diff --git a/Livox SDK Communication Protocol.md b/Livox SDK Communication Protocol.md
index 0ab1a9d..09f9ce0 100644
--- a/Livox SDK Communication Protocol.md
+++ b/Livox SDK Communication Protocol.md
@@ -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’
The Broadcast Code of Each Device is UNIQUE. |
-| | dev_type | 18 | uint8_t | Device Type:
0: Livox Hub
1: Mid-40
2: Tele-15
3: Horizon |
+| | dev_type | 18 | uint8_t | Device Type:
0: Livox Hub
1: Mid-40
2: Tele-15
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
0x01: Static IP |
-| | ip_addr | 3 | uint8_t[4] | IPV4 Address
IP address is valid when ‘ip_mode’ is 0x01
(Static IP)
ip_addr[0]: 192
ip_addr[1]: 168
ip_addr[2]: 1
ip_addr[3]: Range is as follows
Last bit of broadcast code:
1: 11~80
2: 81~150
3: 151~220 |
+| | ip_addr | 3 | uint8_t[4] | IPV4 Address
IP address is valid when ‘ip_mode’ is 0x01
(Static IP)
ip_addr[0]: 192
ip_addr[1]: 168
ip_addr[2]: 1
ip_addr[3]: Range is as follows
Last bit of broadcast code:
1: 11 ~ 80
2: 81 ~ 150
3: 151 ~ 220 |
response