SERIAL PROTOCOL
USER’S MANUAL
SWEEP
V1.0
6
Copyright ©2014-2017 Scanse LLC - www.scanse.io
sync bit :
0 bit indicates the sync value, a value of 1 indicates the packet is the beginning of a new scan, a value of 0
indicates all other measurement packets. Bits 1-6 are reserved for error codes, see below.
error code bits :
1st bit indicates whether or not there was a communication error with the LiDAR Module. A value
of 1 indicates that there was an error, and a value of 0 indicates there was no error.
bits 2-7 reserved for future use.
azimuth:
Angle that ranging was recorded at. Azimuth is a float value - needs to be converted from 16bit int to
float, use instructions at the top
distance
: Distance of range measurement.
signal strength:
Signal strength of current ranging measurement. Larger is better. Range: 0-255
checksum:
Calculated by adding the 6 bytes of data then dividing by 255 and keeping the remainder. (Sum of bytes
0-6) % 255
Status
00 -- Command received without any Error
22 -- Stopped to verify error
55 -- Hardware trouble
99 -- Resuming operation
Stops outputting measurement data.
(HOST -> SENSOR)
D X
LF
(SENSOR -> HOST)
D
X
Status
SUM
LF
Default Speed: Sensor stores last speed command in non-volatile memory, and will return to that speed after a
power cycle, except if the last state was speed 00 (stopped).
(HOST -> SENSOR)
M S
Speed Parameter
(2 bytes)
LF
Speed Parameter: 00 - 10 : 10 different speed levels according to revolutions per second (Hz), increments of 1.
Example: 01,02,..
00 = Motor stopped
(SENSOR -> HOST)
M S
Speed(Hz)
(2 bytes)
LF Status Sum LF
