region of Interest (ROI): Smaller ROI can reduce the field of view of the sensor, this is an optional parameter, default is 16x16.

ODR (Hz) Code
0.5 0x64
1 0x32
3 0x10
6 0x08
12 0x04
25 0x02
50 0x01
Timing Budget (ms) Code Max ODR Support
15 0x0f 66Hz
20 0x14 50Hz
33 0x21 30Hz
50 0x32 20Hz
100 0x64 10Hz
200 0xc8 5Hz
500 0xff 2Hz
Distance Mode Code Max Distance
Short Mode 0x01 1.3m
Long Mode 0x02 4m
Reply Mode Code
Distance 0x01
Distance with Time Stamp 0x02
ROI Code
16x16 0xff
8x8 0x77
4x4 0x33

Data format - app receive:
Same as send format.

Same format will acknowledge after command is executed.

Tag 0x61

Meaning:
Stop TOF data streaming.

Data format - app send:
None

Data format - app receive:
Same as send format.

Same format will acknowledge after command is executed.

Tag 0x66

Meaning:
Reply the TOF streaming data start from tag 0x60.

Data format - app send:
NA

Data format - app receive:

Byte Length 2 8
Meaning Distance (mm) Time Stamp (optional)

Distance: Unsigned integer with 2 bytes, unit is mm, represent the distance measured by the TOF sensor.

Time Stamp: Unsigned Long, unit is 2.4414us. Represent the data record time. Only appear when the "with time stamp" format is chosen. Pay attention that this value might not start from zero. Usually it is used to help synchronize data from multiple sensors or calculate the accurate data rate.