Added list of commands and paramters

plus other typographic changes

README.md

@@ -37,13 +37,21 @@ This library supports the default, UART (serial) communication interface.  For c
 <hr />
 
 ### Arduino Library Commands
-`begin()` passes a serial stream to the library and returns a boolean value indicating whether serial data is available. The function also sets a public one-byte `status` or error code.  Status codes are defined in the library's header file.
+`begin()`&nbsp; passes a serial stream to the library and returns a boolean value indicating whether serial data is available. The function also sets a public one-byte `status` or error code.  Status codes are defined in the library's header file.
 
-The `getData( dist, flux, temp)` function passes back three, signed, 16-bit measuremnent data values. It sets the `status` error code byte and returns a boolean value indicating 'pass/fail'.  If no serial data is received or no header sequence (`0x5959`) is detected within one (1) second, the function sets an appropriate `status` error code and 'fails'.  Given the asynchronous nature of the device, the serial buffer is flushed before reading and the `frame` and `reply` data arrays are zeroed out to delete any residual data.  This helps with valid data recognition and error discrimination.
+`getData( dist, flux, temp)`&nbsp; passes back three, signed, 16-bit measuremnent data values. It sets the `status` error code byte and returns a boolean value indicating 'pass/fail'.  If no serial data is received or no header sequence (`0x5959`) is detected within one (1) second, the function sets an appropriate `status` error code and 'fails'.  Given the asynchronous nature of the device, the serial buffer is flushed before reading and the `frame` and `reply` data arrays are zeroed out to delete any residual data.  This helps with valid data recognition and error discrimination.
 
-A `getData( dist)` function is available that passes back only the distance value.
+`getData( dist)`&nbsp; will pass back only the distance value.
 
-`sendCommand( cmnd, param)` sends a 32bit command and a 32bit parameter to the device.  It sets the `status` error code byte and returns a boolean 'pass/fail' value.  A proper command (`cmnd`) must be selected from the library's list of twenty defined commands.  A parameter (`param`) may be entered directly as an unsigned number, but it is better to choose from the Library's defined parameters because **an erroneous parameter can block communication and there is no external means of resetting the device to factory defaults.**
+`sendCommand( cmnd, param)`&nbsp; sends a 32 bit command (`cmnd`) and a 32 bit paramter (`param`) to the device.  It will set the `status` error code byte and return a boolean 'pass/fail' value.  A `cmnd` must be selected from this library's set of seventeen defined commands.  A `param` must always be included.  The `param` may be entered directly as an unsigned number, or chosen from the Library's set of defined parameters.  For many commands, i.e. `HARD_RESET`, the correct `param` is a `0` (zero).
+
+`cmnd`&nbsp;&nbsp; The defined commands are:<br />
+`GET_FIRMWARE_VERSION`, `TRIGGER_DETECTION`, `SOFT_RESET`, `HARD_RESET`, `SAVE_SETTINGS`, `SET_FRAME_RATE`, `SET_BAUD_RATE`, `STANDARD_FORMAT_CM`, `PIXHAWK_FORMAT`, `STANDARD_FORMAT_MM`, `ENABLE_OUTPUT`, `DISABLE_OUTPUT`, `SET_I2C_ADDRESS`, `SET_SERIAL_MODE`, `SET_I2C_MODE`, `I2C_FORMAT_CM`, `I2C_FORMAT_MM`
+
+`param`&nbsp;&nbsp; The defined paramters are:<br />
+`BAUD_9600`, `BAUD_14400`, `BAUD_19200`, `BAUD_56000`, `BAUD_115200`, `BAUD_460800`, `BAUD_921600`<br />
+and<br />
+`FRAME_0`, `FRAME_1`, `FRAME_2`, `FRAME_5`, `FRAME_10`, `FRAME_20`, `FRAME_25`, `FRAME_50`, `FRAME_100`, `FRAME_125`, `FRAME_200`, `FRAME_250`, `FRAME_500`, `FRAME_1000`
 
 Any change of device settings (i.e. frame-rate or baud-rate) must be followed by a `SAVE_SETTINGS` command or else the modified values may be lost when power is removed.  `SYSTEM_RESET` and `RESTORE_FACTORY_SETTINGS` do not require a `SAVE_SETTINGS` command.
 
@@ -56,6 +64,7 @@ Also included:
 <br />&nbsp;&nbsp;&#9679;&nbsp; Valuable information regarding Time of Flight distance sensing in general and the Texas   Instruments OPT3101 module in particular are in a Documents sub-folder.
 
 All of the code for this library is richly commented to assist with understanding and in problem solving.
+<hr />
 
 ### Using the I2C version of the device
 According to Benewake:
@@ -64,12 +73,15 @@ According to Benewake:
 
 Because the Data Frame Rate is limited to 1000Hz, this condition implys a 400Hz data sampling limit in I2C mode.  Benewake says sampling should not exceed 100Hz.  They don't say why; but you might keep that limitation in mind when you consider using the I2C interface.
 
-To configure the device for I2C communication, a command must be sent using the UART inteface.  Therefore, this reconfiguation should be made prior to the device's service installation, either by using this library's `SET_I2C_MODE` command or the serial GUI test application and code supplied by the manufacturer.
+To configure the device for I2C communication, a command must be sent using the UART interface.  Therefore, this reconfiguation should be made prior to the device's service installation, either by using this library's `SET_I2C_MODE` command or the serial GUI test application and code supplied by the manufacturer.
 
-The `SET_I2C_MODE` command does not require a subsequent `SAVE_SETTINGS` command.  The device will remain in I2C mode after power has been removed and restored.  The only way to return to serial mode is with the `SET_SERIAL_MODE` command.  Even a `RESTORE_FACTORY_SETTINGS` command will NOT restore the device to its default, UART communication interface mode.
+On some devices, the `SET_I2C_MODE` command will not require a subsequent `SAVE_SETTINGS` command.  The device will remain in I2C mode after power has been removed and restored.  The **only way** to return to serial mode is with the `SET_SERIAL_MODE` command.  Even a `RESTORE_FACTORY_SETTINGS` command will NOT restore the device to its default, UART communication interface mode.
 
 The device functions as an I2C slave device and the default address is `16` (`0x10` Hex) but is user-programable by sending the `SET_I2C_ADDRESS` command and a parameter in the range of `1` to `127`.  The new setting will take effect immediately and permanently without a `SAVE_SETTINGS` command, however the `RESTORE_FACTORY_SETTINGS` command will restore the default address.  The I2C address can be set while still in serial communication mode or, if in I2C mode, the example sketch included in the TFMini-Plus-I2C library can be used to test and change the address.
 
+When switching modes, please remember to switch the data cables, too.  That sounds obvious, but has tripped me up more than once.
+<hr />
+
 ### Using the I/O modes of the device
 The so-called I/O modes are not supported in this library.  Please do not attempt to use any I/O commands that you may find to be defined in this library's header file.