diff --git a/Livox-SDK-Communication-Protocol-Cn.md b/Livox-SDK-Communication-Protocol-Cn.md
index 8511f1c..f98c17d 100644
--- a/Livox-SDK-Communication-Protocol-Cn.md
+++ b/Livox-SDK-Communication-Protocol-Cn.md
@@ -239,7 +239,7 @@ $GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A
**时间戳 4**
-PPS 同步源使用RS485电平信号. 时序图如下. PPS的上升沿将会把时间戳复位为0，所以点云数据的时间戳表明了电云采样和PPS上升沿的间隔。在IMU数据包中，由于补偿延迟，时间偏移可能为负。
+PPS 同步源使用RS485电平信号. 时序图如下. PPS的上升沿将会把时间戳复位为0，所以点云数据的时间戳表明了点云采样和PPS上升沿的间隔。在IMU数据包中，由于补偿延迟，时间偏移可能为负。
## 3.3 点云/IMU数据
@@ -468,7 +468,7 @@ Hub状态码由32bits组成，相应的bit含义如下:
| data | cmd_set | 0 | uint8_t | 通用命令: 0x00 |
| | cmd_id | 1 | uint8_t | 指令ID: 0x00 |
| | broadcast_code | 2 | uint8_t[16] | 设备广播码，以'\0'结束的字符串
每个设备的广播码特有. |
-| | dev_type | 18 | uint8_t | 设备类型:
0: Livox Hub
1: Mid-40
2: Tele-15
3: Horizon
6: Mid-70
7: Avia |
+| | dev_type | 18 | uint8_t | 设备类型:
0: Livox Hub
1: Mid-40
2: Tele-15
3: Horizon
6: Mid-70
7:Avia |
| | reserved | 19 | uint16_t | 保留 |
### 0x01 网络握手确认指令
@@ -870,11 +870,11 @@ IP地址信息:
请求
-| CMD | 名称 | 偏移(字节) | 数据类型 | 描述 |
-| ---- | ------- | ------ | ------- | ---------------------------------------- |
-| data | cmd_set | 0 | uint8_t | 雷达指令: 0x01 |
-| | cmd_id | 1 | uint8_t | 指令ID: 0x06 |
-| | mode | 2 | uint8_t | 回波模式:
0x00: Single Return First
0x01: Single Return Strongest
0x02: Dual Return
0x03: Triple Return |
+| CMD | 名称 | 偏移(字节) | 数据类型 | 描述 |
+| ---- | ------- | ---------- | -------- | ------------------------------------------------------------ |
+| data | cmd_set | 0 | uint8_t | 雷达指令: 0x01 |
+| | cmd_id | 1 | uint8_t | 指令ID: 0x06 |
+| | mode | 2 | uint8_t | 回波模式:
0x00: Single Return First
0x01: Single Return Strongest
0x02: Dual Return
0x03: Triple Return |
应答
@@ -896,12 +896,12 @@ IP地址信息:
应答
-| ACK | 名称 | 偏移(字节) | 数据类型 | 描述 |
-| ---- | -------- | ------ | ------- | ---------------------------------------- |
-| data | cmd_set | 0 | uint8_t | 雷达指令: 0x01 |
-| | cmd_id | 1 | uint8_t | 指令ID: 0x07 |
-| | ret_code | 2 | uint8_t | 返回码:
0x00: 成功
0x01: 失败 |
-| | mode | 3 | uint8_t | 回波模式:
0x00: Single Return First
0x01: Single Return Strongest
0x02: Dual Return |
+| ACK | 名称 | 偏移(字节) | 数据类型 | 描述 |
+| ---- | -------- | ---------- | -------- | ------------------------------------------------------------ |
+| data | cmd_set | 0 | uint8_t | 雷达指令: 0x01 |
+| | cmd_id | 1 | uint8_t | 指令ID: 0x07 |
+| | ret_code | 2 | uint8_t | 返回码:
0x00: 成功
0x01: 失败 |
+| | mode | 3 | uint8_t | 回波模式:
0x00: Single Return First
0x01: Single Return Strongest
0x02: Dual Return
0x03: Triple Return |
### 0x08 设置IMU数据推送频率
**支持设备:**
Horizon/06.04.0000+
Tele-15/07.03.0000+
Avia/11.06.0000+
diff --git a/Livox-SDK-Communication-Protocol.md b/Livox-SDK-Communication-Protocol.md
index c65737d..54388dd 100644
--- a/Livox-SDK-Communication-Protocol.md
+++ b/Livox-SDK-Communication-Protocol.md
@@ -472,7 +472,7 @@ message
| 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
6: Mid-70
7: Avia
|
+| | dev_type | 18 | uint8_t | Device Type:
0: Livox Hub
1: Mid-40
2: Tele-15
3: Horizon
6: Mid-70
7:Avia
|
| | reserved | 19 | uint16_t | Reserved |
### 0x01 Handshake
@@ -875,11 +875,11 @@ response
request
-| CMD | Name | Offset (byte) | Data Type | Description |
-| ---- | ------- | ------------- | --------- | ---------------------------------------- |
-| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
-| | cmd_id | 1 | uint8_t | Command ID: 0x06 |
-| | mode | 2 | uint8_t | Return Mode:
0x00: Single Return First
0x01: Single Return Strongest
0x02: Dual Return
0x03: Triple Return|
+| CMD | Name | Offset (byte) | Data Type | Description |
+| ---- | ------- | ------------- | --------- | ------------------------------------------------------------ |
+| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
+| | cmd_id | 1 | uint8_t | Command ID: 0x06 |
+| | mode | 2 | uint8_t | Return Mode:
0x00: Single Return First
0x01: Single Return Strongest
0x02: Dual Return
0x03: Triple Return |
response
@@ -901,12 +901,12 @@ request
response
-| ACK | Name | Offset (byte) | Data Type | Description |
-| ---- | -------- | ------------- | --------- | ---------------------------------------- |
-| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
-| | cmd_id | 1 | uint8_t | Command ID: 0x07 |
-| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail |
-| | mode | 3 | uint8_t | Return Mode:
0x00: Single Return First
0x01: Single Return Strongest
0x02: Dual Return |
+| ACK | Name | Offset (byte) | Data Type | Description |
+| ---- | -------- | ------------- | --------- | ------------------------------------------------------------ |
+| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
+| | cmd_id | 1 | uint8_t | Command ID: 0x07 |
+| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail |
+| | mode | 3 | uint8_t | Return Mode:
0x00: Single Return First
0x01: Single Return Strongest
0x02: Dual Return
0x03: Triple Return |
### 0x08 Set IMU Data Push Frequency {#imu_freq}
**Supported devices:**
Horizon/06.04.0000+
Tele-15/07.03.0000+
Avia/11.06.0000+