User Manual

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The first byte is the number of detections in the message. Because of the limitation
on a Modbus message length, a maximum of 40 detections will be returned.
NOTE: This maximum can be configured to a lower value using the Leddar™
Configurator software (serial port configuration) or the Write Register
command described below.
Following the first byte, each detection has six bytes (refer to Table 26)
Table 26: Get detection messages (detection fields)
Offset
Length
Description
0
2
The distance (little-endian). Distance unit is defined by serial port
parameters
2
2
The amplitude times 64 [that is, amplitude = this field/64 (little-endian)]
4
1
3 bits are flags describing the measurement (all others are reserved):
Bit 0: Detection is valid (will always be set)
Bit 1: Detection was the result of object demerging
Bit 2: Reserved
Bit 3: Detection is saturated
5
1
Segment number
Trailing all the detections have 3 more fields (refer to Table 27).
Table 27: Get detection messages (trailing fields)
Offset
Length
Description
0
4
Timestamp of the acquisition (little-endian). The timestamp is expressed
as the number of milliseconds since the device was started.
4
1
Current light source power as a percentage of maximum.
5
2
Bit-field acquisition. Reserved
Read module data (function code 0x42)
Table 28 and Table 29 present the request and answer codes for reading data.
Table 28: Requests
Offset
Length
Description
0
4
Base address: 0x00000000 to 0x00FFFFFF