Sw Interface; Operating Modes; Communication Protocol - Safran LRF 6019 Manual

LRF 6019 Integrator Manual

6 SW Interface

6.1 Operating modes

The LRF 6019 provides three operating modes:
 Off mode: Lowest power consumption mode. The use of the PWR_SAFE line is required for the
correct use of this mode.
 Stand-by mode: The LRF module is powered on and runs with reduced power consumption. Only
the "Fake Range Request" (Paragraph 6.5.2) and the "Operating Mode Selection" (Paragraph
6.5.6) commands can be executed in this mode.
 Normal operating Mode: Power is supplied to LRF module. The LRF can respond to all valid
commands.

6.2 Communication Protocol

After entering "Normal operating Mode", the module automatically sends back the prompt character "<"
to the host to signal its readiness and waits for any input command.
Character commands are to be sent with a maximum inter-character delay of 5 ms.
All commands can be transferred to the module via the serial interface.
After a valid command (format, checksum and parameters valid) has been received, the LRF module
sends an acknowledge message to the host and executes the command. If the received command is
successfully executed, the LRF module sends back a response message (if necessary) followed by the
success prompt character "<" to the host. In case that the command execution was not successful, the
LRF module sends the failure prompt character "!" back to the host.
If the received command has the right format, but a wrong checksum or parameter or the command is not
implemented, the LRF module sends a NOT acknowledge message to the host, followed by the failure
prompt character "!".
Both prompt characters signal to the host that the LRF module is ready to receive a new command
message.
For all command messages not matching the specified message format (described in section 6.3.2), the
LRF module will send nothing back to the host and will ignore the message.
During command execution (except for the continuous range request, the block range request and the
laser continuous low power mode commands as described in the paragraphs 6.5.3, 6.5.7 and 6.5.8) the
LRF module will ignore any incoming characters.
914928_TML_LRF6019_en_Version C
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Figure 28: State machine and transitions
Public: 04.2019
Page: 37/70