[ { "model": "LR1000E2", "protocol_family": "A", "default_baud": 115200, "frame_len_bytes": 8, "distance_bytes": 2, "unit": "m", "raw_scale": 10.0, "out_of_range_raw": null, "min_range_m": 4.0, "max_range_m": 1000.0, "capabilities": "angle;continuous;ld_always_on;self_test;set_baud;single;stop", "frequency_base_hz": null, "notes": "Angle measurement (0x8A) is 'Effective only for modules equipped with an angle sensor' -- source row 21." }, { "model": "LR1000E4", "protocol_family": "A", "default_baud": 115200, "frame_len_bytes": 8, "distance_bytes": 2, "unit": "m", "raw_scale": 10.0, "out_of_range_raw": null, "min_range_m": 4.0, "max_range_m": 1000.0, "capabilities": "angle;continuous;ld_always_on;self_test;set_baud;single;stop", "frequency_base_hz": null, "notes": "Angle measurement (0x8A) is 'Effective only for modules equipped with an angle sensor' -- source row 21." }, { "model": "LR1200E2", "protocol_family": "A", "default_baud": 115200, "frame_len_bytes": 8, "distance_bytes": 2, "unit": "m", "raw_scale": 10.0, "out_of_range_raw": null, "min_range_m": 4.0, "max_range_m": 1200.0, "capabilities": "angle;continuous;ld_always_on;self_test;set_baud;single;stop", "frequency_base_hz": null, "notes": "Angle measurement (0x8A) is 'Effective only for modules equipped with an angle sensor' -- source row 21." }, { "model": "LR1200E4", "protocol_family": "A", "default_baud": 115200, "frame_len_bytes": 8, "distance_bytes": 2, "unit": "m", "raw_scale": 10.0, "out_of_range_raw": null, "min_range_m": 4.0, "max_range_m": 1200.0, "capabilities": "angle;continuous;ld_always_on;self_test;set_baud;single;stop", "frequency_base_hz": null, "notes": "Angle measurement (0x8A) is 'Effective only for modules equipped with an angle sensor' -- source row 21." }, { "model": "LR1500E2", "protocol_family": "A", "default_baud": 115200, "frame_len_bytes": 8, "distance_bytes": 2, "unit": "m", "raw_scale": 10.0, "out_of_range_raw": null, "min_range_m": 4.0, "max_range_m": 1500.0, "capabilities": "angle;continuous;ld_always_on;self_test;set_baud;single;stop", "frequency_base_hz": null, "notes": "Angle measurement (0x8A) is 'Effective only for modules equipped with an angle sensor' -- source row 21." }, { "model": "LR1500E4", "protocol_family": "A", "default_baud": 115200, "frame_len_bytes": 8, "distance_bytes": 2, "unit": "m", "raw_scale": 10.0, "out_of_range_raw": null, "min_range_m": 4.0, "max_range_m": 1500.0, "capabilities": "angle;continuous;ld_always_on;self_test;set_baud;single;stop", "frequency_base_hz": null, "notes": "Angle measurement (0x8A) is 'Effective only for modules equipped with an angle sensor' -- source row 21." }, { "model": "LR2000E2", "protocol_family": "A", "default_baud": 115200, "frame_len_bytes": 8, "distance_bytes": 2, "unit": "m", "raw_scale": 10.0, "out_of_range_raw": null, "min_range_m": 4.0, "max_range_m": 2000.0, "capabilities": "angle;continuous;ld_always_on;self_test;set_baud;single;stop", "frequency_base_hz": null, "notes": "Angle measurement (0x8A) is 'Effective only for modules equipped with an angle sensor' -- source row 21." }, { "model": "LR2000E4", "protocol_family": "A", "default_baud": 115200, "frame_len_bytes": 8, "distance_bytes": 2, "unit": "m", "raw_scale": 10.0, "out_of_range_raw": null, "min_range_m": 4.0, "max_range_m": 2000.0, "capabilities": "angle;continuous;ld_always_on;self_test;set_baud;single;stop", "frequency_base_hz": null, "notes": "Angle measurement (0x8A) is 'Effective only for modules equipped with an angle sensor' -- source row 21." }, { "model": "LRF1200A1", "protocol_family": "A", "default_baud": 115200, "frame_len_bytes": 8, "distance_bytes": 2, "unit": "m", "raw_scale": 10.0, "out_of_range_raw": null, "min_range_m": 5.0, "max_range_m": 1200.0, "capabilities": "angle;continuous;external_circuit;self_test;set_baud;single;stop", "frequency_base_hz": null, "notes": "Angle measurement (0x8A) is 'Effective only for modules equipped with an angle sensor' -- source row 21. | PROTOCOL HOLD Continuous ranging remains an engineering-confirmation item because the source request and reply function bytes differ. (Request 55 AA 89 FF FF FF FF 85; recorded reply 55 AA 88 STA FF DIS_H DIS_L SUM.)" }, { "model": "LRF3000A1", "protocol_family": "A", "default_baud": 115200, "frame_len_bytes": 8, "distance_bytes": 2, "unit": "m", "raw_scale": 10.0, "out_of_range_raw": null, "min_range_m": 1.0, "max_range_m": 3000.0, "capabilities": "angle;continuous;external_circuit;self_test;set_baud;single;stop", "frequency_base_hz": null, "notes": "Angle measurement (0x8A) is 'Effective only for modules equipped with an angle sensor' -- source row 21. | PROTOCOL HOLD Continuous ranging remains an engineering-confirmation item because the source request and reply function bytes differ. (Request 55 AA 89 FF FF FF FF 85; recorded reply 55 AA 88 STA FF DIS_H DIS_L SUM.)" }, { "model": "SPD1200N0", "protocol_family": "A", "default_baud": 115200, "frame_len_bytes": 8, "distance_bytes": 2, "unit": "m", "raw_scale": 10.0, "out_of_range_raw": null, "min_range_m": 0.2, "max_range_m": 1200.0, "capabilities": "angle;continuous;ld_always_on;self_test;set_baud;single;stop", "frequency_base_hz": null, "notes": "The SPD1200N transcription states that request and reply checksum scopes differ but does not print the transmit formula. This driver uses the family-A transmit formula, which reproduces every example frame the manual does print (55 AA 88 FF FF FF FF 84 / 89 ... 85 / 8E ... 8A / 8A ... 86). See docs/protocol-A-55AA.md, 'Known gaps'. | Angle measurement (0x8A) is 'Effective only for modules equipped with an angle sensor' -- source row 21." }, { "model": "SPD1200N2", "protocol_family": "A", "default_baud": 115200, "frame_len_bytes": 8, "distance_bytes": 2, "unit": "m", "raw_scale": 10.0, "out_of_range_raw": null, "min_range_m": 0.2, "max_range_m": 1200.0, "capabilities": "angle;continuous;ld_always_on;self_test;set_baud;single;stop", "frequency_base_hz": null, "notes": "The SPD1200N transcription states that request and reply checksum scopes differ but does not print the transmit formula. This driver uses the family-A transmit formula, which reproduces every example frame the manual does print (55 AA 88 FF FF FF FF 84 / 89 ... 85 / 8E ... 8A / 8A ... 86). See docs/protocol-A-55AA.md, 'Known gaps'. | Angle measurement (0x8A) is 'Effective only for modules equipped with an angle sensor' -- source row 21." }, { "model": "SPD1200N4", "protocol_family": "A", "default_baud": 115200, "frame_len_bytes": 8, "distance_bytes": 2, "unit": "m", "raw_scale": 10.0, "out_of_range_raw": null, "min_range_m": 0.2, "max_range_m": 1200.0, "capabilities": "angle;continuous;ld_always_on;self_test;set_baud;single;stop", "frequency_base_hz": null, "notes": "The SPD1200N transcription states that request and reply checksum scopes differ but does not print the transmit formula. This driver uses the family-A transmit formula, which reproduces every example frame the manual does print (55 AA 88 FF FF FF FF 84 / 89 ... 85 / 8E ... 8A / 8A ... 86). See docs/protocol-A-55AA.md, 'Known gaps'. | Angle measurement (0x8A) is 'Effective only for modules equipped with an angle sensor' -- source row 21." }, { "model": "SPD1200D03", "protocol_family": "A", "default_baud": null, "frame_len_bytes": 8, "distance_bytes": 2, "unit": null, "raw_scale": null, "out_of_range_raw": null, "min_range_m": 0.2, "max_range_m": 1200.0, "capabilities": "continuous;self_test;set_baud;single;stop", "frequency_base_hz": null, "notes": "BAUD CONFLICT (the manual contradicts itself; reported verbatim, not resolved): 'The PDF protocol section states 115200 bps as default, while the technical table states 15200 bps (factory) / 9600 bps.' and 'Do not select a host baud rate until the delivered unit configuration is confirmed.' This driver therefore refuses to pick one: you must pass baud= explicitly. | The manual prints no distance-scaling statement for this model, so raw counts are returned and .metres is None. Confirm the scaling with ERDI before converting. | The manual prints no STA semantics for this model, so the status byte is returned unchecked. | No angle-measurement row appears in this model's transcription." }, { "model": "LRF50H", "protocol_family": "B", "default_baud": 460800, "frame_len_bytes": 4, "distance_bytes": 2, "unit": "cm", "raw_scale": 1.0, "out_of_range_raw": 65535, "min_range_m": 0.05, "max_range_m": 50.0, "capabilities": "read_frequency;read_serial;read_version;set_baud;set_frequency;start_stop", "frequency_base_hz": 1000000, "notes": "" }, { "model": "LRF100H", "protocol_family": "B", "default_baud": 460800, "frame_len_bytes": 4, "distance_bytes": 2, "unit": "cm", "raw_scale": 1.0, "out_of_range_raw": 65535, "min_range_m": 0.05, "max_range_m": 100.0, "capabilities": "read_frequency;read_serial;read_version;set_baud;set_frequency", "frequency_base_hz": 1000000, "notes": "" }, { "model": "LRF200H", "protocol_family": "B", "default_baud": 460800, "frame_len_bytes": 4, "distance_bytes": 2, "unit": "cm", "raw_scale": 1.0, "out_of_range_raw": 65535, "min_range_m": 0.05, "max_range_m": 200.0, "capabilities": "read_frequency;read_serial;read_version;set_baud;set_frequency", "frequency_base_hz": 1000000, "notes": "" }, { "model": "LRF300H", "protocol_family": "B", "default_baud": 460800, "frame_len_bytes": 4, "distance_bytes": 2, "unit": "cm", "raw_scale": 1.0, "out_of_range_raw": 65535, "min_range_m": 0.05, "max_range_m": 300.0, "capabilities": "read_serial;read_version;set_baud", "frequency_base_hz": null, "notes": "The manual gives no output-frequency divisor formula for this model, so set/read frequency is not exposed." }, { "model": "LRF600H", "protocol_family": "B", "default_baud": 460800, "frame_len_bytes": 4, "distance_bytes": 2, "unit": "cm", "raw_scale": 1.0, "out_of_range_raw": 65535, "min_range_m": 0.05, "max_range_m": 600.0, "capabilities": "read_serial;read_version;set_baud", "frequency_base_hz": null, "notes": "The manual gives no output-frequency divisor formula for this model, so set/read frequency is not exposed." }, { "model": "LRF1500H", "protocol_family": "B", "default_baud": 460800, "frame_len_bytes": 5, "distance_bytes": 3, "unit": "cm", "raw_scale": 1.0, "out_of_range_raw": 16777215, "min_range_m": 0.05, "max_range_m": 1500.0, "capabilities": "read_serial;read_version;set_baud", "frequency_base_hz": null, "notes": "Our engineering notes record baud='60' for this model. That is an extraction artefact from the baud-rate code table ('60 00 | 96 | 9600'); the manual prose states 460800 (adjustable), which is what this driver uses. | MANUAL DISCREPANCY (reported, not resolved): the printed example frame '5C 02 11 03 EC' does not satisfy the manual's own Check_Sum function -- ~(0x02+0x11+0x03) = 0xE9, not 0xEC. 0xEC is the correct check byte for the 4-byte frame '5C 02 11 EC' used by the other family-B models, so the example looks copied. This driver implements the printed Check_Sum function. | MANUAL DISCREPANCY (reported, not resolved): section 6 says 'When out of its measuring range, it would output 0xFFFF (16777215)'. 0xFFFF is 65535, not 16777215. This driver uses 16777215, which matches the 3-byte field width stated in section 5.2. | The manual gives no output-frequency divisor formula for this model, so set/read frequency is not exposed." }, { "model": "LRF22VB", "protocol_family": "B", "default_baud": 460800, "frame_len_bytes": 4, "distance_bytes": 2, "unit": "mm", "raw_scale": 1.0, "out_of_range_raw": 20000, "min_range_m": 0.05, "max_range_m": 20.0, "capabilities": "read_frequency;read_serial;read_version;set_baud;set_frequency;start_stop;switch_to_iic", "frequency_base_hz": 10000, "notes": "Supported output frequencies per the manual: 200/100/50/20/10/1 Hz." }, { "model": "LRF50VB", "protocol_family": "B", "default_baud": 460800, "frame_len_bytes": 4, "distance_bytes": 2, "unit": "mm", "raw_scale": 1.0, "out_of_range_raw": 50000, "min_range_m": 0.05, "max_range_m": 50.0, "capabilities": "read_frequency;read_serial;read_version;set_baud;set_frequency;start_stop;switch_to_iic", "frequency_base_hz": 10000, "notes": "Our engineering notes list out_of_range as unresolved for this model; the manual prose does state 'When out of range, output would be 50000', which is what this driver uses. | MANUAL DISCREPANCY (reported, not resolved): the printed 'Reading serial no.' request '5A 0D 02 0D 0D 0D 0D BC' does not satisfy the manual's own Check_Sum function for either length byte (0x02 -> 0xBE, 0x04 -> 0xBA). The printed reply '5A 8D 02 10 01 00 00 5F' does check out. This driver builds the request with the Check_Sum function. | Supported output frequencies per the manual: 100/50/20/10/1 Hz (the set-frequency row) and 200/100/50/20/10/1 Hz (the read-frequency row) -- the manual lists both." }, { "model": "LRF10VB", "protocol_family": "B", "default_baud": 460800, "frame_len_bytes": 4, "distance_bytes": 2, "unit": "mm", "raw_scale": 1.0, "out_of_range_raw": 65535, "min_range_m": 0.05, "max_range_m": 9.0, "capabilities": "start_stop", "frequency_base_hz": null, "notes": "Source: LRF10VB Specification V3.0, section 6 'Communication Protocol: UART' and 6.3 'UART Commands'. | Only Start/Stop ranging are driven. MANUAL DISCREPANCY (reported, not resolved): row 1 'Modify Baud Rate' prints the frames '5A 0D 02 0D 0D 0D 0D BC' / '5A 8D 02 10 01 00 00 5F', which are the LRF50VB 'Reading serial no.' frames, so set_baud is not offered for this model. The manual publishes no read-serial, read-version, frequency or IIC commands. | Fixed output rate: 50 Hz per the specification table; the manual gives no command to change it." } ]