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LeddarVu – User Guide Page 60 of 129
Address
Description
16 + (9*N) to
16 + (10*N) - 1
Distance of the fourth detection
16 + (10*N) to
16 + (11*N) - 1
Amplitude of the fourth detection
16 + (11*N) to
16 + (12*N) - 1
Flag of the fourth detection
16 + (12*N) to
16 + (13*N) - 1
Distance of fifth detection
16 + (13*N) to
16 + (14*N) - 1
Amplitude of fifth detection
16 + (14*N) to
16 + (15*N) - 1
Flag of the fifth detection
16 + (15*N) to
16 + (16*N) - 1
Distance of the sixth detection
16 + (16*N) to
16 + (17*N) - 1
Amplitude of the sixth detection
16 + (17*N) to
16 + (18*N) - 1
Flag of the sixth detection
NOTE: As per the Modbus protocol, register values are returned in big-endian format.
For an example of a 0x04 Modbus function (read input register), refer to Appendix A.
Read holding register (function code 0x3), write register (function code 0x6), write multiple
register (function code 0x10), and read/write multiple register (function code 0x17).
The following table presents the registers for these commands (see section 4.3 for a more detailed
description of parameters).
Table 28: Read holding register message definition
Address
Description
0
Exponent for the number of accumulations (that is, if the content of this register
is n, 2
n
accumulations are performed)
1
Exponent for the number of oversamplings (that is, if the content of this register
is n, 2
n
oversamplings are performed)
2
Number of base samples
3
Reserved
4
Detection threshold as a fixed-point value with a 6-bit fractional part (that is
threshold value is this register divided by 64).