Manual

Leddar™One Sensing Module 24
Read Holding Register (function code 0x3), Write Register (function
code 0x6) and Write Multiple Register (function code 0x10)
Here are the registers implemented for these commands:
Table 9: Read Holding Register Description
Address
Description
0
Accumulation Exponent (0-12). This register contains the power
of 2 of the number of accumulation. For example if this register
contains 10, 1024 accumulations will be performed.
1
Oversampling exponent (0-3). This register contains the power of
2 of the number of oversampling. For example if this register
contains 3, 8 oversampling will be performed.
2
Base sample count (2-15)
4
LED power in percentage of the maximum. Only possible values
are: 20, 35, 55, 75 and 100.
29
The serial port baud rate. Possible values:
0: Default (115200)
1: 9600
2: 19200
3: 38400
4: 57600
5: 115200
30
Modbus device address (1 to 247, default to 1)
Note that as per the Modbus protocol, register values are returned in
big-endian format.
A request for a register that does not exist will return error code 2. Trying to
set a register to an invalid value will return error code 3. If an error occurs
while trying to execute the function, error code 4 will be returned.
See Section 3.3 and 3.5 for an explanation of settings.
3.7. SDK
If you select the Leddar™ Enabler Software Development Kit during
installation, an example program in C will be installed in the Examples
subfolder of the installation folder. This program implements the Modbus
communication with the Leddar™One sensor module.