Table 4 - Acknowledgement responses
Response (HEX)
Description
00 [CMD] [ACK] [CRC8]
CMD:
corresponds to 4 upper bits of command code, e.g.
0x03 for the command SWAP MASTER AND SLAVE BEACONS
0x05 for the command SET MODBUS SLAVE ADDRESS
ACK:
0x00 corresponds to ACK (acknowledged)
0xFF corresponds to NACK (not acknowledged)
FF FF FF FF
CRC8 not acknowledged
or span auto-calibration failed
7.1.2.
Device information
Device information response takes the following form:
\nID TB-FM serial_number FW a.b.c fw_tag RS485@ slave_addr baud_rate parity
UWB Master FW d.e.f Slave FW g.h.i
D:span_distance:ema_window_size:beacon_rev:print_out_mode \r\n
For example, a response:
\nID TB-FM 123 FW 1.0.0 STD RS485@ 1 19200 2 UWB Master FW 1.0.0 Slave FW
1.0.0 D:700:0:0:2 \r\n
corresponds to the following parameters of the system:
●
Serial number: 123
●
Main firmware version of master beacon: 1.0.0 STD
●
RS485 slave address: 1
●
RS485 baud rate: 19200 bit/s
●
RS485 parity: 2 (even)
●
Secondary firmware version of master and slave beacons: 1.0.0
●
Span: 700 mm
●
EMA window size: 0 (no filtering)
●
Beacons swapped: 0 (not swapped)
●
Print out mode: 2 (binary)
7.1.3.
Printout mode - TEXT
This mode provides users with data transmission in human readable form. Data from the
device is streamed in the following format: “FM\txxxxx\tyyy\n”
Distance reading in mm
: xxxxx (0 to 60000)
Heading reading in degrees
: yyy (-90 to 90)
New line character
: \n (10 decimal / 0x0A hex)
Tab character
: \t (9 decimal / 0x09 hex)
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