UTM-30lx Communication Protocol Specification For SCIP2.0 Standard

1.测量方向和数据点
本节给出了传感器测量参数的一些基本信息。 这些参数是当从传感器读取测量数据时非常重要。
图1显示了传感器的测量细节。 扫描仪在逆时针方向旋转观看从上面。 检测范围（E）是传感器扫描测量的最大角度。 角分辨率定义为360度除以狭缝分割（F）。测量点称为步骤。 步骤0是第一个测量点。 步骤A是初始测量

点在检测范围内。 步骤B是传感器前台阶。 步骤C是检测范围的终点。 步骤D是最后一个测量点。 表1显示了一些传感器模型的测量参数。

                 

                   

2.数据编码和解码

传感器的数据被编码以减少主机和传感器之间的传输时间。 这些数据应该是在处理它们之前在主机侧解码。 有三种类型的编码技术应用于感器取决于数据大小。
2.1两字符编码
2.2三字符编码
2.3四字符编码

2.1两字符编码

该编码技术用于表示具有12位的最大长度的数据。 编码是通过将数据分成高6位和低6位，然后添加30H以将它们转换为ASCII字符。 图2和图3显示了双字符编码和解码示例。

                                  

                                                   

2.2三字符编码
该编码技术用于表示具有18位的最大长度的数据。 编码完成通过将数据分成上，中和下6位，然后添加30H以将它们转换为ASCII字符。 图4和图5示出了三字符编码和解码示例。   

                                                                                                              

                                                                   

2.3 四字符编码

该编码技术用于表示具有24位的最大长度的数据。 编码完成通过将数据分成四部分，每部分6位，然后添加30H以将它们转换为ASCII字符。图6和图7示出了四字符编码和解码示例。

                               

3.通信格式
传感器和主机使用预定义命令集交换数据。 这些命令具有特定的格式称为通信格式。 图8和图9显示了主机和主机之间的基本通信格式传感器在SCIP2.0。 通过发送由组成的命令从主机发起通信命令符号，参数，字符串后跟换行或回车或两者的字符。 当传感器接收命令它发送回复与命令回显，状态，总和，换行，与命令相关的数据，sum和两个连续换行作为终止代码。

             

   

Comman Symbo：命令符号在每个命令的开始处是2字节的代码。每个命令都有具体的符号进行验证。 

Parameter：参数是更改传感器设置或请求附加数据所需的信息。 

String Chars：字符串字符是命令中的可选信息。它们用于在相同时验证回复命令被重复多次，例如通过在每个命令中发送不同的字符串字符检查命令echo。字符串字符的最大长度为16个字母任何英文字母，数字，空格和符号'。'，'_'，'+'，'@'的组合。他们必须是用分号隔开 - 在开始与参数分开。
LF：换行（LF）或回车（CR）是终止代码。命令可以有LF或CR或两者终止代码，但是回复将总是具有两个连续的LF作为其终止代码。
Statu：状态是回复中的2字节数据，如果命令被认证则通知正常处理，如果是，则通知错误未定义，无效或不完整的命令。 00和99以外的状态为错误代码
Sum：Sum是认证中使用的1字节数据。它是通过在两个换行之间添加数据计算的降低这个和的6个字节，最后将30H加到这个和。  

          

Data:数据是与命令相关的主要信息。 如果超过64字节，则每隔64个字节由LF和sum分隔。

4.传感器命令
传感器命令是通信格式的预定义代码（参见第3节）。 主机和传感器使用这些命令交换数据。 在SCIP2.0中有13种类型的预定义传感器命令。

注意：
* *主机可以一次发送多个命令到传感器和传感器对每个命令的响应逐渐。但传感器不接受同时发送的多个相同类型的命令。 在这种情况下，传感器将回复只有一次，然后发送错误代码。
**比较命令回波和总和可以识别通信中的错误。
**命令和回复中的所有字符都是ASCII码。由于换行键在串口助手里面打出来，因此我做的实验都是将指令转换成十六进制，然后在指令后面加上“0A“（LF的十六进制）。

本文介绍一种指令

MDMS指令

这是一个传感器数据采集命令。 每当传感器接收到该命令时，它发送具有状态“00”的eco，接着是具有在接收命令之后获取的测量数据的回复。 激光在测量前自动打开，并在完成命令中定义的扫描次数后关闭。

        

命令符号可以是MD或MS。 MD用于三字符编码数据，MS用于两字符编码数据（见第2节）。
开始步骤和结束步骤：起始步和结束步可以是0和最大步之间的任何点（见第1节）。结束步骤应始终大于启动步骤。
例：
从步骤10至750获得数据。
起始点：0010（30H，30H，31H，30H）
终点：0750（30H，37H，35H，30H）
集群计数：簇计数是可以合并到单个数据中的相邻步骤的数量，范围为0到99，当簇计数大于1时，步骤中具有最小测量值（不包括误差）集群将是输出数据。
示例：如果集群计数为3并且此集群中的3个相邻步骤的测量值为3059，
3055和3062，则从传感器接收的数据将为3055。
扫描间隔和跳过获取多个扫描数据时的扫描次数可以在扫描间隔中设置。该值应为十进制。
扫描数量：用户可以通过提供扫描数量中的计数来请求扫描数据的数量。如果扫描数量为
设置为00时，无限期提供数据，除非使用[QT-Command]或[RS-Command]取消。该值应为十进制。

                                    

当主机请求多个测量数据时，传感器的回复将是回波中的剩余扫描（剩余扫描）数，而不是扫描数。

注意：
在连续测量期间，如果诊断怀疑某些故障，数据处理将暂时停止以确认错误。 确认可能需要10秒，在此期间状态将为21〜49。 如果没有故障，传感器在发送状态后恢复测量，否则将发送相应的错误状态。

以下为本任做的一个简单实验

发送：

ASCII ：MD0044072500020

16进制：4D 44 30 30 34 3430 37 32 35 30 30 30 32 30 0A

 接收：

MD 0044 0725 00 0 20 00P

MD0044072500019

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MD0044072500015

99b

;OFXX

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1a01a01a01_01_01]01_01^01_01^01_01^01a01\01\01X01\01X01X01V01T012

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5<05>05>05>05B05B05@05?05?05>05>05=05;05905904o04o04i04S04K04KQ

 

MD0044072500014

99b

;OG01

01e01d01d01d01m01m01m01l01l01f01f01e01e01e01e01`01`01[01[01W01W0I

1^01^01^01^01^01^01_01`01`01`01]01X01W01X01X01W01X01]01X01X01X01Y

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5=05;05805805;05@05@05E05F05F05B05B05?05905305205004g04X04Q04Mg

 

MD0044072500013

99b

;OGIJ

01^01X01X01X01X01\01^01^01^01^01^01^01^01X01X01_01a01_01_01_01_0m

1_01_01_01`01_01^01`01^01Y01X01X01X01_01b01b01d01b01a01_01_01_01V

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5?05C05C05C05B05B05B05B05D05D05A05=05804n04m04l04c04S04R04H04Hn

 

MD0044072500012

99b

;OGbc

01_01[01[01[01[01[01_01_01^01^01^01^01^01^01V01V01V01Z01b01c01c01

1b01b01a01`01`01a01`01_01_01\01[01[01Z01Z01Z01]01]01]01S01S01S01j

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01V01]01V01V01W01Z01Z01Z01Z01Z01Z01Z01a01c01a01a01U01U01U01W01]0:

1^01_01_01a01a01a01a01\01Z01\01Z01Z01[01a01_01_01_01a01a01a01a01Y

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01g01g01g01b01b01b01b01e01e01e01c01a01`01a01`01a01e01e01e01e01e0@

1e01e01e01e01e01e01d01d01i01k01k01l01k01k01k01k01k01k01k01i01i01f

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2702702<02<02<02702=02702=02:02;02;02;02:02902902202802502502502V

802;02;02<02>02>02>02?02?02?02?02?02H02L02L02L02L02L02K02K02H02HC

02H02K02K02O02P02P02Q02Q02S02W02W02X02T02Y02T02Y02V02[02W02[02[0J

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3X03U03U03X03`03`03c03c03c03c03i03k03k03k03l03n04>04>04>04704704Z

204704=04=04<04<04<04:042042042042049049040048046046046047046047]

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5805>05>05C05>05<05<05?05?05?05A05A05A05@05@04l04i04d04P04O04JR

 

MD0044072500011

99b

;OH;=

01]01]01]01]01_01`01b01b01b01b01\01\01Y01\01]01_01]01]01]01\01[0G

1[01Y01[01[01[01R01[01Y01Y01^01b01b01b01b01_01[01Z01Y01Y01Z01Y01Y

Y01Y01Y01S01S01Y01_01_01_01Y01[01[01[01\01\01]01]01a01^01^01^01^A

01[01Z01[01Z01Z01_01_01\01\01[01Z01S01S01Y01U01X01X01W01W01X01X0f

1X01Z01Z01\01\01\01Z01T01T01T01U01X01Y01\01\01\01\01\01a01a01b01B

b01a01c01c01Z01b01b01`01Z01_01\01_01_01_01]01`01`01b01c01c01b01bg

01f01d01d01d01_01_01_01_01c01f01f01g01g01g01c01c01\01\01_01c01c0j

1c01c01c01c01c01a01g01g01d01d01d01_01d01g01o01o01o01l01l01i01l01D

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5605705=05=05>05>05A05>05>05=05=05=05=05=05:04o04h04X04V04R04L1

 

MD0044072500010

99b

;OHTV

01\01[01X01[01W01W01W01W01W01]01]01Z01]01Z01Z01Y01Y01Y01X01[01[00

1[01[01\01]01_01_01_01a01_01\01`01\01\01\01\01\01\01\01[01\01^017

[01[01[01W01W01W01W01T01T01T01V01\01\01\01X01W01P01P01P01U01V01WY

01W01W01]01]01]01\01\01\01X01\01V01V01V01^01^01c01c01c01\01[01[0[

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MD0044072500009

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MD0044072500008

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MD0044072500006

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MD0044072500004

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MD0044072500003

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MD0044072500002

99b

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MD0044072500000

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