📚Miss Distance Protocol

©️Copyright Statement
This agreement is the exclusive property of Tofu Intelligence® and is protected by copyright laws and treaties. Unauthorized reproduction or use is prohibited.
The agreement provides a docking test client for customers to quickly apply.

⚠️Note: This protocol is currently only supported by Tofu6.

0. Test Software Download ⤵️

1. Communication Specifications

This command is used for Tofu products to send miss distance and lens information to the servo controller, enabling target tracking based on miss distance via the servo control board.
Communication interface: RS485 (default) or TTL 3.3V, baud rate 115200. Tofu6 will automatically switch to this baud rate after protocol switching.
Set Custom Parameter 5 of Tofu6 to 2 to automatically switch to the miss distance protocol.

2. Target Tracking Miss Distance Push

This command is sent in real-time by Tofu products to the servo with target tracking coordinate information after tracking starts.

Type1 (No Field of View Calibration Format)

Description of the target center point coordinate system is shown in the figure below:

A7  XX  02  0C  02  MM  XH  XM  YH  YL  WH  WL  GH  GL  OT  HH

XX: Device ID, default 01

MM: 00 for visible light, 01 for thermal infrared.
The reference coordinate origin is located at the image center. The pushed coordinate information is 16-bit signed short-type data.

XH: High 8 bits of the target center point X coordinate
XL: Low 8 bits of the target center point X coordinate, signed short type

YH: High 8 bits of the target center point Y coordinate
YL: Low 8 bits of the target center point Y coordinate, signed short type

WH, WL: Target width, high 8 bits and low 8 bits, unsigned 16-bit integer. The effective minimum value is 1; the value 0 is not accepted.

GH, GL: Target height, high 8 bits and low 8 bits, unsigned 16-bit integer. The effective minimum value is 1; the value 0 is not accepted.

OT: Tracking status, 00 means tracking lost, 01 means tracking in progress, 02 means predictive tracking (target blocked)

HH: Checksum. Sum all bytes except A7 and HH, take the lower 8 bits of the sum in binary.

Type2 (Field of View Calibration Format, Recommended)

Description of the target center point coordinate system is shown in the figure below:

A7  XX  02  0C  02  MM  XH  XM  YH  YL  VLH  VLL  TLH  TLL  OT  HH

XX: Device ID, default 01

MM: 00 for visible light, 01 for thermal infrared.
The reference coordinate origin is located at the image center. The pushed coordinate information is 16-bit signed short-type data.

XH: High 8 bits of the target center point X coordinate
XL: Low 8 bits of the target center point X coordinate, signed short type

YH: High 8 bits of the target center point Y coordinate
YL: Low 8 bits of the target center point Y coordinate, signed short type

VLH, VLL: Visible light field of view scaling factor, high 8 bits and low 8 bits, unsigned 16-bit integer. Current horizontal field of view = 60°*100/VL
Example: 00 5F means current horizontal field of view is 63°, 07 D0 means current horizontal field of view is 3°.

TLH, TLL: Thermal infrared field of view scaling factor, high 8 bits and low 8 bits, unsigned 16-bit integer. Current horizontal field of view = 60°*100/TL

OT: Tracking status, 00 means tracking lost, 01 means tracking in progress, 02 means predictive tracking (target blocked)

HH: Checksum. Sum all bytes except A7 and HH, take the lower 8 bits of the sum in binary.

Example: A7 01 02 0C 02 00 00 05 00 05 00 64 03 E8 01 6B
Indicates the target position is at coordinate (5,5) (lower right of center), current horizontal field of view of visible light is 60 degrees (60*100/0x0064), current horizontal field of view of infrared is 6 degrees (60*100/0xE801), and target tracking is in progress under visible light video.

3. Camera Focal Length Push (Optional)

Used for Tofu products to forward the queried visible light camera focal length value in real-time. The protocol follows the VISCA protocol.
This value is not sent when the miss distance uses the Type2 Field of View Calibration Format.

Format as follows:

90 50 0p 0q 0r 0s FF

pqrs represents the focal length segment of the camera lens. For specific meanings, refer to the protocol specifications in the camera manual.
Some devices define 0xpqrs/100 = current magnification. For example, 0x0064 corresponds to 1x magnification.