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Serial Communication Commands

The document describes a set of commands and responses for a P8864-SMD serial communication protocol. It includes 21 commands for functions like setting power, getting distance measurements, temperature readings, and firmware version. For each command it provides details on the command format, parameters, example usage, and response format and types.

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langlanzhan129
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41 views11 pages

Serial Communication Commands

The document describes a set of commands and responses for a P8864-SMD serial communication protocol. It includes 21 commands for functions like setting power, getting distance measurements, temperature readings, and firmware version. For each command it provides details on the command format, parameters, example usage, and response format and types.

Uploaded by

langlanzhan129
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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P8864-SMD 串口通信指令集

目录
1. Commands and responses ......................................................................................................... 3
1.1 Command format ........................................................................................................................ 3
1.2 Response format .......................................................................................................................... 3
1.3 CRC calculatio ............................................................................................................................... 3
1.4 SET_POWER[0x40] ....................................................................................................................... 4
1.5 GET_DISTANCE_AMPLITUDE [0X22] .............................................................................. 5
1.6 SET_INTEGRATION_TIME_DIS[0X00] ................................................................................... 5
1.7 SET_DLL_STEP[0x06] ................................................................................................................... 6
1.8 GET_TEMPERATURE[0X4A] ...................................................................................................... 6
1.9 GET_DISTANCE[0x20]................................................................................................................. 6
1.10 GET_DCS[0x25] ........................................................................................................................... 6
1.11 GET_FIRMWARE_VERSION[0x49] ....................................................................................... 7
1.12 GET_DCS_DISTANCE_AMPLITUDE[0x23]......................................................................... 7
1.13 GET_CHIP_INFORMATION[0X48] ....................................................................................... 8
1.14 GET_INTEGRATION_TIME_DIS[0x27]_ .............................................................................. 8
1.15 SET_TEMPERATURE _slope[0X08] ...................................................................................... 8
1.16 SET_TEMPERATURE _compenstate[0X09] ...................................................................... 9
1.17DRUN_COMPENSATION[0X41]PENSATION .................................................................... 9
1.18 GET_REGION_LENGTH_WIDTH[0x57] ............................................................................... 9
1.19 GET_REGION_DISTANCE_AMPLITUDE _64[0X28] .......................................................... 10
1.20 GET_REGION_DISTANCE_AMPLITUDE [0X29] .................................................................. 10
1.21 SET_ADAPTIVE _INTEGRATIN[0X55] ............................................................................... 11

2
1. COMMANDS AND RESPONSES

1.1 COMMAND FORMAT

The command packet has a fixed length of 14 Bytes: A start byte (value 0xF5), followed by 1 byte command ID (CMD), 8
bytes of parame -
ters corresponding to the command and 4 closing bytes with a 32bit CRC.

1.2 RESPONSE FORMAT

The answer packet has variable length: A start byte (value 0xFA), followed by 1 byte type definition, 2 byte length
definition n, n bytes data
and 4 closing bytes with a 32bit CRC.

1.3 CRC CALCULATIO


The Cyclic Redundancy Check (CRC) calculation includes all bytes of the packet except the CRC itself. Examples are listed
in the command list.

CRC specification:
■ Bytewise CRC32
■ Init value: 0xFFFFFFFF
■ Xor value: 0x00000000
■ Polynom: 0x04C11DB7
3
CRC calculation function:
uint32_t CrcCalc::calcCrc32(const uint8_t *data, const uint32_t size)
{
uint32_t crc = initValue;
for(uint32_t i = 0; i < size; i++)
{
crc = calcCrc32Uint8(crc, data[i]);
}
return crc ^ xorValue;
}
uint32_t CrcCalc::calcCrc32Uint8(uint32_t crc, uint8_t data)
{
int32_t i;
//This shift is done to make it compatible to the STM32 hardware CRC
crc = crc ^ (data << 24);
for (i = 0; i < 8; i++)
{
if (crc & 0x80000000)
{
crc = (crc << 1) ^ polynom;
}
else
{
crc = (crc << 1);
}
}
return (crc);
}

1.4 SET_POWER[0X40]OWER [0x40]


Puts the device in power-up or power-down mode and returns after tPROC acknowledge. Before any acquisition

commands, power must beenabled.

Parameter byte 0: 0x01

Command e.g. | 0xF5 | 0x40 | 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0x00 | 0x9C 0xD7 0xD6 0x91 | (power enable)

Response type 0x00: Acknowledge

Response e.g 0xFA | 0x00 | 0x00 0x00 | (0 bytes) | 0xB2 0xAB 0xFC 0xE8 |

4
1.5 GET_DISTANCE_AMPLITUDE [0X22]DISTANCE_AMPLITUDE [0x22]
Starts a new distance and TOF amplitude acquisition and returns after tPROC the result or status. The amplitude is a

quality indicator for the distance result.

Parameter no, all bytes 0x00

Command e.g. | 0xF5 | 0x22 | 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 | 0xE3 0x1A 0x29 0x7B |

Response type 0x05: Data

Response data 64 x 4 bytes distance followed by 64 x 4 bytes amplitude, total: 2x 256 bytes = 512 bytes

Readout order each: Starts at row 0, pixel 0 … pixel 7 and ends with row 7, pixel 7.

Distance byte 0..3 each: Distance, 0.1mm/LSB or status, 32 bit unsigned integer. Zero according the note

of Figure 4. Range: 20 MHz modulation frequency, 0 … 7.5m: 0 … 75'000d

Amplitude byte 0..3 each: TOF amplitude or status, 32 bit unsigned integer.

Response e.g. | 0xFA | 0x05 | 0x00 0x02 | 0x24 0x0F 0x00 0x00 … 0x63 0x10 0x00 0x00 … (2x 256 bytes

total) | CRC (4 bytes) |(distance 387.6mm ... amplitude 4'195 LSB)

1.6 SET_INTEGRATION_TIME_DIS[0X00]TEGRATION_TIME_DIS [0x00]


Sets the integration time for distance measurements and returns after tPROC acknowledge. The integration time is stored

and used as long power is on or until a new time is set. Range: 1 … 1'600 µs. After power-up, default is 125 µs.

Parameter byte 1, 2: Integration time in microseconds, 16 bit unsigned integer

others: 0x00

Command e.g. | 0xF5 | 0x00 | 0x00 0x1E 0x00 0x00 0x00 0x00 0x00 0x00 | 0xD9 0x85 0x1A 0x99 | (30µs integration

time)

Response type 0x00: Acknowledge

Response data 0 bytes

Response e.g | 0xFA | 0x00 | 0x00 0x00 | (0 bytes) | 0xB2 0xAB 0xFC 0xE8 |

5
1.7 SET_DLL_STEP[0X06]_STEP [0x06]
Sets the number of DLL steps for artificial phase/distance shifting and returns after tPROC acknowledge. 1 step is around

2.15ns / 315mm.

Parameter byte 0: Number of DLL steps

others: 0x00

Command e.g. | 0xF5 | 0x06 | 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0x00 | 0xD2 0x7E 0x43 0xD5 | (Number of steps =

1)

Response type 0x00: Acknowledge

Response data 0 bytes

Response e.g. | 0xFA | 0x00 | 0x00 0x00 | (0 bytes) | 0xB2 0xAB 0xFC 0xE8 |

1.8 GET_TEMPERATURE[0X4A]ATURE [0x4A]


Returns after tPROC the chip temperature during last distance acquisition. Temperature information is useful for error

compensation of the measured distance.

Parameter no, all bytes 0x00

Command e.g. | 0xF5 | 0x4A | 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 | 0x18 0x41 0xF5 0xA4 |

Response type 0xFC: Data

Response data 2 bytes: Temperature, 0.01 ºC / LSB, 16 bit 2's complement signed integer.

Response e.g. | 0xFA | 0xFC | 0x02 0x00 | 0x47 0x13 | 0x4F 0xEE 0x12 0x1F | (temperature 49.35°C)

1.9 GET_DISTANCE[0X20]DISTANCE [0x20]


Starts a new distance acquisition and returns after tPROC the result or status.
Parameter no, all bytes 0x00
Command e.g |0xF5 | 0x20 | 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 | 0x98 0x53 0xE9 0x9B |
Response type 0x03: Data
Response data 64 x 4 bytes: Distance, 0.1mm/LSB or status, 32 bit unsigned integer. Zero according the note of
Figure 4.Readout order: Starts at row 0, pixel 0 … pixel 7 and ends with row 7, pixel 7.
Range: 20 MHz modulation frequency, 0 … 7.5m: 0 … 75'000d
Response e.g. | 0xFA | 0x03 | 0x00 0x01 | 0x28 0x0F 0x00 0x00 … (256 bytes total) | CRC (4 bytes) | (distance
388.0 mm)

1.10 GET_DCS[0X25]
Starts a new acquisition and returns after tPROC DCS values only.
Parameter no, all bytes 0x00
Command e.g. |0xF5 | 0x25 | 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 | 0xBF 0x76 0xA8 0xAC |

6
Response type |0x07: Data
Response data 64 x 2 bytes DCS0 followed by 64 x 2 bytes DCS1, 64 x 2 bytes DCS2 and 64 x 2 bytes DCS3
Readout order each: Starts at row 0, pixel 0 … pixel 7 and ends with row 7, pixel 7.
byte 0, 1 each: DCSx, 16 bit 2's complement signed integer. Range: -2'048 … +2'047 LSB
Response e.g. | 0xFA | 0x07 | 0x00 0x02 | 0x12 0x00 … 0x12 0x00 … 0x10 0x00 ... 0x12 0x00 … (512 bytes
total)| CRC (4 bytes) |(DCS0(r0,c0) = 18, DCS0(r0,c1) = 18, DCS0(r0,c2) = 16, DCS0(r0,c3) = 18)

1.11 GET_FIRMWARE_VERSION[0X49]FIRMWARE_VERSION [0x49]


Returns after tPROC the firmware version of the TOF>frame 611: Version. Sensor type. Subversion (V.s.s)
Parameter no, all bytes 0x00
Command e.g. | 0xF5 | 0x49 | 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 | 0x05 0xA2 0x35 0xB6 |
Response type 0xFE: Data
Response data 4 bytes
byte 0, 1: Subversion s, 16 bit unsigned integer
byte 2,: Sensor type s, 8 bit unsigned integer
byte 3,: version V, 8 bit unsigned integer

Response e.g. | 0xFA | 0xFE | 0x04 0x00 | 0x01 0x00 0x08 0x03 | 0x35 0x33 0x03 0x46 | (Version 3.8.1)]

1.12 GET_DCS_DISTANCE_AMPLITUDE[0X23]
Starts a new acquisition and returns after tPROC DCS, distance and amplitude values as a set.
Parameter no, all bytes 0x00
Command e.g. | 0xF5 | 0x23 | 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 | 0x85 0xB0 0x29 0x89 |
Response type 0x08: Data
Response data 64 x 2 bytes DCS0 followed by 64 x 2 bytes DCS1, 64 x 2 bytes DCS2, 64 x 2 bytes DCS3,
64 x 4 bytes distance and 64 x 4 bytes amplitude Readout order each: Starts at row 0, pixel 0 … pixel 7 and ends with
row 7, pixel 7.
DCSx byte 0, 1 each: DCSx, 16 bit 2's complement signed integer. Range: -2'048 … +2'047 LSB
Distance byte 0..3 each: Distance, 0.1mm/LSB or status, 32 bit unsigned integer. Zero according the note of
Figure 4. Range: 20 MHz modulation frequency, 0 … 7.5m: 0 … 75'000d
Amplitude byte 0..3 each: TOF amplitude or status, 32 bit unsigned integer.
Response e.g | 0xFA | 0x08 | 0x00 0x04 | 0x26 0x00 … 0x7A 0x00 … 0xEE 0xFF … 0xA5 0xFF … 0x36 0x3d
0x00 0x00 ….0x6E 0x00 0x00 0x00 … (1'024 bytes total) | CRC (4 bytes) | (DCS0(r0,c0) = 38, DCS1(r0,c0) = 122,
DCS2(r0,c0) = -18, DCS3(r0,c0) = -91, distance = 15'670, amplitude = 110)

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1.13 GET_CHIP_INFORMATION[0X48]ET_CHIP_INFORMATION [0x48]
Returns after tPROC the STM32 Chip ID
Parameter no, all bytes 0x00
Command e.g. | 0xF5 | 0x48 | 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 | 0x63 0x08 0x35 0x44 |
Response type 0xFD: Data
Response data 12 bytes
byte 0, 3: Chip ID
byte 4, 7:
byte 8, 11:
Response e.g. | 0xFA | 0xFD | 0x0C 0x00 | 44 00 1C 00 04 51 39 33 31 38 37 39 | B1 EC 7E 30 |

1.14 GET_INTEGRATION_TIME_DIS[0X27]_INTEGRATION_TIME_DIS [0x27]


Returns after tPROC the selected or used integration time for distance measurements.
Parameter no, all bytes 0x00
Command e.g. | 0xF5 | 0x27 | 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 | 0xC4 0x3F 0x68 0x4C |
Response type 0x09: Data
Response data 2 bytes: Integration time in microseconds, 16 bit unsigned integer
Response e.g. | 0xFA | 0x09 | 0x02 0x00 | 0x5E 0x01 | 0x83 0xF9 0x91 0xF0 | (350µs)

1.15 SET_TEMPERATURE _SLOPE[0X08]TEGRATION_TIME_DIS [0x00]

Parameter byte 1, 2: Integration time in microseconds, 16 bit unsigned integer

others: 0x00

Command e.g. | 0xF5 | 0x08 | 0x00 0x3B 0x05 0x00 0x00 0x00 0x00 0x00 | 0xB9 0x99 0x3F 0xDE | (value =1339)

Response type 0x00: Acknowledge

8
Response data 0 bytes

Response e.g | 0xFA | 0x00 | 0x00 0x00 | (0 bytes) | 0xB2 0xAB 0xFC 0xE8 |

// compensate
1.16 SET_TEMPERATURE _COMPENSTATE[0X09]TEG
Parameter 0x00 = temperature Compensation enabled;

0x01 = temperature Compensation disabled

others: 0x00

Command e.g. | 0xF5 | 0x09 | 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0x00 | 0xBB 0x11 0x80 0x8C | (disable temperature

compensation)

Response type 0x00: Acknowledge

Response data 0 bytes

Response e.g. | 0xFA | 0x00 | 0x00 0x00 | (0 bytes) | 0xB2 0xAB 0xFC 0xE8 |

1.17DRUN_COMPENSATION[0X41]PENSATION [0x41]
Enables or disables the Distance Response Non-Uniformity (DRNU) compensation Output original distance and returns

after tPROC acknowledge.

Parameter 0x00 = Compensation enabled;

0x01 = Compensation disabled

others: 0x00

Command e.g. | 0xF5 | 0x41 | 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0x00 | 0xFA 0x7D 0xD6 0x63 | (disable compensation

and Adaptive integration time)

Response type 0x00: Acknowledge

Response e.g. | 0xFA | 0x00 | 0x00 0x00 | (0 bytes) | 0xB2 0xAB 0xFC 0xE8 |

1.18 GET_REGION_LENGTH_WIDTH[0X57]

Return the length and width of the region，default 8*8

Parameter no,all bytes 0x00

Command e.g | 0xF5 | 0x57 | 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 | 0xD7 0x7C 0xB3 0x05 |

Response type 0x0C：Data

Response data 2bytes length and width of the region ,8 bit unsigned integer

9
Response e.g. | 0xFA | 0x0C | 0x02 0x00 | 0x05 0x06 | 0x58 0x42 0x62 0x47 | (length = 5;width = 6)

1.19 GET_REGION_DISTANCE_AMPLITUDE _64[0X28]

Starts a new distance and TOF amplitude acquisition and returns after tPROC the select region result or status. The

amplitude is a quality indicator for the distance result.

Parameter no, all bytes 0x00

Command e.g. | 0xF5 | 0x28 | 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 | 0xAD 0x50 0xAB 0x15 |

Response type 0x0A: Data

Response data 64 x 4 bytes distance followed by 64 x 4 bytes amplitude, total: 2x 256 bytes = 512 bytes Readout

order each, Starts at row 0, pixel 0 and ends with row length, pixel width,other is 0.

Distance byte 0..3 each: Distance, 0.1mm/LSB or status, 32 bit unsigned integer. Zero according the note of

Figure 4. Range: 20 MHz modulation frequency, 0 … 7.5m: 0 … 75'000d

Amplitude byte 0..3 each: TOF amplitude or status, 32 bit unsigned integer.

Response e.g. | 0xFA | 0x0A | 0x00 0x02 | 0x24 0x0F 0x00 0x00 … 0x63 0x10 0x00 0x00 … (2x 256 bytes total) | CRC

(4 bytes) |(distance 387.6mm ... amplitude 4'195 LSB)

1.20 GET_REGION_DISTANCE_AMPLITUDE [0X29]

Starts a new distance and TOF amplitude acquisition and returns after tPROC the select region result or status. The

amplitude is a quality indicator for the distance result.

Parameter no, all bytes 0x00

Command e.g. | 0xF5 | 0x29 | 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 | 0xCB 0xFA 0xAB 0x15 |

Response type 0x05: Data

Response data length * width x 4 bytes distance followed by length * width x 4 bytes amplitude, total: 2*length *width

x4 bytes Readout order each: length ,width , Starts at row 0, pixel 0 and ends with row length, pixel width.

Distance byte 0..3 each: Distance, 0.1mm/LSB or status, 32 bit unsigned integer. Zero according the note of

Figure 4. Range: 20 MHz modulation frequency, 0 … 7.5m: 0 … 75'000d

Amplitude byte 0..3 each: TOF amplitude or status, 32 bit unsigned integer.

10
Response e.g. | 0xFA | 0x0B | 0xF0 0x00 | 0x24 0x0F 0x00 0x00 … 0x63 0x10 0x00 0x00 … (2x5x6x4 = 240 bytes

total) | CRC (4 bytes) |(distance 387.6mm ... amplitude 4'195 LSB)

1.21 SET_ADAPTIVE _INTEGRATIN[0X55]TEG


Parameter 0x00 = adaptive integration enabled;

0x01 = adaptive integration disabled

others: 0x00

Command e.g. | 0xF5 | 0x55 | 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0x00 | 0x66 0XE9 0XD2 0xBE | (disable temperature

compensation)

Response type 0x00: Acknowledge

Response data 0 bytes

Response e.g. | 0xFA | 0x00 | 0x00 0x00 | (0 bytes) | 0xB2 0xAB 0xFC 0xE8 |

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