Ping1d messages
set
1000 set_device_id
Set the device ID.
| Type | Name | Description | Units |
|---|---|---|---|
| u8 | device_id | Device ID (0-254). 255 is reserved for broadcast messages. |
1001 set_range
Set the scan range for acoustic measurements.
| Type | Name | Description | Units |
|---|---|---|---|
| u32 | scan_start | mm | |
| u32 | scan_length | The length of the scan range. Minimum 1000. | mm |
1002 set_speed_of_sound
Set the speed of sound used for distance calculations.
| Type | Name | Description | Units |
|---|---|---|---|
| u32 | speed_of_sound | The speed of sound in the measurement medium. ~1,500,000 mm/s for water. | mm/s |
1003 set_mode_auto
Set automatic or manual mode. Manual mode allows for manual selection of the gain and scan range.
| Type | Name | Description | Units |
|---|---|---|---|
| u8 | mode_auto | 0: manual mode. 1: auto mode. |
1004 set_ping_interval
The interval between acoustic measurements.
| Type | Name | Description | Units |
|---|---|---|---|
| u16 | ping_interval | The interval between acoustic measurements. | ms |
1005 set_gain_setting
Set the current gain setting.
| Type | Name | Description | Units |
|---|---|---|---|
| u8 | gain_setting | The current gain setting. 0: 0.6, 1: 1.8, 2: 5.5, 3: 12.9, 4: 30.2, 5: 66.1, 6: 144 |
1006 set_ping_enable
Enable or disable acoustic measurements.
| Type | Name | Description | Units |
|---|---|---|---|
| u8 | ping_enabled | 0: Disable, 1: Enable. |
get
1200 firmware_version
Device information
| Type | Name | Description | Units |
|---|---|---|---|
| u8 | device_type | Device type. 0: Unknown; 1: Echosounder | |
| u8 | device_model | Device model. 0: Unknown; 1: Ping1D | |
| u16 | firmware_version_major | Firmware version major number. | |
| u16 | firmware_version_minor | Firmware version minor number. |
1201 device_id
The device ID.
| Type | Name | Description | Units |
|---|---|---|---|
| u8 | device_id | The device ID (0-254). 255 is reserved for broadcast messages. |
1202 voltage_5
The 5V rail voltage.
| Type | Name | Description | Units |
|---|---|---|---|
| u16 | voltage_5 | The 5V rail voltage. | mV |
1203 speed_of_sound
The speed of sound used for distance calculations.
| Type | Name | Description | Units |
|---|---|---|---|
| u32 | speed_of_sound | The speed of sound in the measurement medium. ~1,500,000 mm/s for water. | mm/s |
1204 range
The scan range for acoustic measurements. Measurements returned by the device will lie in the range (scan_start, scan_start + scan_length).
| Type | Name | Description | Units |
|---|---|---|---|
| u32 | scan_start | The beginning of the scan range in mm from the transducer. | mm |
| u32 | scan_length | The length of the scan range. | mm |
1205 mode_auto
The current operating mode of the device. Manual mode allows for manual selection of the gain and scan range.
| Type | Name | Description | Units |
|---|---|---|---|
| u8 | mode_auto | 0: manual mode, 1: auto mode |
1206 ping_interval
The interval between acoustic measurements.
| Type | Name | Description | Units |
|---|---|---|---|
| u16 | ping_interval | The minimum interval between acoustic measurements. The actual interval may be longer. | ms |
1207 gain_setting
The current gain setting.
| Type | Name | Description | Units |
|---|---|---|---|
| u32 | gain_setting | The current gain setting. 0: 0.6, 1: 1.8, 2: 5.5, 3: 12.9, 4: 30.2, 5: 66.1, 6: 144 |
1208 transmit_duration
The duration of the acoustic activation/transmission.
| Type | Name | Description | Units |
|---|---|---|---|
| u16 | transmit_duration | Acoustic pulse duration. | microseconds |
1210 general_info
General information.
| Type | Name | Description | Units |
|---|---|---|---|
| u16 | firmware_version_major | Firmware major version. | |
| u16 | firmware_version_minor | Firmware minor version. | |
| u16 | voltage_5 | Device supply voltage. | mV |
| u16 | ping_interval | The interval between acoustic measurements. | ms |
| u8 | gain_setting | The current gain setting. 0: 0.6, 1: 1.8, 2: 5.5, 3: 12.9, 4: 30.2, 5: 66.1, 6: 144 | |
| u8 | mode_auto | The current operating mode of the device. 0: manual mode, 1: auto mode |
1211 distance_simple
The distance to target with confidence estimate.
| Type | Name | Description | Units |
|---|---|---|---|
| u32 | distance | Distance to the target. | mm |
| u8 | confidence | Confidence in the distance measurement. | % |
1212 distance
The distance to target with confidence estimate. Relevant device parameters during the measurement are also provided.
| Type | Name | Description | Units |
|---|---|---|---|
| u32 | distance | The current return distance determined for the most recent acoustic measurement. | mm |
| u16 | confidence | Confidence in the most recent range measurement. | % |
| u16 | transmit_duration | The acoustic pulse length during acoustic transmission/activation. | us |
| u32 | ping_number | The pulse/measurement count since boot. | |
| u32 | scan_start | The beginning of the scan region in mm from the transducer. | mm |
| u32 | scan_length | The length of the scan region. | mm |
| u32 | gain_setting | The current gain setting. 0: 0.6, 1: 1.8, 2: 5.5, 3: 12.9, 4: 30.2, 5: 66.1, 6: 144 |
1213 processor_temperature
Temperature of the device cpu.
| Type | Name | Description | Units |
|---|---|---|---|
| u16 | processor_temperature | The temperature in centi-degrees Centigrade (100 * degrees C). | cC |
1214 pcb_temperature
Temperature of the on-board thermistor.
| Type | Name | Description | Units |
|---|---|---|---|
| u16 | pcb_temperature | The temperature in centi-degrees Centigrade (100 * degrees C). | cC |
1215 ping_enable
Acoustic output enabled state.
| Type | Name | Description | Units |
|---|---|---|---|
| u8 | ping_enabled | The state of the acoustic output. 0: disabled, 1:enabled |
1300 profile
A profile produced from a single acoustic measurement. The data returned is an array of response strength at even intervals across the scan region. The scan region is defined as the region between
| Type | Name | Description | Units |
|---|---|---|---|
| u32 | distance | The current return distance determined for the most recent acoustic measurement. | mm |
| u16 | confidence | Confidence in the most recent range measurement. | % |
| u16 | transmit_duration | The acoustic pulse length during acoustic transmission/activation. | us |
| u32 | ping_number | The pulse/measurement count since boot. | |
| u32 | scan_start | The beginning of the scan region in mm from the transducer. | mm |
| u32 | scan_length | The length of the scan region. | mm |
| u32 | gain_setting | The current gain setting. 0: 0.6, 1: 1.8, 2: 5.5, 3: 12.9, 4: 30.2, 5: 66.1, 6: 144 | |
| u16 | profile_data_length | The length of the proceeding vector field | |
| u8[] | profile_data | An array of return strength measurements taken at regular intervals across the scan region. The first element is the closest measurement to the sensor, and the last element is the farthest measurement in the scanned range. |
control
1100 goto_bootloader
Send the device into the bootloader. This is useful for firmware updates.
No payload.
1400 continuous_start
Command to initiate continuous data stream of profile messages.
| Type | Name | Description | Units |
|---|---|---|---|
| u16 | id | The message id to stream. 1300: profile |
1401 continuous_stop
Command to stop the continuous data stream of profile messages.
| Type | Name | Description | Units |
|---|---|---|---|
| u16 | id | The message id to stop streaming. 1300: profile |