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V23401-T2010-B214

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V23401-T2099-C502

V23401-H1005-D101

The scanner performs a self-test and stores the result in a bit field. The parameter bit field is transmitted with each scan and can be requested by a GPRM command. The first bit is set as long as the self-test has not been completed. It indicates that all other bits are in an undefined status. Each self-test result corresponds to a single bit. A set bit signals a system fault. The system is fail-free if all bits were set to 0. A reference of the self-test bits can be found in the chapter "Tables".

The Cyclical Redundancy Checking (CRC) field is four bytes, containing a 32–bit binary value. The CRC value is calculated by the transmitting control computer, which appends the CRC to the message. The CRC covers the entire message excluding the CRC itself. The laser sensor firmware recalculates a CRC during receipt of the message, and compares the calculated value to the actual value it received in the CRC field. If the two values are not equal, an error results. The CRC is started by first preloading a 32–bit register „initial remainer“ to all 1’s. Then a process begins of applying successive 8–bit bytes of the message to the current contents of the register. Only the eight bits of data in each character are used for generating the CRC. Start and stop bits and the parity bit, do not apply to the CRC32. The calculation of the CRC32 conforms to the CRC-32-IEEE 802.3 Standard with the following parameters:

 int32_t CRC32_POLYNOMIAL = 0x04c11db7;  int32_t CRC32_INITIAL_REMAINDER = 0xFFFFFFFF;  int32_t CRC32_FINAL_XOR_VALUE = 0xFFFFFFFF;  int32_t CRC32_TOPBIT = 0x80000000;

Error codes from -1 to -1999 correspond to the error codes defined in the "Standard C Library". Error codes below -2000 are LASE proprietary extensions to this. C is the most commonly used programming language on UNIX platforms, because all of the application programming interfaces (APIs) of systems have been created for C