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intensity and one temperature value. Note that the reply identifier in this case is
not identical to the command identifier. This is for backward compatibility
reasons. A parameter value of 0x0000 cannot be used with this command and
would in any case be useless (this would in effect be equivalent to the command
0xE1 0x0000).
Note : For compatibility, the count parameter is NOT included in the reply of this
command.
Examples
Command:
0xE3 0x0100
Reply:
0xE3 0x0100 0xXXXX 0xYY 0xXXXX 0xYY
(repeated 256 times)
This command requests 256 groups consisting of a distance and a validity value.
The identifier 0xE3 is the inclusive OR of 0xE1 (Distance) and 0xE2 (Validity)
and allows the master to check that the command was properly understood.
0x0100 is the data count, being the binary word equivalent to 256. After these
items there will come 256 groups consisting of one 2-byte distance value
(0xXXXX) and one 1-byte validity value (0xYY).
Command:
0xF0 0x2710
Reply: 0xF1 0xXXXX (repeated 10000 times) 0xYY 0xTT
This command requests a batch of 10000 (0x2710) distance values followed by
one laser intensity and one temperature value.
Single Commands
Laser On / Off
Command: 0x71 (laser on)
0x70 (laser off)
Reply: 0x71 (laser on)
0x70 (laser off)
Averaging Factor / Filter Cutoff Frequency
Command:
0xA0 0xXXXX
Reply:
0xA0 0xXXXX
Set Output Rate For Batch Data
Command:
0xB0 0xXXXX
Reply:
0xB0 0xXXXX
The first binary word after the command identifier 0xB0 is a divisor which is
applied to the 16 kHz sampling frequency. It may take on any value between
0x0010 (16) and 0xFFFF (65535), inclusive. This gives output rates from 1000 Hz
to 0.244 Hz (one value every 4 seconds).
Synchronize (reset filter)
Command:
0x90
Reply:
0x90
Illegal Commands
Command: 0x33 (as an example of an illegal command)
Reply:
0xFF
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