SERIAL PROTOCOL
USER’S MANUAL
SWEEP
V1.0
7
Copyright ©2014-2017 Scanse LLC - www.scanse.io
Command Symbol:
2 byte code at the beginning of every command (ASCII)
Parameter:
Information that is needed to change sensor settings (ASCII).. Example: a motor speed code 05
transmitted as ASCII parameter '05', which has byte values [48, 53] in decimal.
Line Feed (LF) or Carriage Return (CR):
Terminating code. Command can have LF or CR or both as termination code
but receipt will always have LF as its termination code.
Status:
2 bytes of data used to convey the normal/abnormal processing of a command. ASCII byte values
of '00' or '99' indicate that the sensor received and processed the command normally. Value of '11' specifies an
invalid parameter was included in the command. Any other byte values are reserved for communicating other
errors or failure that are command specific. Usually these indicate a failure to process the command, often for
valid reasons.
Sum of Status:
1 byte of data used to check for corrupted transmission. See Appendix for instructions for
authenticating receipts.
ASCII Code (2 bytes) Function
DS
Start data acquisition
DX
Stop data acquisition
MZ
Motor Ready
MS
Adjust Motor Speed
MI
Motor Speed Info
LR
Adjust LiDAR Sample Rate
LI
LiDAR Sample Rate Info
IV
Version Info
ID
Device Info
RR
Reset Device
