diff --git a/Livox SDK Communication Protocol.md b/Livox SDK Communication Protocol.md deleted file mode 100644 index 7f06922..0000000 --- a/Livox SDK Communication Protocol.md +++ /dev/null @@ -1,796 +0,0 @@ -**Livox SDK Communication Protocol** - -| **Document Release History** | | | -| ---------------------------- | ----------- | ------------------------------------------------------------ | -| **Date** | **Release** | **Change Description** | -| 2019/5/17 | v1.0.5 | Fix partial description errors | -| 2019/4/18 | v1.0.4 | 1. Update motor status code (v03.05.00.00+)
2. Add query Hub slot power status command (v08.05.00.00+) | -| 2019/4/17 | v1.0.3 | Update Hub read LiDAR extrinsic parameters 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 | - - -# 1 Summary - -## 1.1 Data Class - -There are two types of communication between the user and LiDAR unit(s), and the -protocol formats of these two kinds of data are different. The specific functions -and differences are as follows: - -> - **Control Command Data**: Configuration and query of LiDAR parameters and status -information; -> - **Point Cloud Data**: Point cloud coordinate data generated by LiDAR units; -At present, both protocols are encapsulated in the data segment of the UDP -package, and the data format in protocol is stored in little-endian form. - -## 1.2 Mode and State Description - -The mode in which the user can switch LiDAR: - -![lidar_state](images/lidar_state.png) - -When the user sets LiDAR mode and the mode switching is completed, the LiDAR -unit(s) will be in the corresponding state: - -![State_transition](images/state_transition.png) - -# 2 Control Command - -## 2.1 Frame Format - -The Protocol Frame is the smallest unit for control command. Format is as -follows: - -| Field | Index (byte) | Size (byte) | Description | -|----------|--------------|-------------|---------------------------------------------| -| sof | 0 | 1 | Starting Byte, Fixed to be 0xAA | -| version | 1 | 1 | Protocol Version, 1 for The Current Version | -| length | 2 | 2 | Length of The Frame, Max Value: 1400 | -| cmd_type | 4 | 1 | Command Type:
0x00: CMD
0x01: ACK
0x02: MSG | -| seq_num | 5 | 2 | Frame Sequence Number | -| crc_16 | 7 | 2 | Frame Header Checksum | -| data | 9 | n | Payload Data | -| crc_32 | 9+n | 2 | Whole Frame Checksum | - -Command type description: -> - **CMD (request)**: Actively send data request - need to return a corresponding ACK; -> - **ACK (response)**: Response to CMD data; -> - **MSG (message)**: Actively pushed message data - no need to return response data, - -> e.g. broadcast data, pushed message when an error occurs; - -Initial value of the CRC check: - -| crc16 initial value | crc32 initial value | -|---------------------|---------------------| -| 0x4c49 | 0x564f580a | - -## 2.2 Frame Data - -### 2.2.1 Data Segment Format - -Data segment format in Protocol Frame: - -| Field | Index (byte) | Size (byte) | -|----------|--------------|-------------| -| cmd_set | 0 | 1 | -| cmd_id | 1 | 1 | -| cmd_data | 2 | Vary by cmd | - -### 2.2.2 CMD Set & CMD ID - -There are three kinds of CMD sets: -> - **General Command Set**: All of Livox Device support General Command Set including Livox LiDAR and Livox Hub. -> - **LiDAR Command Set**: Only Livox LiDAR supports LiDAR Command Set. -> - **Hub Command Set**: Only Livox Hub supports Hub Command Set. - -| CMD Set | CMD ID | Function | -| ------------------------ | ------ | --------------------------------------------------- | -| 0x00 General Command Set | 0x00 | Broadcast Message | -| | 0x01 | Handshake | -| | 0x02 | Query Device Information | -| | 0x03 | Heartbeat | -| | 0x04 | Start/Stop Sampling | -| | 0x05 | Change Coordinate System | -| | 0x06 | Disconnect | -| | 0x07 | Push Abnormal Status Information | -| | 0x08 | Configure Static/Dynamic IP | -| | 0x09 | Get Device IP Information | -| 0x01 LiDAR Command Set | 0x00 | Set Mode | -| | 0x01 | Write LiDAR Extrinsic Parameters | -| | 0x02 | Read LiDAR Extrinsic Parameters | -| | 0x03 | Turn On/Off Rain/Fog Suppression | -| 0x02 Hub Command Set | 0x00 | Query Connected LiDAR Device | -| | 0x01 | Set LiDAR Mode | -| | 0x02 | Turn On/Off Designated Slot Power | -| | 0x03 | Write LiDAR Extrinsic Parameters | -| | 0x04 | Read LiDAR Extrinsic Parameters | -| | 0x05 | Query LiDAR Device Status | -| | 0x06 | Turn On/Off Hub Calculation of Extrinsic Parameters | -| | 0x07 | Turn On/Off LiDAR Rain/Fog Suppression | -| | 0x08 | Query Hub Slot Power Status | - -## 2.3 SDK Connection - -In the process of communication, LiDAR or Hub are defined as slave, and the -computer which receives point cloud data is defined as master. -The communication flow between master and slave is as follows: -1. When the slave is powered on, it broadcasts the device information data to -port 55000 of the master using source port 65000; -2. After receiving the broadcast data, the master sends a connection request to -the slave port 65000, which contains the source port information; -3. The slave replies ACK data to this source port after receiving the master's -connection request; -4. When the user receives ACK data, the handshake is completed. It can start -sending heartbeat data to maintain the connection, and transmit commands and -data. - -**NOTE**: *The Livox LiDAR/Hub will re-broadcast if heartbeat is timeout.* - -Flow Chart: - -![connection_flow_chart](images/connection_flow_chart.png) - -# 3 Point Cloud Data - -## 3.1 Package Format - -Point cloud data format output by LiDAR: - -| Field | Index (byte) | Size (byte) | Description | -|----------------|--------------|-------------|-------------------------------------------------------| -| version | 0 | 1 | Packet Protocol Version, 5 for the Current Version | -| slot_id | 1 | 1 | ID of the Slot Connecting LiDAR Device:
If LiDAR connects directly to computer without Hub, default 1;
If LiDAR connects to computer through Hub,
then the ‘slot_id’ is the corresponding slot number of the hub (range: 1 ~ 9); | -| LiDAR_id | 2 | 1 | LiDAR ID:
1: Mid-100 Left / Mid-40 / Tele-15 / Horizon
2: Mid-100 Middle
3: Mid-100 Right
![connection_flow_chart](images/Livox-Mid100.png) | -| reserved | 3 | 1 | | -| status_code | 4 | 4 | LiDAR Status Indicator Information, For details, see 3.4 | -| timestamp_type | 8 | 1 | Timestamp Type, For details, see 3.2 | -| data_type | 9 | 1 | Point Cloud Coordinate Format:
0: Cartesian Coordinate
1: Spherical Coordinate | -| timestamp | 10 | 8 | Nanosecond or UTC Format Timestamp, For details, see 3.2 | -| data | 18 | -- | 100 Point cloud data samples | - -## 3.2 Time Stamp -LiDAR system supports three synchronization modes: -- IEEE 1588v2.0 PTP network protocol synchronization -- 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 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 | -|----------------|----------------|-----------|-----------------------------------| -| 0 | No sync source | uint64_t | Unit: ns | -| 1 | PTP | uint64_t | Unit: ns | -| 2 | Reserved | | | -| 3 | GPS | UTC | UTC, only supported by Hub | -| 4 | PPS | uint64_t | Unit: ns, only supported by LiDAR | - -**Timestamp Type 0** - -When there is no synchronization signal in the system, the time stamp indicates -the time when device is powered on. - -**Timestamp Type 1** - -IEEE 1588v2.0 PTP network protocol synchronization 1588 network synchronization -mode has the highest priority. - -**Timestamp Type 3** - -GPS synchronization source, using the RS485 level. The sequence diagram is as follows: -![sequence_diagram](images/sequence_diagram.png) -An example $GPRMC message is shown below: -$GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A - -| 123519 | Fix taken at 12:35:19 UTC | -|-----------|------------------------------------------| -| A | Status A=active or V=Void. | -| 4807.038 | Current Latitude | -| N | North/South | -| 01131.000 | Current Longitude | -| E | East/West | -| 022.4 | Speed in knots | -| 084.4 | True course | -| 230394 | Date stamp, 23rd of March 1994 | -| 003.1 | Magnetic Variation | -| W | West/East | -| *6A | The checksum data, always begins with * | - -The timestamp in cloud point data package UTC time format: - -| Byte 0 | Byte 1 | Byte 2 | Byte 3 | Byte 4 ~ 7 | -|--------|--------|--------|--------|----------------------------------| -| Year | Month | Day | Hour | Offset within the Hour, Unit: us | - -**Timestamp Type 4** - -PPS synchronization source, using the RS485 level. The sequence diagram is as -follows. Timestamp indicates the time from the last rising edge. -![RS485_sequence_digram](images/RS485_sequence_digram.png) - -## 3.3 Point Cloud -There are 100 point cloud samples in each point data package. The sample data -can have either one of the following formats depends on the coordinate system -chosen by the user. - -Cartesian coordinate format: - -| Field | Offset (byte) | Data Type | Description | -|--------------|---------------|-----------|------------------| -| x | 0 | int32_t | X axis, Unit: mm | -| y | 4 | int32_t | Y axis, Unit: mm | -| z | 8 | int32_t | Z axis, Unit: mm | -| reflectivity | 12 | uin8_t | Reflectivity | - -Spherical coordinate format: - -| Field | Offset (byte) | Data Type | Description | -|--------------|---------------|-----------|-------------------------------------------| -| depth | 0 | uint32_t | Depth, Unit: mm | -| theta | 4 | uint16_t | Zenith angle[0, 18000], Unit: 0.01 degree | -| phi | 6 | uin16_t | Azimuth[0, 36000], Unit: 0.01 degree | -| reflectivity | 8 | uin8_t | Reflectivity | - -## 3.4 Status Code -### 3.4.1 LiDARStatus Code - -LiDAR status_code consists of 32 bits, which has the following meanings: - -| Bits | Data | Description | -|----------|-----------------|----------------------------------------------------------| -| Bit0:1 | temp_status | 0: Temperature in Normal State
1: High or Low
2: Extremely High or Extremely Low | -| Bit2:3 | volt_status | Voltage Status of Internal Module
0: Voltage in Normal State
1: High
2: Extremely High | -| Bit4:5 | motor_status | 0: Motor in Normal State
1: Motor in Warning State
2: Motor in Error State, Unable to Work | -| Bit6:7 | dirty_warn | 0: Not Dirty or Blocked
1: Dirty or Blocked | -| Bit8 | firmware_status | 0: Firmware is OK
1: Firmware is Abnormal, Need to be Upgraded | -| Bit9 | pps_status | 0: No PPS Signal
1: PPS Signal is OK | -| Bit10 | device_status | 0: Normal
1: Warning for Approaching the End of Service Life | -| Bit11:29 | RSVD | | -| Bit30:31 | system_status | 0: Normal
1: Warning
Any of the following situations will trigger warning:
Temperature becomes High or Low;
Voltage becomes High;
Optical system is Dirty or Blocked;
2: Error
Causes the LiDAR to Shut Down and Enter the Error State
Any of the following situations will trigger error:
Temperature becomes Extremely High or Extremely Low;
Voltage becomes Extremely High;
Motor is Abnormal;
Firmware is Abnormal; | - -### 3.4.2 Hub Status Code - -Hub Status Code consists of 32 bits, which has the following meanings: - -| Bits | Data | Description | -|----------|-------------------|---------------------------------- | -| Bit0:1 | sync_status | 0: No synchronization signal
1: 1588 synchronization
2: GPS synchronization | -| Bit2:3 | temp_status | 0: Temperature in Normal State
1: High or Low
2: Extremely High or Extremely Low | -| Bit4 | LiDAR_status | 0: LiDAR State is Normal
1: LiDAR State is Abnormal | -| Bit5 | LiDAR_link_status | 0: LiDAR Connection is Normal
1: LiDAR Connection is Abnormal | -| Bit6 | firmware_status | 0: LiDAR Firmware is OK
1: LiDAR Firmware is Abnormal, Need to be Upgraded | -| Bit7:29 | RSVD | | -| Bit30:31 | system_status | 0: Normal
1: Warning
Any of the following situations will trigger warning:
Temperature becomes High or Low;
2: Error
Any of the following situations will trigger error:
Temperature becomes Extremely High or Extremely Low;
LiDAR State is Abnormal;
Firmware is Abnormal; | - -# 4 Control Command Detail -## 4.1 General CMD Set -### 0x00 Broadcast Message - -message - -| MSG | Name | Offset (byte) | Data Type | Description | -|------|------------------|---------------|-------------|-----------------------| -| 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 | -| | reserved | 19 | uint16_t | Reserved | - -### 0x01 Handshake - -request - -| CMD | Name | Offset (byte) | Data Type | Description | -|------|-----------|---------------|------------|----------------------------------------| -| data | cmd_set | 0 | uint8_t | General Command: 0x00 | -| | cmd_id | 1 | uint8_t | Command ID: 0x01 | -| | user_ip | 2 | uint8_t[4] | Host IP Address
Example: AA.BB.CC.DD
user_ip[0] = AA
user_ip[1] = BB
user_ip[2] = CC
user_ip[3] = DD | -| | data_port | 6 | uint16_t | Host Point Cloud Data UDP Destination Port | -| | cmd_port | 8 | uint16_t | Host Control Command UDP Destination Port | - -response - -| ACK | Name | Offset (byte) | Data Type | Description | -|------|----------|---------------|-----------|---------------------------------------| -| data | cmd_set | 0 | uint8_t | General Command: 0x00 | -| | cmd_id | 1 | uint8_t | Command ID: 0x01 | -| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail | - -### 0x02 Query Device Information - -request - -| CMD | name | Offset (byte) | Data Type | Description | -|------|---------|---------------|-----------|-----------------------| -| data | cmd_set | 0 | uint8_t | General Command: 0x00 | -| | cmd_id | 1 | uint8_t | Command ID: 0x02 | - -response - -| ACK | Name | Offset (byte) | Data Type | Description | -|------|----------|---------------|------------|---------------------------| -| data | cmd_set | 0 | uint8_t | General Command: 0x00 | -| | cmd_id | 1 | uint8_t | Command ID: 0x02 | -| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail| -| | version | 3 | uint8_t[4] | Firmware Version:
Example: AA.BB.CC.DD
version[0] = AA
version[1] = BB
version[2] = CC
version[3] = DD | - -### 0x03 Heartbeat - -The host needs to send request data at a frequency of 1 Hz to maintain normal -connection with the device. - -request - -| CMD | Name | Offset (byte) | Data Type | Description | -|------|---------|---------------|-----------|-----------------------| -| data | cmd_set | 0 | uint8_t | General Command: 0x00 | -| | cmd_id | 1 | uint8_t | Command ID: 0x03 | - -response - -| ACK | Name | Offset (byte) | Data Type | Description | -|------|-------------|---------------|-----------|------------------| -| data | cmd_set | 0 | uint8_t | General Command: 0x00 | -| | cmd_id | 1 | uint8_t | Command ID: 0x03 | -| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail | -| | work_state | 3 | uint8_t | LiDAR State:
0x00: Initializing
0x01: Normal
0x02: Power-Saving
0x03: Standby
0x04: Error
Hub State:
0x00: Initializing
0x01: Normal
0x04: Error | -| | feature_msg | 4 | uint8_t | LiDAR Feature Message:
Bit0: Rain/Fog Suppression Switch
0x00: Turn Off
0x01: Turn On
Bit1 ~ Bit7: Reserved
**Hub is Reserved** | -| | ack_msg | 5 | uint32_t | ACK Message:
Related to ‘work_state’:
work_state is 0x00: Initialization Progress
work_state is other: Status Code | - -### 0x04 Start/Stop Sampling - -request - -| CMD | Name | Offset (byte) | Data Type | Description | -| ---- | ----------- | ------------- | --------- | -------------------------------------------- | -| data | cmd_set | 0 | uint8_t | General Command: 0x00 | -| | cmd_id | 1 | uint8_t | Command ID: 0x04 | -| | sample_ctrl | 2 | uint8_t | 0x00: Stop Sampling
0x01: Start Sampling | - -response - -| ACK | Name | Offset (byte) | Data Type | Description | -|------|----------|---------------|-----------|---------------------------------------| -| data | cmd_set | 0 | uint8_t | General Command: 0x00 | -| | cmd_id | 1 | uint8_t | Command ID: 0x04 | -| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail | - -### 0x05 Change Coordinate System - -request - -| CMD | Name | Offset (byte) | Data Type | Description | -|------|-----------------|---------------|-----------|-------------------------------------------------------| -| data | cmd_set | 0 | uint8_t | General Command: 0x00 | -| | cmd_id | 1 | uint8_t | Command ID: 0x05 | -| | coordinate_type | 2 | uint8_t | 0x00: Cartesian Coordinate
0x01: Spherical Coordinate | - -response - -| ACK | Name | Offset (byte) | Data Type | Description | -|------|----------|---------------|-----------|---------------------------------------| -| data | cmd_set | 0 | uint8_t | General Command: 0x00 | -| | cmd_id | 1 | uint8_t | Command ID: 0x05 | -| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail | - -### 0x06 Disconnect - -request - -| CMD | Name | Offset (byte) | Data Type | Description | -|------|---------|---------------|-----------|-----------------------| -| data | cmd_set | 0 | uint8_t | General Command: 0x00 | -| | cmd_id | 1 | uint8_t | Command ID: 0x06 | - -response - -| ACK | Name | Offset (byte) | Data Type | Description | -|------|----------|---------------|-----------|---------------------------------------| -| data | cmd_set | 0 | uint8_t | General Command: 0x00 | -| | cmd_id | 1 | uint8_t | Command ID: 0x06 | -| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail | - -### 0x07 Push Abnormal Status - -message - -When error occurs, the message is immediately pushed at 10Hz to report the -abnormal information. - -| MSG | name | Offset (byte) | Data Type | Description | -|------|-------------|---------------|-----------|-----------------------| -| data | cmd_set | 0 | uint8_t | General Command: 0x00 | -| | cmd_id | 1 | uint8_t | Command ID: 0x07 | -| | status_code | 2 | uint32_t | Status Code | - -### 0x08 Configure Static/Dynamic IP - -request - -| CMD | Name | Offset (byte) | Data Type | Description | -|------|---------|---------------|------------|-------------------------| -| 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 | - -response - -| ACK | Name | Offset (byte) | Data Type | Description | -|------|----------|---------------|-----------|---------------------------------------| -| data | cmd_set | 0 | uint8_t | General Command: 0x00 | -| | cmd_id | 1 | uint8_t | Command ID: 0x08 | -| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail | - -### 0x09 Get Device IP Information - -request - -| CMD | Name | Offset (byte) | Data Type | Description | -|------|---------|---------------|-----------|-----------------------| -| data | cmd_set | 0 | uint8_t | General Command: 0x00 | -| | cmd_id | 1 | uint8_t | Command ID: 0x09 | - -response - -| ACK | Name | Offset (byte) | Data Type | Description | -|------|----------|---------------|------------|---------------------| -| data | cmd_set | 0 | uint8_t | General Command: 0x00 | -| | cmd_id | 1 | uint8_t | Command ID: 0x09 | -| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail | -| | ip_mode | 3 | uint8_t | 0x00: Dynamic IP
0x01: Static IP | -| | ip_addr | 4 | uint8_t[4] | Device IPV4 Address
Example: AA.BB.CC.DD
user_ip[0] = AA
user_ip[1] = BB
user_ip[2] = CC
user_ip[3] = DD | - -## 4.2 LiDAR CMD Set - -### 0x00 Set Mode - -request - -| CMD | Name | Offset (byte) | Data Type | Description | -| ---- | ---------- | ------------- | --------- | ------------------------------------------------------------ | -| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 | -| | cmd_id | 1 | uint8_t | Command ID: 0x00 | -| | LiDAR_mode | 2 | uint8_t | LiDAR Mode:
User can configure as follow:
0x01: Normal Mode
0x02: Power-Saving Mode
0x03: Standby Mode | - -response - -|  ACK | Name | Offset (byte) | Data Type | Description | -|------|----------|---------------|-----------|-------------------------------------------------------| -| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 | -| | cmd_id | 1 | uint8_t | Command ID: 0x00 | -| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail
0x02: Switching | - -### 0x01 Write LiDAR Extrinsic Parameters -request - -| CMD | Name | Offset (byte) | Data Type | Description | -|------|---------|---------------|-----------|---------------------------| -| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 | -| | cmd_id | 1 | uint8_t | Command ID: 0x01 | -| | roll | 2 | float32 | Roll Angle, Unit: degree | -| | pitch | 6 | float32 | Pitch Angle, Unit: degree | -| | yaw | 10 | float32 | Yaw Angle, Unit: degree | -| | x | 14 | int32_t | X Translation, Unit: mm | -| | y | 18 | int32_t | Y Translation, Unit: mm | -| | z | 22 | int32_t | Z Translation, Unit: mm | - -response - -| ACK | Name | Offset (byte) | Data Type | Description | -|------|----------|---------------|-----------|---------------------------------------| -| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 | -| | cmd_id | 1 | uint8_t | Command ID: 0x01 | -| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail | - -### 0x02 Read LiDAR Extrinsic Parameters -request - -| CMD | Name | Offset (byte) | Data Type | Description | -|------|---------|---------------|-----------|---------------------| -| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 | -| | cmd_id | 1 | uint8_t | Command ID: 0x02 | - -response - -| ACK | Name | Offset (byte) | Data Type | Description | -|-------|----------|---------------|-----------|---------------------------------------| -| data  | cmd_set | 0 | uint8_t |  LiDAR Command: 0x01 | -| | cmd_id | 1 | uint8_t |  Command ID: 0x02 | -| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail | -| | roll | 3 | float32 | Roll Angle, Unit: degree | -| | pitch | 7 | float32 | Pitch Angle, Unit: degree | -| | yaw | 11 | float32 | Yaw Angle, Unit: degree | -| | x | 15 | int32_t | X Translation, Unit: mm | -| | y | 19 | int32_t | Y Translation, Unit: mm | -| | z | 23 | int32_t | Z Translation, Unit: mm | - -### 0x03 Turn On/Off Rain/Fog Suppression -request - -| CMD | Name | Offset (byte) | Data Type | Description | -| ---- | ------- | ------------- | --------- | ------------------------------------------------------------ | -| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 | -| | cmd_id | 1 | uint8_t | Command ID: 0x03 | -| | state | 2 | uint8_t | Turn On/Off Rain/Fog Suppression:
0x00: Turn Off
0x01: Turn On | - -response - -| ACK | Name | Offset (byte) | Data Type | Description | -|-------|----------|---------------|-----------|---------------------------------------| -| data  | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 | -| | cmd_id | 1 | uint8_t | Command ID: 0x03 | -| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail | - -## 4.3 Hub CMD SET -### 0x00 Query Connected LiDAR Device -request - -| CMD | Name | Offset (byte) | Data Type | Description | -|-------|---------|---------------|-----------|-------------------| -| data  | cmd_set | 0 | uint8_t | Hub Command: 0x02 | -| | cmd_id | 1 | uint8_t | Command ID: 0x00 | - -response - -| ACK | Name | Offset (byte) | Data Type | Description | -|------|-----------|---------------|-----------|-----------------------------------------------------| -| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 | -| | cmd_id | 1 | uint8_t | Command ID: 0x00 | -| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail | -| | count | 3 | uint8_t | Number of LiDAR Connected to the Hub Range: 0 ~ 27 | -| | info_list | 4 | -- | Device Information List of Connected LiDAR | - -In ‘info_list’, each LiDAR device information has the following format: - -| Field | Offset (byte) | Data Type | Description | -| -------------- | ------------- | ----------- | ------------------------------------------------------------ | -| broadcast_code | 0 | uint8_t[16] | LiDAR Broadcast Code | -| dev_type | 16 | uint8_t | Device Type:
1: Mid-40
2: Tele-15
3: Horizon | -| version | 17 | uint8_t[4] | LiDAR Firmware Version
Example: AA.BB.CC.DD
version[0] = AA
version[1] = BB
version[2] = CC
version[3] = DD | -| slot_id | 21 | uin8_t | Slot Used to Install LiDAR | -| LiDAR_id | 22 | uint8_t | LiDAR ID:
1: Mid-100 Left / Mid-40 / Tele-15 / Horizon
2: Mid-100 Middle
3: Mid-100 Right | - -### 0x01 Set LiDAR Mode - -request - -| CMD | Name | Offset (byte) | Data Type | Description | -|------|-------------|---------------|-----------|---------------------------------------| -| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 | -| | cmd_id | 1 | uint8_t | Command ID: 0x01 | -| | count | 2 | uint8_t | Number of LiDAR to Set Range: 1 \~ 27 | -| | config_list | 3 | \-- | LiDAR Mode Configuration List | - -In ‘config_list’, each LiDAR mode configuration has the following format: - -| Field | Offset (byte) | Data Type | Description | -| -------------- | ------------- | ----------- | ------------------------------------------------------------ | -| broadcast_code | 0 | uint8_t[16] | LiDAR Broadcast Code | -| LiDAR_mode | 16 | uint8_t | LiDAR Mode:
User can configure as follows:
0x01: Normal Mode
0x02: Power-Saving Mode
0x03: Standby Mode | - -response - -| ACK | Name | Offset (byte) | Data Type | Description | -|------|-------------|---------------|-----------|-------------------------------------------------------| -| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 | -| | cmd_id | 1 | uint8_t | Command ID: 0x01 | -| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail
0x02: Switching | -| | count | 3 | uint8_t | Number of LiDAR to Set Range: 1 ~ 27 | -| | return_list | 4 | -- | Return Information List | - -In ‘return_list’, each return information has the following format: - -| Field | Offset (byte) | Data Type | Description | -|----------------|---------------|-------------|---------------------------------------------| -| ret_code | 0 | uint8_t | LiDAR Return Code:
0x00: Success
0x01: Fail | -| broadcast_code | 1 | uint8_t[16] | LiDAR Broadcast Code | - -### 0x02 Turn On/Off Designated Slot Power - -request - -| CMD | Name | Offset (byte) | Data Type | Description | -| ---- | ---------- | ------------- | --------- | --------------------------------------------------- | -| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 | -| | cmd_id | 1 | uint8_t | Command ID: 0x02 | -| | slot_id | 2 | uint8_t | Slot id of Hub Range: 1 ~ 9 | -| | power_ctrl | 3 | uint8_t | Power Control:
0x00: Turn Off
0x01: Turn On | - -response - -| ACK | Name | Offset (byte) | Data Type | Description | -|------|----------|---------------|-----------|---------------------------------------| -| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 | -| | cmd_id | 1 | uint8_t | Command ID: 0x02 | -| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail | - -### 0x03 Write LiDAR Extrinsic Parameters - -request - -| CMD | Name | Offset (byte) | Data Type | Description | -|------|------------|---------------|-----------|-----------------------------------------| -| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 | -| | cmd_id | 1 | uint8_t | Command ID: 0x03 | -| | count | 2 | uint8_t | Number of LiDAR to Write Range: 1 ~ 27 | -| | param_list | 3 | -- | LiDAR Parameter Configuration List | - -In ‘param_list’, each LiDAR parameter configuration has the following format: - -| Field | Offset (byte) | Data Type | Description | -|----------------|---------------|-------------|---------------------------| -| broadcast_code | 0 | uint8_t[16] | LiDAR Broadcast Code | -| roll | 16 | float | Roll Angle, Unit: degree | -| pitch | 20 | float | Pitch Angle, Unit: degree | -| yaw | 24 | float | Yaw Angle, Unit: degree | -| x | 28 | int32_t | X Translation, Unit: mm | -| y | 32 | int32_t | Y Translation, Unit: mm | -| z | 36 | int32_t | Z Translation, Unit: mm | - -response - -| ACK | Name | Offset (byte) | Data Type | Description | -| ---- | ----------- | ------------- | --------- | --------------------------------------------- | -| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 | -| | cmd_id | 1 | uint8_t | Command ID: 0x03 | -| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail | -| | count | 3 | uint8_t | Number of LiDAR to Write Range: 1 ~ 27 | -| | return_list | 4 | -- | Return Information List | - -In ‘return_list’, each return information has the following format: - -| Field | Offset (byte) | Data Type | Description | -| -------------- | ------------- | ----------- | -------------------------------------------------- | -| ret_code | 0 | uint8_t | LiDAR Return Code:
0x00: Success
0x01: Fail | -| broadcast_code | 1 | uint8_t[16] | LiDAR Broadcast Code | - -### 0x04 Read LiDAR Extrinsic Parameters - -request - -| CMD | Name | Offset (byte) | Data Type | Description | -|------|-----------|---------------|-----------|----------------------------------------| -| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 | -| | cmd_id | 1 | uint8_t | Command ID: 0x04 | - -response - -| ACK | Name | Offset (byte) | Type | Description | -|------|------------|---------------|---------|----------------------------------------| -| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 | -| | cmd_id | 1 | uint8_t | Command ID: 0x04 | -| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail | -| | count | 3 | uint8_t | Number of LiDAR to Read Range: 1 ~ 27 | -| | param_list | 4 | -- | LiDAR Parameter List | - -In ‘param_list’, each LiDAR parameter information has the following format: - -| Field | Offset (byte) | Data Type | Description | -|----------------|---------------|-------------|---------------------------------------------| -| ret_code | 0 | uint8_t | LiDAR Return Code:
0x00: Success
0x01: Fail | -| broadcast_code | 1 | uint8_t[16] | LiDAR Broadcast Code | -| roll | 17 | float | Roll Angle, Unit: degree | -| pitch | 21 | float | Pitch Angle, Unit: degree | -| yaw | 25 | float | Yaw Angle, Unit: degree | -| x | 29 | int32_t | X Translation, Unit: mm | -| y | 33 | int32_t | Y Translation, Unit: mm | -| z | 37 | int32_t | Z Translation, Unit: mm | - -### 0x05 Query LiDAR Device Status - -request - -| CMD | Name | Offset (byte) | Data Type | Description | -|------|---------|---------------|-----------|-------------------| -| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 | -| | cmd_id | 1 | uint8_t | Command ID: 0x05 | - -response - -| ACK | Name | Offset (byte) | Data Type | Description | -|------|-----------|---------------|-----------|-----------------------------------------------------| -| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 | -| | cmd_id | 1 | uint8_t | Command ID: 0x05 | -| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail | -| | count | 3 | uint8_t | Number of LiDAR Connected to the Hub Range: 0 ~ 27 | -| | info_list | 4 | -- | LiDAR Status List | - -In ‘info_list’, each LiDAR status information has the following format: - -| Field | Offset (byte) | Data Type | Description | -|----------------|---------------|-------------|-----------------------------------------------------| -| broadcast_code | 0 | uint8_t[16] | LiDAR Broadcast Code | -| work_state | 16 | uint8_t | LiDAR State:
0x00: Initializing
0x01: Normal
0x02: Power-Saving
0x03: Standby
0x04: Error | -| feature_msg | 17 | uint8_t | LiDAR Mode Message:
Bit0: Rain/Fog Suppression Switch
0x00: Turn Off
0x01: Turn On
Bit1 ~ Bit7: Reserved | -| ack_msg | 18 | uint32_t | ACK Message:
Relevant to ‘work_state’:
work_state is 0x00: Initialization Progress
work_state is other: Status Code | - -### 0x06 Turn On/Off Hub Extrinsic Parameters Calculation - -request - -| CMD | Name | Offset (byte) | Data Type | Description | -|------|---------|---------------|-----------|-----------------------------------------------------------| -| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 | -| | cmd_id | 1 | uint8_t | Command ID: 0x06 | -| | state | 2 | uint8_t | Turn On/Off Parameter Calculation:
0: Turn Off
1: Turn On | - -**NOTE:** *The Hub uses extrinsic parameters stored in each LiDAR for coordinate -conversion. The coordinate is first rotated and then shifted. The rotation is -described by Euler angles with the sequence of rotation axes being x-y-z.* - -response - -| ACK | Name | Offset (byte) | Data Type | Description | -|-------|----------|---------------|-----------|---------------------------------------| -| data  | cmd_set | 0 | uint8_t | Hub Command: 0x02 | -| | cmd_id | 1 | uint8_t | Command ID: 0x06 | -| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail | - -### 0x07 Turn On/Off LiDAR Rain/Fog Suppression - -request - -| CMD | Name | Offset (byte) | Data Type | Description | -|------|-------------|---------------|-----------|---------------------------------------------| -| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 | -| | cmd_id | 1 | uint8_t | Command ID: 0x07 | -| | count | 2 | uint8_t | Number of LiDAR to Configure Range: 1 ~ 27 | -| | config_list | 3 | -- | LiDAR Feature Configuration List | - -In ‘config_list’, each LiDAR feature configuration information has the following -format: - -| Field | Offset (byte) | Data Type | Description | -|----------------|---------------|-------------|------------------------| -| broadcast_code | 0 | uint8_t[16] | LiDAR Broadcast Code | -| cmd_data | 1 | uint8_t | 0: Turn Off
1: Turn On | - -response - -| ACK | Name | Offset (byte) | Data Type | Description | -|------|-------------|---------------|-----------|---------------------------------------| -| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 | -| | cmd_id | 1 | uint8_t | Command ID: 0x07 | -| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail | -| | count | 3 | uint8_t | Number of LiDAR to Set Range: 1 ~ 27 | -| | return_list | 4 | -- | Return Information List | - -In ‘return_list’, each return information has the following format: - -| Field | Offset (byte) | Data Type | Description | -|----------------|---------------|-------------|---------------------------------------------| -| ret_code | 0 | uint8_t | LiDAR Return Code:
0x00: Success
0x01: Fail | -| broadcast_code | 1 | uint8_t[16] | LiDAR Broadcast Code | - -### 0x08 Query Hub Slot Power Status - -request - -| CMD | Name | Offset (byte) | Data Type | Description | -| ---- | ------- | ------------- | --------- | ----------------- | -| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 | -| | cmd_id | 1 | uint8_t | Command ID: 0x08 | - -response - -| ACK | Name | Offset (byte) | Data Type | Description | -| ---- | ---------------- | ------------- | --------- | ------------------------------------------------------------ | -| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 | -| | cmd_id | 1 | uint8_t | Command ID: 0x08 | -| | ret_code | 2 | uint8_t | Return Code:
0x00: Success
0x01: Fail | -| | slot_power_state | 3 | uint16_t | Slot Power Status:
0x00: Turn Off
0x01: Turn On
bit0: First Slot
bit1: Second Slot
...
bit8: Ninth Slot | \ No newline at end of file