From 3e9ef1d90391a038c6a59dfe154fab65df31e915 Mon Sep 17 00:00:00 2001 From: Livox-SDK Date: Wed, 16 Dec 2020 12:29:36 +0800 Subject: [PATCH] Fix AVIA wiki error Signed-off-by: Livox-SDK --- Livox-SDK-Communication-Protocol-Cn.md | 26 +++++++++++++------------- Livox-SDK-Communication-Protocol.md | 24 ++++++++++++------------ 2 files changed, 25 insertions(+), 25 deletions(-) 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。 ![RS485_sequence_digram](images/RS485_sequence_digram.png) ## 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+