From 22170498a44d5a0bb53c8d5c453b0d8b14657f7e Mon Sep 17 00:00:00 2001 From: livox Date: Thu, 11 Apr 2019 15:44:18 +0800 Subject: [PATCH] update timestamp description in Livox SDK Protocol --- Livox SDK Communication Protocol.md | 27 ++++++++++++++++++++------- 1 file changed, 20 insertions(+), 7 deletions(-) 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