Sw Interface; Communication Protocol; Command Structure - Safran LRF 3013 Manual

LRF 3013 Integrator Manual

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
>
Upper case letter
Lower case letter
Number (optional)
<CR>
Some commands requiring one or two parameters use the following extended structure:
Character
>
Upper case letter
Lower case letter
Number (optional)
One or more
digits
, (optional)
One or more
digits (optional)
<CR>
Document number: TML 913655 ver A
Confidential & Proprietary  Safran Vectronix AG – All rights reserved
Description
Start of command
Command
End of command
Description
Start of command
Command
First parameter
A comma, separating the two
parameters
Second parameter
End of command
ASCII Value
0x3E
0x41..0x5A
0x61..0x7A
0x30..0x39
0x0D
ASCII Value
0x3E
0x41..0x5A
0x61..0x7A
0x30..0x39
See command description
0x2C
See command description
0x0D
Public: 13.03.2017
page: 25/36