User Manual

SERIAL PROTOCOL USER’S MANUAL SWEEP V1.0
11
Copyright ©2014-2017 Scanse LLC - www.scanse.io
Default Sample Rate: 500-600Hz. See Theory of Operation section for explanation of why there is a range of
sample rate values.
(HOST -> SENSOR)
L
R
Sample Rate Code
(2 bytes)
LF
(SENSOR -> HOST)
L
R
Sample Rate Code
(2 bytes)
LF
Status
(2 bytes)
Sum
LF
Sample Rate Code (2 byte ASCII code, ie: ‘02’ = 0x3032):
• ‘01’ = 500-600Hz
• ‘02’ = 750-800Hz
• ‘03’ = 1000-1075Hz
LR command is not guaranteed to succeed. There are a few conditions where it will fail. In the event of a failure,
the two status bytes are used to communicate the failure.
Status Code (2 byte ASCII code, ie: ‘11’ = 0x3131):
• ‘00’: Successfully processed command. Sample Rate setting effectively changed to new value.
• ‘11’: Failed to process command. The command was sent with an invalid parameter. Use a valid
parameter when trying again.
Returns current LiDAR Sample Rate Code in ASCII:
(HOST -> SENSOR)
L
I
LF
(SENSOR -> HOST)
L
I
Speed(Hz)
(2 bytes)
LF
Sample Rate Code (2 byte ASCII code, ie: ‘02’ = 0x3032):
• ‘01’ = 500-600Hz
• ‘02’ = 750-800Hz
• ‘03’ = 1000-1075Hz