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update timestamp description in Livox SDK Protocol

livox
2019-04-11 15:44:18 +08:00
parent 324c610bc7
commit 22170498a4
1 changed files with 20 additions and 7 deletions
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Livox SDK Communication Protocol.md
+20 -7
@@ -1,8 +1,9 @@
**Livox SDK Communication Protocol**
| **Document Release History** | | |
|------------------------------|-------------|-----------------------------------|
| ---------------------------- | ----------- | --------------------------------- |
| **Date** | **Release** | **Change Description** |
| 2019/3/25 | v1.0.2 | Update 3.2 Time Stamp description |
| 2019/2/25 | v1.0.1 | Update 3.2 Time Stamp description |
| 2019/1/16 | v1.0.0 | Initial release |
@@ -152,7 +153,19 @@ LiDAR system supports three synchronization modes:
- pulse synchronization (only supported by LiDAR)
- GPS time synchronization (PPS + GPRMC, only supported by Hub).
Each packet contains a timestamp indicating the time of the first point in the packet.
Each packet contains a timestamp indicating the time of the first point in the packet the time interval of each point in the packet is equal.
Taking Mid-40 as an example, the sampling frequency is 100 KHz , and the interval of each point is 10 us.
| Point NUM | Timestamp |
| --------- | ---------- |
| 1 | T1 |
| 2 | T1 + 10 us |
| 3 | T1 + 20 us |
| ... | ... |
| 100 | T1 + 990us |
Timestamp Type:
| Timestamp Type | Source | Data Type | Description |
|----------------|----------------|-----------|-----------------------------------|
@@ -265,12 +278,12 @@ Hub Status Code consists of 32 bits, which has the following meanings:
message
| MSG | Name | Offset (byte) | Data Type | Description |
| MSG | Name | Offset (byte) | Data Type | Description |
|------|------------------|---------------|-------------|-----------------------|
| data | cmd_set | 0 | uint8_t | General Command: 0x00 |
| | cmd_id | 1 | uint8_t | Command ID: 0x00 |
| data | cmd_set | 0 | uint8_t | General Command: 0x00 |
| | cmd_id | 1 | uint8_t | Command ID: 0x00 |
| | broadcast_code | 2 | uint8_t[16] | Device Broadcast Code, C-Style string end with ‘\0’ <br>The Broadcast Code of Each Device is UNIQUE. |
| | dev_type | 18 | uint8_t | Device Type:<br> 0: Livox Hub <br>1: Mid-40 <br>2: Tele-15 <br>3: Horizon |
| | dev_type | 18 | uint8_t | Device Type:<br> 0: Livox Hub <br>1: Mid-40 <br>2: Tele-15 <br>3: Horizon |
| | reserved | 19 | uint16_t | Reserved |
### 0x01 Handshake
@@ -409,7 +422,7 @@ request
| data | cmd_set | 0 | uint8_t | General Command: 0x00 |
| | cmd_id | 1 | uint8_t | Command ID: 0x08 |
| | ip_mode | 2 | uint8_t | 0x00: Dynamic IP <br>0x01: Static IP |
| | ip_addr | 3 | uint8_t[4] | IPV4 Address<br> IP address is valid when ‘ip_mode’ is 0x01<br> (Static IP)<br> ip_addr[0]: 192<br> ip_addr[1]: 168<br> ip_addr[2]: 1<br> ip_addr[3]: Range is as follows<br> Last bit of broadcast code:<br> 1: 11~80<br> 2: 81~150<br> 3: 151~220 |
| | ip_addr | 3 | uint8_t[4] | IPV4 Address<br> IP address is valid when ‘ip_mode’ is 0x01<br> (Static IP)<br> ip_addr[0]: 192<br> ip_addr[1]: 168<br> ip_addr[2]: 1<br> ip_addr[3]: Range is as follows<br> Last bit of broadcast code:<br> 1: 11 ~ 80<br> 2: 81 ~ 150<br> 3: 151 ~ 220 |
response