200Hz 350m Mini Laser Rangefinder Module(Lidar)

STA-M350X Miniature Laser Ranging Module adopts human eye-safe 905nm semiconductor laser component, which has the advantages of long range, low power consumption, small size, light weight, long service life, etc., and it is very suitable for the integration of UAV pods, night vision, thermal imaging and other equipments.

Measurement range:1-350m
Measuring natural targets≥150m
Ranging frequency:200Hz
Measurement accuracy: ±0.1m
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	350m
	Trees	≥150m
Laser grade		Class 1 Eye safety
Mini range		1m
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		200Hz
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	ENO	Enable Pin, Reserved
2	Vin	Power supply +
3	GND	Power supply -
4	RXD	Received Data
5	TXD	Transmit Data

Communication protocol

Table 1-1 Upper computer instruction frame format
It is issued by the host computer
byte	0	1	2	3	4 … (N - 1)	N
meaning	Frame header		Module address	DL	Instructions and parameters	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	LEN
Note 1: The data length is the number of bytes from byte 3 to N, LEN = N-2;
Note 2: Calculation of CheckSum when the upper computer sends: except for the frame header, other data are added by byte and then the low 8 bits are taken to calculate this The 8-bit binary complement is the CheckSum; Example: The upper computer sends the continuous ranging instruction 0x13, the module address is 01, and the data field length is 3. The CheckSum calculation is as follows: 0x01 + 0x03 + 0x13 = 0x17, the sum and the low 8 bits are 0x17, and the binary complement of 0x17 is 0xE9. So CheckSum = 0xE9 The actual data frame sent by the upper computer is: A5 5A 01 03 13 E9

Table 1-2 Module output frame format
Module is released
byte	0	1	2	3	4 … (N - 1)	N
meaning	Frame header		Module address	data description	data field	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	(see note 1)
Note 1: Data descriptor description: D[7:6]:00: The following data is the distance data. Distance data of 0 indicates that the distance has not been measured 01: The following data are other information, details see Table 1-3; 10, 11: Factory reserved D[5:0]: Data length (see note 1 in Table 1);
Note 2: Calculation of CheckSum when receiving from the upper computer: All data from the module address to the CheckSum are added by byte and checked Add up and low 8 bits. Example: The module sends the distance data 0x0B4A, and the module address is 01. The upper computer receives the data frame: A5 5A 01 03 0B 4A A7 Test: 0x01 + 0x03 + 0x0B + 0x4A + 0xA7 = 100, the accumulated sum and the low 8 bits are 00, no error occurred.

Table 1-3 Other response information
Byte 4	Byte 5	Byte 6	Byte 7	Byte 8	explain
06	CheckSum	not have	not have	not have	Simple response
E0	error code	CheckSum	not have	not have	Error message frame
E1	mismark	CheckSum	not have	not have	Boot self-test error
A1	Baud rate	CheckSum	not have	not have	Response to changing the baud rate
A3	Module address	CheckSum	not have	not have	A response to reading or modifying a module address
AF	Software version number		Product version number	CheckSum	Response when reading the software version number


Note 1: Example of software version number (2-bit sub-version number): Example 1: The received software version number data is 0x0064, corresponding to decimal 100, so the version number is: V1.00; Example 2: The received software version number data is 0x03F2, corresponding to decimal 1010, so the version number is: V10.10; Example of product version number (1-bit sub-version number): Example 1: The received product version number data is 0x0A, corresponding to decimal 10, so the version number is: V1.0; Example 2: The product version number received is 0x65, corresponding to decimal 101, so the version number is: V10.1;

Table 2-1, stop measuring distance
It is issued by the host computer
byte	0	1	2	3	4	5
meaning	Frame header		Module address	DL	instruct	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x03	0x10	CheckSum
Module is released
byte	0	1	2	3	4	5
meaning	Frame header		Module address	data description	data field	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x43	06	CheckSum

Table 2-2, single ranging
It is issued by the host computer
byte	0	1	2	3	4	5
meaning	Frame header		Module address	DL	instruct	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x03	0x12	CheckSum
Module is released
byte	0	1	2	3	4	5	6
meaning	Frame header		Module address	data description	Data on proximity		CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x04	0 - 0xFFFF		CheckSum

Table 2-3, continuous ranging
It is issued by the host computer
byte	0	1	2	3	4	5
meaning	Frame header		Module address	DL	instruct	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x03	0x13	CheckSum
Module is released
byte	0	1	2	3	4	5	6
meaning	Frame header		Module address	data description	Data on proximity		CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x04	0 - 0xFFFF		CheckSum

Table 3-1 Laser indicator off
It is issued by the host computer
byte	0	1	2	3	4	5
meaning	Frame header		Module address	DL	instruct	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x03	0x18	CheckSum
Module is released
byte	0	1	2	3	4	5
meaning	Frame header		Module address	data description	data field	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x43	06	CheckSum

Table 3-2 Laser indicator on (when laser indicator is present)
The host computer sends it
byte	0	1	2	3	4	5
meaning	Frame header		Module address	DL	instruct	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x03	0x19	CheckSum
Module is released
byte	0	1	2	3	4	5
meaning	Frame header		Module address	data description	data field	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x43	06	CheckSum

Table 4-1 Peripheral circuit off
It is issued by the host computer
byte	0	1	2	3	4	5
meaning	Frame header		Module address	DL	instruct	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x03	0x1A	CheckSum
Module is released
byte	0	1	2	3	4	5
meaning	Frame header		Module address	data description	data field	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x43	06	CheckSum

Table 4-2 Peripheral circuit is open
It is issued by the host computer
byte	0	1	2	3	4	5
meaning	Frame header		Module address	DL	instruct	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x03	0x1B	CheckSum
Module is released
byte	0	1	2	3	4	5
meaning	Frame header		Module address	data description	data field	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x43	06	CheckSum
Note: Turning off the peripheral circuit can reduce power consumption, but the initial ranging response time will be delayed;

Table 5-1 Modify the baud rate
It is issued by the host computer
byte	0	1	2	3	4	5	6
meaning	Frame header		Module address	DL	instruct	parameter	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x04	0x20	New.	CheckSum
Module is released
byte	0	1	2	3	4	5	6
meaning	Frame header		Module address	data description	frame type	parameter	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x44	0xA1	New.	CheckSum
Note: The new baud rate needs to restart the system to be effective;

Table 5-2, port rate table
ID	0	1	2	3	4	5	6
Baud rate	38400	43000	57600	76800	115200	128000	230400
Set the default baud rate to 38400 and the module address to 0x00

Table 6-1 Modify the module address
It is issued by the host computer
byte	0	1	2	3	4	5	6
meaning	Frame header		Module address	DL	instruct	New address	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x04	0x22	0 - 0xFF	CheckSum
Module is released
byte	0	1	2	3	4	5	6
meaning	Frame header		Module address	data description	frame type	New address	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x44	0xA3	0 - 0xFF	CheckSum
Note 1: The new module address is effective immediately after setting;
Note 2: Address 0xFF is the broadcast address;

Table 6-2 Read module address
The host computer sends it
byte	0	1	2	3	4	5
meaning	Frame header		Module address	DL	instruct	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x03	0x23	CheckSum
Module is released
byte	0	1	2	3	4	5	6
meaning	Frame header		Module address	data description	frame type	New address	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x44	0xA3	0 - 0xFF	CheckSum

Table 7-1 Read the software version
It is issued by the host computer
byte	0	1	2	3	4	5
meaning	Frame header		Module address	DL	instruct	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x03	0x2F	CheckSum
Module is released
byte	0	1	2	3	4	5、6、7	8
meaning	Frame header		Module address	data description	frame type	version number	CheckSum
numeric value	0xA5	0x5A	0 - 0xFF	0x46	0xAF	See note 1-3 in Table 1	CheckSum