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1200m Mini Laser Rangefinder Module(LRF)

STA-M series miniature laser rangefinder module adopts 905nm semiconductor laser components, with low power consumption, small size, stable performance and other characteristics, suitable for thermal imaging, night vision and other handheld mobile devices and miniaturized UAV pod equipment integration.
Measurement range: 5-1200meters
Measurement of trees ≥1000 meters
Measurement accuracy ±1m
Weight ≤14 ±0.5g

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Product Description

Technical parameters are shown in the following table

Model		STA-M010X
Laser wavelength		905nm
Ranging capability	Building	1200m
	Trees	1000m
Laser grade		Class 1 Eye safety
Mini range		5m
Resolution		±0.1m
Operating Current		≤90mA
Standby current		≤20mA
Power consumption		Standby≤0.09W
		Peak≤0.23W
Communication Interface		TTL
Operating Temperature		·-20℃~+55℃
Storage Temperature		·-30℃~+60℃
Input Voltage		3-5V(Recommended 5V power supply)
Beam divergence angle		5 mard
Ranging Frequency		1-3Hz
Power		≤1 mW Safe for human eyes
Ranging method		Pulse
Weight		14±0.5g
Size		Φ23x47mm

Interfaces and pins are defined as shown in the following table

TTL interface
Pin	Pin Definition	Describe	Schematic drawing
1	GND	Power supply -
2	Vin	Power supply +
3	TXD	Transmit Data
4	RXD	Received Data
5	ENO	Enable Pin, Reserved

Module Communication Command Chart

Master Command
Command code	Description	Broadcast add. response
0x80	Read rangefinder status	NO
0x81	Read measuring result	NO
0x83	Start ranging	NO
0x84	Stop ranging	NO
0x9E	Communication parameter program	YES
0xBE	Read communication parameter	YES
0xC0	Communication test	YES
0xC1	Read Firmware Version	YES

Slave Response
Recognition code	Description
0x60	Simple reponse Frame
0x01	Range data frame
0x20	rangefinder status frame
0x21	Communication parameter frame
0xE0	Error message frame

NOTE

1. The Communication Frame Format:

SlaveID + instruction + parameter +checksum

2. The interval between two adjacent frames has to be at least the time of 1.5 byte when

sent out, when it is less than 1ms, it is regarded as 1ms;

600BPS: 25ms

1200BPS: 12.5ms

2400BPS: 6.25ms

4800BPS: 3.125ms

9600BPS: 1.56ms

19200BPS: 1ms(0.78ms < 1ms, take 1ms)

3. Sending calculate of checksum;

This module uses the verification mode of byte by byte accumulation sum, SlaveID is not

included in the verification, sending checksum at last.

Such as calculate check sum of scanning mode instruction"0x83 0x40":

A.Calculate accumulation sum:0x83 + 0x40 = 0xC3;

B.Take LSB[D7..D0]:0xC3;

C.Calculate 2's complement:0x100 - 0xC3 = 0x3D, 0x3D is checksum;

Add slave address when mater sends: 0x10 0x83 0x40 0x3D

4. Verification receipt;

Such as receive communication frame: 0x10 0x83 0x40 0x3D, verification not including

slave address 0x10

A.Calculate accumulation sum:0x83 + 0x40 + 0x3D = 0x100;

B.Take LSB of accumulation sum: 0x00; 0x00 is verification result;

If verification result is 0x00, that means received data is right; If verification result

is not 0x00, that means received data is wrong.

Module Command Description

Note:In the example, the slave address of each command is 0x10;in application, the slave address will be the programmed one.

1、Communication test（0xC0）；

Master sends
Command code	Parameter	Description
0xC0	None
Slave responses
Recognition code	Parameter	Description
0x60	None
Example
Master sends:0x10 0xC0 0x40;0x40 is checksum Slave response:0x10 0x60 0xA0;0xA0 is checksume

2、Command slave to start ranging (0x83)；

Master sends
Command code	Parameter	Description
0x83	byte1	D7: Reserve
		D6: Continuous ranging mode, 0 = off; 1 = on;
		D5: Fog mode, 0 = off; 1 = on;
		D4: Data unit, 0 = meter; 1 = yard;
		D3 - D0: Working Mode, 0 = ranging; 1 = speed; 2 = Small Target Mode;
Slave responses
Recognition code	Parameter	Description
0x60	None	If slave is set as automatic export mode, slave responds 0x60 first after reception of start ranging command, after ranging is finished, it will then send out ranging result;
Example
Master sends: 0x10 0x83 0x00 0x7D:Mode 0 is for single measure, data unit is meter; 0x10 0x83 0x40 0x3D:Mode 0 is for continuous mesure, data unit is meter; 0x10 0x83 0x10 0x6D:Mode 0 is for single measure, data unit is yard; 0x10 0x83 0x20 0x2D:Mode 0 is for continuous mesure, data unit is yard; Slave response: 0x10 0x60 0xA0;

Note: 1、If module data export method is set as query mode, then it can only do single measure;

2.In speed mode, continuous ranging function is null, that is no continuous speed measure;

3.Fog mode is only valid for device with fog mode function;

4.Slave will send 0x60 response frame after reception of start ranging command, it will start to send ranging result after ranging is finished.

3、command slave stop ranging(0x84)；

Master sends
Command code	Parameter	Description
0x84	None

Note: After master sends command to slave to do continuous ranging, it needs to send this command to slave to stop ranging. If master sends command to slave to do single time ranging, then no need to send this command, cause slave will stop ranging automatically after ranging is finished.

4、reading slave status(0x80)；

Master sends
Command code	Parameter	Description
0x80	None
Slave responses
Recognition code	Parameter	Description
0x20	byte1	D7:1 = Rangefinder Busy; 0 = Ranging finished; D6: 1=Rangefinder Malfunction; 0=No malfunction; D5-D2: Reserve; D1: 0=Angle sensor prohibited; 1=Angle senser enabled; D0: 0=Angle sensor is normal; 1=Abnormal Angle sensor;
0x20	byte2	Reserve

5、read range finder result(0x81)；

Master sends
Description

Slave responses
Description
D7::Distance data, 0=data valid; 1=Invalid data; D6::Angle data, 0=data valid; 1=Invalid data; D5:Data resolution, 0 = 0.5/LSB;1 = 0.1/LSB; D4:Data unit, 0 = meter; 1 = yard; D3 - D0:Working Mode, 0 = Ranging; 1 = Speed;
When distance is valid:Distance[D15..D8]; When distance is invalid:0x80 = Ranging no result; 0x81= System error;
When angle is valid: Distance[D7..D0]; When angle is invalid: Reserve;

Example
1、slave sends distance frame: 0x10 0x01 0x60 0x12 0xD7 0xB6 distance value = 0x12D7 = 4823 = 482.3m 2、slave sends speed frame:0x10 0x01 0x21 0x03 0xD7 0x04 speed value = 0x03D7 = 983 = 98.3km/h 3、slave sends distance frame:0x10 0x01 0xE0 0x80 0x00 0x9F The distance value is invalid (the first byte is 0xE0, D7=1)

6、write slave communication baud rate(0x9E), The factory setting is 19200BPS；

Master sends
Command code	Parameter	Description
0x9E	byte1	has to be 0x90
	byte2	Reserve
	byte3	Reserve
	byte4	baud rate setting: 0 = 1200BPS; 1 = 2400BPS; 2 = 4800BPS; 3 = 9600BPS; 4 = 19200BPS(Default);
Slave responses
Recognition code	Parameter	Description
（please refer to the slave respons part of reading slave parameter）
Example
If master sends frame: 0x10 0x9E 0x90 0x00 0x00 0x04 0xCE; It's means: Set baud rate of slave as 19200BPS,

Note:New baud rate is only valid after module is restarted;

7、write slave address(0x9E), Factory settings: 0x10；

Master sends
Command code	Parameter	Description
0x9E	byte1	Must be 0x91
	byte2	Reserve
	byte3	Reserve
	byte4	slave new address;
Slave responses
Recognition code	Parameter	Description
（please refer to the slave respons part of reading slave parameter）
Example
To write slave address as 0x20, then master sends: 0x10 0x9E 0x91 0x00 0x00 0x20 0xB1

Note: 1. New slave address is valid after the device is restarted

2. 0x00 is broadcast address, so slave address can't be set as 0x00;

3. Default slave address is 0x10;

8、write measured result export method(0x9E)；

Master sends
Command code	Parameter	Description
0x9E	byte1	Must be 0x92
	byte2	Reserve
	byte3	Reserve
	byte4	Measured result export method selecttiong: 0 = Query mode(slave can only export data when master sends reading command) 1(Default) = Automatic mode (After ranging finished, it sends out data automatically);
Slave responses
Recognition code	Parameter	Description
（Please refer to the slave respons part of reading slave parameter）
Example
To change data export to automatic exporting, then master sends:0x10 0x9E 0x92 0x00 0x00 0x01 0xCF

9、Set UART IO voltage (0x9E), Factory setting: 3.3V；

Example
Command code	Parameter	Description
0x9E	byte1	Must be 0x93
	byte2	Reserve
	byte3	Reserve
	byte4	UART IO voltage Setting: 72 - 199, 0.025V/LSB;
Slave responses
Recognition code	Parameter	Description
（please refer to the slave respons part of reading slave parameter）
Example
Change UART IO voltage to 3.3V, then master sends:0x10 0x9E 0x93 0x00 0x00 0x84 0x4B

Note：VIO = Setting * 0.025V, Default VIO = 3.3V

10、Reading communication parameter (0xBE)；

Master sends
Command code	Parameter	Description
0xBE	byte1	Must be 0x91 or 0x92
Slave responses
Recognition code	Parameter	Description
0x21	byte1	Slave address: 0x01 - 0xFF
	byte2	D4: Data export method ; D3 - D0:Baud Rate setting;
	byte3	UART IO voltage setting

11、Slave sends wrong information（0xE0）；

Slave responses
Recognition code	Parameter
0xE0	byte1	D7 - D3: Reserve; D2:1 = Communication parameter error; D1:1 = Unrecognizable commmand; D0:1 = Checksum error;

12、Read Firmware Version(This command was supported only in V7.00 or newer version;) ；

Master Sends
Command Code	Parameter
0xC1	None
Slave responses
Recognition code	Parameter	Notes
0x61	byte0	Majo Version(BCD)
0x61	byte1	Minor Version(BCD)
Example
Slave responses: 0x10 0x61 0x07 0x00 0x98 Data "0x07 0x00" means firmware version is V7.00.