LeddarTech LeddarOne, User Manual

Page: 23 / 52

LeddarOne
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User Guide Page 23 of 52
26 Distance in millimeters of second detection
27 Amplitude of second detection
28 Distance in millimeters of third detection
29 Amplitude of third detection
Note that as per the Modbus protocol, register values are returned in big-endian format.
The timestamp is a 32-bit unsigned value giving the number of milliseconds since the sensor was
started.
Distance and amplitude are 0 for a detection that is not present (for example if register 23 is 1,
registers 26 to 29 will all be 0).
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 up 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.