diff --git a/Home.md b/Home.md
index 1fc61d9..28d4321 100644
--- a/Home.md
+++ b/Home.md
@@ -1,37 +1,2 @@
# Welcome to the Livox-SDK wiki
-This is a wiki for anything related to the Livox!
-# 1 Quick Links
-> * [LivoxTech Official website](https://www.livoxtech.com/)
-> * [Livox SDK Communication Protocol PDF](https://www.livoxtech.com/sdk/downloads)
-> * [Livox MID-40 && MID-100 LiDAR Manuals](https://www.livoxtech.com/mid-40-and-mid-100/downloads)
-
-# 2 Livox SDK API
-
-Livox SDK API provides a set of C style functions which can be conveniently integrated in C/C++ programs. Please refer to the [Livox SDK API Reference](https://livox-sdk.github.io/Livox-SDK/) for further information.
-
-## 2.1 Installation
-The installation procedures in Ubuntu 16.04/14.04 32-bit LTS are shown here as examples.
-### 2.1.1 Ubuntu 16.04/14.04 32-bit LTS
-#### Dependencies
-Livox SDK requires [CMake 3.0.0+](https://cmake.org/), [Apache Portable Runtime (APR) 1.61+](http://apr.apache.org/) and [Boost 1.54+](https://www.boost.org/) as dependencies. You need to install boost, cmake using apt:
-```
-sudo apt install cmake libboost-atomic-dev libboost-system-dev
-```
-And download the newest apr linux source file in [Apache Portable Runtime (APR) 1.61+](http://apr.apache.org/):
-```
-tar -zxvf apr-1.X.X.tar.gz
-cd apr-1.X.X
-./configure --prefix=/usr/local/apr --disable-lfs
-make && sudo make install
-```
-#### Compile Livox SDK
-In the Livox SDK directory, run the following commands to compile the project:
-```
-git clone https://github.com/Livox-SDK/Livox-SDK.git
-cd Livox-SDK/build
-PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/apr/lib/pkgconfig/ && export PKG_CONFIG_PATH
-cmake ..
-make
-sudo make install
-```
-As the PKG_CONFIG_PATH will only take effect on the current terminal, next time please re-add it when you build project in another terminal or you can add it in your environment variables.
\ No newline at end of file
+This is a wiki for anything related to the Livox!
\ No newline at end of file
diff --git a/Livox SDK Communication Protocol.md b/Livox SDK Communication Protocol.md
index b44902b..7f06922 100644
--- a/Livox SDK Communication Protocol.md
+++ b/Livox SDK Communication Protocol.md
@@ -3,6 +3,7 @@
| **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 |
@@ -347,18 +348,18 @@ response
| | 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** |
+| | 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: Start Sampling
0x01: Stop Sampling |
+| 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
@@ -603,12 +604,12 @@ In ‘return_list’, each return information has the following format:
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 (Default 0x00)
0x00: Turn Off
0x01: Turn On |
+| 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
@@ -643,20 +644,20 @@ In ‘param_list’, each LiDAR parameter configuration has the following format
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 |
+| 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 |
+| 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