Safran LRF 3013, Руководство пользователя

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LRF 3013 Integrator Manual
Document number: TML 913655 ver A
Public: 13.03.2017
Confidential & Proprietary
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Safran Vectronix AG
– All rights reserved
page: 25/36
6 SW Interface
6.1 Communication Protocol
Commands are always initiated by the host system. Typically they generate an answer (output) from the
LRF module.
After sending a command, the host system must wait for the answer of the LRF module (including ACK or
NACK, see 6.1.2) before a new command can be sent to the LRF module.
Note that the LRF system does not sent a message without receiving a command from the host system.
An ACK character is generated upon power up (Pin 8), confirming that the system has successfully
booted and is waiting for a command.
6.1.1 Command structure
The commands are strings of characters with the following structure:
Character Description ASCII Value
> Start of command 0x3E
Upper case letter
Command
0x41..0x5A
Lower case letter 0x61..0x7A
Number (optional) 0x30..0x39
<CR> End of command 0x0D
Some commands requiring one or two parameters use the following extended structure:
Character Description ASCII Value
> Start of command 0x3E
Upper case letter
Command
0x41..0x5A
Lower case letter 0x61..0x7A
Number (optional) 0x30..0x39
One or more
digits
First parameter
See command description
, (optional) A comma, separating the two
parameters
0x2C
One or more
digits (optional)
Second parameter
See command description
<CR> End of command 0x0D