User manual

52 P/N 54A0028-2 012017© 2017 LeddarTech Inc. Printed in Canada. All rights reserved.
value ranging from –16 through 16.
12
Low 16 bits of segment enabled: Bit-field of enabled segment
13
High 16 bits of segment enabled
NOTE: 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.
Report server ID (function code 0x11)
This function returns information on the LeddarVu module in the following format:
Table 25: Report server ID messages
Offset
Length
Description
0
1
Number of bytes of information (excluding this one).
Currently 0x99 since the size of information returned is
fixed.
1
32
Serial number as an ASCII string
33
1
Run status 0: OFF, 0xFF: ON. Should always return 0 FF,
otherwise the module is defective.
34
32
The device name as an ASCII string
66
32
The hardware part number as an ASCII string
98
32
The software part number as an ASCII string
130
8
The full firmware version as 4 16-bit values
138
48
The full bootloader version as 4 16-bit values
146
2
The FPGA-build version
148
4
Internal Use
152
2
Module identification code (9 for the module)
Get detections (function code 0x41)
This function returns the detections/measurements in the following format: