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LRF 3013 Integrator Manual
6.1.2
ACK and NACK
Upon reception of an end-of-command character, the command string is evaluated by the LRF Module
and the command execution starts. In case a problem is detected (e.g. an invalid command string), the
command execution is aborted and the NACK character "!" is sent. Otherwise, after the successful
completion of a command, the LRF system provides the ACK character "<" to close the command output.
Character
<
!
For each received command, one (and only one) ACK/NACK character is provided by the LRF module.
Such an
ACK/NACK character closes the command output of the LRF module. After receiving an
ACK/NACK character, the host system can send a new command to the LRF module.
6.1.3
Timing constraints
No timing constraint exists between consecutive characters of a message: when powered, the
microcontroller is always waiting for a new character from the serial interface.
Due to the use of a UART interface, it is recommended to send only few characters without a pause (e.g.:
2ms) in the transmission. Such a break enables a resynchronization of the bit-latching signal on the
receiver side.
6.2 Operational Commands
Protocol related characters (i.e. ACK "<", NACK "!") are not explicitly mentioned in this description.
6.2.1
Distance measurement
Table 1
Range request
Command Input
Input
>Md1<CR>
Command Output
Char Num.
Value
1
Z
2 to 8
XXXXXXX
9 to 10
YY
11
<CR>
The complete output will consist of 3 such lines.
Example
Output
v0108750DB<CR>
R000E301BB<CR>
R000E301BB<CR>
Document number: TML 913655 ver A
Confidential & Proprietary Safran Vectronix AG – All rights reserved
Description
ACK : received a valid command
NACK : received an invalid command
Description
Range measurement
Description
v for range (distance)
R for range (distance) error
Measured range value
Checksum
End character
Description
Strongest return: 0108750/100 = 1087.50 m
Second strongest return: no valid range (R & E301)
Weakest return: no valid range (R & E301)
ASCII Value
0x3C
0x21
Public: 13.03.2017
page: 26/36
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