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Data response when reading or writing:

Byte offset

Data type

Description

0x00

i nt 16

Average distance [cm]

0x02

i nt 16

Closest distance [cm]

0x04

i nt 16

Furthest distance [cm]

0x06

i nt 16

Angle to closest distance [10ths of a
degree]

0x08

ui nt 32

Calculation time [us]

Data for request when writing:

Byte offset

Data type

Description

0x00

i nt 16

Direction [degrees]

0x02

i nt 16

Angular width
[degrees]

0x04

i nt 16

Minimum distance [cm]

Read

Write

Persists

12 byt es

6 byt es

9.19. Motor state [106]

Reading this command will return the current state of the motor. This can be useful to debug or check start-up

conditions.

Value

Description

Motor is preparing for start-up.

Motor is waiting for first 5 revolutions to
occur.

Motor is running normally.

Motor has failed to communicate.

Read

Write

Persists

ui nt 8

SF40/C

Product manual

SF40/C -Product manual

25 of 30 |

www.lightware.co.za

Содержание SF40/C

Страница 1: ...ual SF40 C Product manual SF40 C Product manual 1 of30 LightWare Optoelectronics Pty Ltd 2019 www lightware co za LiDAR SENSOR sselburcht 26 NL 6825 BP Arnhem Nederland Tel 31 850187593 info lidarsens...

Страница 2: ...pecifications 5 Functional description 5 1 Overview 5 2 Data streaming 5 3 Alarms 5 4 Virtual laser range finder 6 Hardware 6 1 Connector wiring 6 2 Mounting on an airframe 6 3 Dimension drawings 6 4...

Страница 3: ...r firing 50 9 16 Temperature 55 9 17 Baud rate 90 9 18 Distance 105 9 19 Motor state 106 9 20 Motor voltage 107 9 21 Output rate 108 9 22 Forward offset 109 9 23 Revolutions 110 9 24 Alarm state 111 9...

Страница 4: ...forversion V1 1 2 V1 2 0 Updated linkto Upgrader tool 2 27 09 2018 Added change logforversion V1 1 1 Command Di st ance 105 now shows the correct read writebyte count 1 26 09 2018 Added change log for...

Страница 5: ...6 If the device is not the latest version you can click the Upgr ade buttonto begin the process 7 Wait untilthe upgrade has completed successfully and click OK 2 2 1 4 0 Changes Improvednoise issues 2...

Страница 6: ...le toclosest distance measurement Less aggressive power draw on the 5V line duringstart up Supports flightcontroller proximitydetection when disabling LWNX mode Fixes The Poi nt st ar t i ndex fieldof...

Страница 7: ...rating depends on the mechanical integrityof the optics and electronics so if these are damaged do notcontinue using the SF40 C There are no user serviceable parts and maintenance or repair must only...

Страница 8: ...h 20 ns Pulse frequency 36 kHz Peak power 10 W 50 millimeteraperture at 2 meters Average power 0 6 mW 7 millimeter aperture Average energy per pulse 300 nj NOHD 15 m Distance beyond which binocularswi...

Страница 9: ...current 0 5 A max Laser power supply voltage 5 0 V DC 10 Outputs interfaces Serial UART 3 3V TTL Dimensions 70 mm height x 79mm largest diameter Weight 256 g Laser power 20W peak 11mW average Class 1...

Страница 10: ...would cover 360degrees around the vehicle at close range to alert when people get too close to the movingparts Additionally a forward lookingalarm zone is used to detect obstacles in the directionof m...

Страница 11: ...Pins 3 4 Power supply should provide 5 V 10 Power supply currentcapacity should be at least 0 2 A Motor powersupply Pins 5 6 Power supply should provide 12 V 10 Power supply currentcapacity should be...

Страница 12: ...ing on an airframe 6 3 Dimension drawings 25 0 98 25 0 98 M3 x M3 x 12 mm Hex standoff Male Female SF40 C Product manual SF40 C Product manual 11of30 LightWare Optoelectronics Pty Ltd 2019 www lightwa...

Страница 13: ...6 4 Labeling SF40 C Product manual SF40 C Product manual 12of30 LightWare Optoelectronics Pty Ltd 2019 www lightware co za...

Страница 14: ...Flow control none The SF40 Ccan operate in baud rates as low as 115200 115200 but maximumdata output will require higher rates 7 2 Packets A packet for bothrequests and responses is composed of the fo...

Страница 15: ...Checksum Each packet has a 2 byte checksum which is used to validate data integrity The algorithmis CRC 16 CCI TT 0x1021 idendtical tothe one used forthe XMODEM protocol The CRC mustbe correctly forme...

Страница 16: ...et l et i 0 i si ze i l et l et code cr c 8 0xFF code dat a i 0xFF code code 4 cr c cr c 8 0xFFFF cr c code code code 5 0xFFFF cr c code code code 7 0xFFFF cr c code r et urn r et ur n cr c SF40 C Pro...

Страница 17: ...load length 1 to 1023 Failure packet lengthinvalid Read payload length bytes Read 2 bytes CRC uint16 No Yes Is CRC valid Failure checksum invalid Failure invalid start byte If the packet length or che...

Страница 18: ...ommand request and reading the response Start Sucess Send requestpacket Wait up to 100msfor response No Yes Response packet received No Yes Response command ID matches request command ID Yes No Retrie...

Страница 19: ...istance data 50 Laser firing Laser firingstate RW 1 1 N 55 Temperature Measured temperature R 4 90 Baud rate Serial baud rate RW 1 1 Y 105 Distance Single directiondistance RW 12 6 N 106 Motor state M...

Страница 20: ...t 32 Read Write Persists ui nt 32 9 3 Firmware version 2 The version of currentlyinstalled firmwarerepresented as 4 byt es This can be used to identifythe productfor API compatibility 1 2 3 4 Patch Mi...

Страница 21: ...ated Read Write Persists ui nt 16 9 8 Save parameters 12 Several commandswrite to parameters thatcan persist across power cycles These parameters willonly persist once the Save par ameter s commandhas...

Страница 22: ...iption 0 to 1000 Index of successfully writtenpage 1 Page lengthis invalid 2 Page indexis out of range 3 Flash failed to erase 4 Firmware file has invalid header 5 Flash failed to write 6 Firmware is...

Страница 23: ...commands being issued Reading fromthe St r eam command willindicate what type of data is being streamed Writing to the St r eam command willset the type of data to be streamed Value Streamed data 0 d...

Страница 24: ...in this packet 0x0C ui nt 16 Point start index Index of the first point in this packet 0x0E Poi nt count x i nt 16 Point distances Array of distances cm foreach point By usingthe Poi nt st ar t i nde...

Страница 25: ...0 Read Write Persists ui nt 8 ui nt 8 Yes 9 18 Distance 105 NOTE The data structure for reading writingthis command has changed since firmware1 0 1 Reading thiscommandwillreturnthe aver age cl osest a...

Страница 26: ...s 0x02 i nt 16 Angular width degrees 0x04 i nt 16 Minimumdistance cm Read Write Persists 12 byt es 6 byt es N 9 19 Motor state 106 Reading this command will return the current state of the motor This...

Страница 27: ...s 9 22 Forward offset 109 The forward offsetaffects the positionof the 0 degr ee direction The or i ent at i on label on the frontof the SF40 C marks the default 0 degr ee direction Read Write Persist...

Страница 28: ...or all 7 alarms By reading this command the configurationfor this alarm is retrieved as follows Byte offset Data type Name Description 0x00 ui nt 8 Enabled 1 is enabled 0 is disabled 0x01 i nt 16 Dire...

Страница 29: ...00 ui nt 8 Enabled 1 is enabled 0 is disabled 0x01 i nt 16 Direction Primary directionin degrees 0x03 i nt 16 Width Angular width in degrees around the primary direction 0x05 i nt 16 Distance Distance...

Страница 30: ...ecified above can be writtento this commandto set the alarm configuration Read Write Persists 7 byt es 7 byt es Yes 9 30 Alarm 6 117 By reading this command the configurationfor this alarm is retrieve...

Страница 31: ...width in degrees around the primary direction 0x05 i nt 16 Distance Distance at which alarm is triggered The same data bytes as specified above can be writtento this commandto set the alarm configura...

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