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large amounts of data, with different types of data intermixed, may occur.
Batch Commands
The batch commands can be used in binary mode. If two or more commands are
concatenated, the identifier bytes are ORed together in the reply to allow the
master to check that the SLS sensor understood the command correctly.
Distance Value
Command
$Dnnnnn>
Reply: 0xE1 0xXXXX 0xYYYY 0xYYYY ... (repeated nnnnn times)
This command can be used only if the measurement unit is LSBs. The first binary
word after the identifier 0xE1 is the parameter nnnnn in binary form.
NOTE: If the measurement is invalid, the sensor will normally report a distance
value of 0x0000. But if a calibration has been made, using the $C> serial
command, the output associated with invalid measurements will be nonzero (the
actual value will depend on what the sensor was reading at the time of
calibration).
Measurement Validity (%)
Command:
$Vnnnnn>
Reply: 0xE2 0xXXXX 0xYY 0xYY ... (repeated nnnnn times)
The first binary word after the identifier 0xE2 is the parameter nnnnn in binary
form.
Laser Intensity (percent of maximum)
Command:
$Innnnn>
Reply: 0xE4 0xXXXX 0xYY 0xYY ... (repeated nnnnn times)
The first binary word after the identifier 0xE4 is the parameter nnnnn in binary
form.
Sensor Temperature (°C)
Command:
$Tnnnnn>
Reply: 0xE8 0xXXXX 0xYY 0xYY ... (repeated nnnnn times)
The first binary word after the identifier 0xE8 is the parameter nnnnn in binary
form.
Examples
Command:
$DI100>
Reply:
0xE5 0x0064 0xXXXX 0xYY 0xXXXX 0xYY
(repeated 100 times)
This command requests 100 groups consisting of a distance and an intensity
value. The identifier 0xE5 is the inclusive OR of 0xE1 (Distance) and 0xE4
(Intensity) and allows the master to check that the command was properly
understood. 0x0064 is the data count, being the binary word equivalent to 100.
After these items there will come 100 groups consisting of one 2-byte distance
value (0xXXXX) and one 1-byte intensity value (0xYY).
Command:
$DVIT1>
Reply:
0xEF 0x0001 0xXXXX 0xYY 0xZZ 0xTT
This command requests one group of data containing all four possible items. The
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