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Fix AVIA wiki error 

Signed-off-by: Livox-SDK <dev@livoxtech.com>
Livox-SDK
2020-12-16 12:29:36 +08:00
parent bfbf21dfcb
commit 3e9ef1d903
2 changed files with 25 additions and 25 deletions
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Livox-SDK-Communication-Protocol-Cn.md
+4 -4
@@ -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** **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) ![RS485_sequence_digram](images/RS485_sequence_digram.png)
## 3.3 点云/IMU数据 ## 3.3 点云/IMU数据
@@ -871,7 +871,7 @@ IP地址信息:
请求 请求
| CMD | 名称 | 偏移(字节) | 数据类型 | 描述 | | CMD | 名称 | 偏移(字节) | 数据类型 | 描述 |
| ---- | ------- | ------ | ------- | ---------------------------------------- | | ---- | ------- | ---------- | -------- | ------------------------------------------------------------ |
| data | cmd_set | 0 | uint8_t | 雷达指令: 0x01 | | data | cmd_set | 0 | uint8_t | 雷达指令: 0x01 |
| | cmd_id | 1 | uint8_t | 指令ID: 0x06 | | | cmd_id | 1 | uint8_t | 指令ID: 0x06 |
| | mode | 2 | uint8_t | 回波模式:<br>0x00: Single Return First <br>0x01: Single Return Strongest <br>0x02: Dual Return<br>0x03: Triple Return | | | mode | 2 | uint8_t | 回波模式:<br>0x00: Single Return First <br>0x01: Single Return Strongest <br>0x02: Dual Return<br>0x03: Triple Return |
@@ -897,11 +897,11 @@ IP地址信息:
应答 应答
| ACK | 名称 | 偏移(字节) | 数据类型 | 描述 | | ACK | 名称 | 偏移(字节) | 数据类型 | 描述 |
| ---- | -------- | ------ | ------- | ---------------------------------------- | | ---- | -------- | ---------- | -------- | ------------------------------------------------------------ |
| data | cmd_set | 0 | uint8_t | 雷达指令: 0x01 | | data | cmd_set | 0 | uint8_t | 雷达指令: 0x01 |
| | cmd_id | 1 | uint8_t | 指令ID: 0x07 | | | cmd_id | 1 | uint8_t | 指令ID: 0x07 |
| | ret_code | 2 | uint8_t | 返回码: <br>0x00: 成功 <br>0x01: 失败 | | | ret_code | 2 | uint8_t | 返回码: <br>0x00: 成功 <br>0x01: 失败 |
| | mode | 3 | uint8_t | 回波模式:<br>0x00: Single Return First <br>0x01: Single Return Strongest <br>0x02: Dual Return | | | mode | 3 | uint8_t | 回波模式:<br>0x00: Single Return First <br>0x01: Single Return Strongest <br>0x02: Dual Return<br>0x03: Triple Return |
### 0x08 设置IMU数据推送频率 ### 0x08 设置IMU数据推送频率
**支持设备:** <br>Horizon/06.04.0000+ <br>Tele-15/07.03.0000+<br>Avia/11.06.0000+<br> **支持设备:** <br>Horizon/06.04.0000+ <br>Tele-15/07.03.0000+<br>Avia/11.06.0000+<br>
Livox-SDK-Communication-Protocol.md
+3 -3
@@ -876,7 +876,7 @@ response
request request
| CMD | Name | Offset (byte) | Data Type | Description | | CMD | Name | Offset (byte) | Data Type | Description |
| ---- | ------- | ------------- | --------- | ---------------------------------------- | | ---- | ------- | ------------- | --------- | ------------------------------------------------------------ |
| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 | | data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
| | cmd_id | 1 | uint8_t | Command ID: 0x06 | | | cmd_id | 1 | uint8_t | Command ID: 0x06 |
| | mode | 2 | uint8_t | Return Mode:<br>0x00: Single Return First <br>0x01: Single Return Strongest <br>0x02: Dual Return<br>0x03: Triple Return | | | mode | 2 | uint8_t | Return Mode:<br>0x00: Single Return First <br>0x01: Single Return Strongest <br>0x02: Dual Return<br>0x03: Triple Return |
@@ -902,11 +902,11 @@ request
response response
| ACK | Name | Offset (byte) | Data Type | Description | | ACK | Name | Offset (byte) | Data Type | Description |
| ---- | -------- | ------------- | --------- | ---------------------------------------- | | ---- | -------- | ------------- | --------- | ------------------------------------------------------------ |
| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 | | data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
| | cmd_id | 1 | uint8_t | Command ID: 0x07 | | | cmd_id | 1 | uint8_t | Command ID: 0x07 |
| | ret_code | 2 | uint8_t | Return Code: <br>0x00: Success <br>0x01: Fail | | | ret_code | 2 | uint8_t | Return Code: <br>0x00: Success <br>0x01: Fail |
| | mode | 3 | uint8_t | Return Mode:<br>0x00: Single Return First <br>0x01: Single Return Strongest <br>0x02: Dual Return | | | mode | 3 | uint8_t | Return Mode:<br>0x00: Single Return First <br>0x01: Single Return Strongest <br>0x02: Dual Return<br>0x03: Triple Return |
### 0x08 Set IMU Data Push Frequency {#imu_freq} ### 0x08 Set IMU Data Push Frequency {#imu_freq}
**Supported devices:** <br>Horizon/06.04.0000+ <br>Tele-15/07.03.0000+<br>Avia/11.06.0000+<br> **Supported devices:** <br>Horizon/06.04.0000+ <br>Tele-15/07.03.0000+<br>Avia/11.06.0000+<br>