fix:Fix partial description errors
Livox-SDK
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@@ -1,37 +1,2 @@
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# Welcome to the Livox-SDK wiki
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# Welcome to the Livox-SDK wiki
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This is a wiki for anything related to the Livox!
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This is a wiki for anything related to the Livox!
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# 1 Quick Links
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> * [LivoxTech Official website](https://www.livoxtech.com/)
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> * [Livox SDK Communication Protocol PDF](https://www.livoxtech.com/sdk/downloads)
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> * [Livox MID-40 && MID-100 LiDAR Manuals](https://www.livoxtech.com/mid-40-and-mid-100/downloads)
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# 2 Livox SDK API
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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.
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## 2.1 Installation
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The installation procedures in Ubuntu 16.04/14.04 32-bit LTS are shown here as examples.
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### 2.1.1 Ubuntu 16.04/14.04 32-bit LTS
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#### Dependencies
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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:
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```
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sudo apt install cmake libboost-atomic-dev libboost-system-dev
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```
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And download the newest apr linux source file in [Apache Portable Runtime (APR) 1.61+](http://apr.apache.org/):
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```
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tar -zxvf apr-1.X.X.tar.gz
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cd apr-1.X.X
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./configure --prefix=/usr/local/apr --disable-lfs
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make && sudo make install
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```
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#### Compile Livox SDK
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In the Livox SDK directory, run the following commands to compile the project:
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```
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git clone https://github.com/Livox-SDK/Livox-SDK.git
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cd Livox-SDK/build
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PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/apr/lib/pkgconfig/ && export PKG_CONFIG_PATH
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cmake ..
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make
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sudo make install
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```
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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.
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@@ -3,6 +3,7 @@
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| **Document Release History** | | |
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| **Document Release History** | | |
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| ---------------------------- | ----------- | ------------------------------------------------------------ |
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| ---------------------------- | ----------- | ------------------------------------------------------------ |
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| **Date** | **Release** | **Change Description** |
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| **Date** | **Release** | **Change Description** |
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| 2019/5/17 | v1.0.5 | Fix partial description errors |
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| 2019/4/18 | v1.0.4 | 1. Update motor status code (v03.05.00.00+) <br>2. Add query Hub slot power status command (v08.05.00.00+) |
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| 2019/4/18 | v1.0.4 | 1. Update motor status code (v03.05.00.00+) <br>2. Add query Hub slot power status command (v08.05.00.00+) |
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| 2019/4/17 | v1.0.3 | Update Hub read LiDAR extrinsic parameters description |
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| 2019/4/17 | v1.0.3 | Update Hub read LiDAR extrinsic parameters description |
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| 2019/3/25 | v1.0.2 | Update 3.2 Time Stamp description |
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| 2019/3/25 | v1.0.2 | Update 3.2 Time Stamp description |
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@@ -347,18 +348,18 @@ response
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| | cmd_id | 1 | uint8_t | Command ID: 0x03 |
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| | cmd_id | 1 | uint8_t | Command ID: 0x03 |
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| | ret_code | 2 | uint8_t | Return Code: <br>0x00: Success <br>0x01: Fail |
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| | ret_code | 2 | uint8_t | Return Code: <br>0x00: Success <br>0x01: Fail |
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| | work_state | 3 | uint8_t | LiDAR State: <br>0x00: Initializing <br>0x01: Normal <br>0x02: Power-Saving <br>0x03: Standby <br>0x04: Error <br>Hub State: <br>0x00: Initializing <br>0x01: Normal <br>0x04: Error |
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| | work_state | 3 | uint8_t | LiDAR State: <br>0x00: Initializing <br>0x01: Normal <br>0x02: Power-Saving <br>0x03: Standby <br>0x04: Error <br>Hub State: <br>0x00: Initializing <br>0x01: Normal <br>0x04: Error |
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| | feature_msg | 4 | uint8_t | LiDAR Feature Message:<br> Bit0: Rain/Fog Suppression Switch <br>0x00: Turn Off 0x01: Turn On <br>Bit1 ~ Bit7: Reserved <br>**Hub is Reserved** |
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| | feature_msg | 4 | uint8_t | LiDAR Feature Message:<br> Bit0: Rain/Fog Suppression Switch <br>0x00: Turn Off <br>0x01: Turn On <br>Bit1 ~ Bit7: Reserved <br>**Hub is Reserved** |
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| | ack_msg | 5 | uint32_t | ACK Message:<br> Related to ‘work_state’:<br> work_state is 0x00: Initialization Progress <br>work_state is other: Status Code |
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| | ack_msg | 5 | uint32_t | ACK Message:<br> Related to ‘work_state’:<br> work_state is 0x00: Initialization Progress <br>work_state is other: Status Code |
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### 0x04 Start/Stop Sampling
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### 0x04 Start/Stop Sampling
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request
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request
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| CMD | Name | Offset (byte) | Data Type | Description |
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| CMD | Name | Offset (byte) | Data Type | Description |
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|------|-------------|---------------|-----------|------------------------------------------|
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| ---- | ----------- | ------------- | --------- | -------------------------------------------- |
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| data | cmd_set | 0 | uint8_t | General Command: 0x00 |
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| data | cmd_set | 0 | uint8_t | General Command: 0x00 |
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| | cmd_id | 1 | uint8_t | Command ID: 0x04 |
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| | cmd_id | 1 | uint8_t | Command ID: 0x04 |
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| | sample_ctrl | 2 | uint8_t | 0x00: Start Sampling <br>0x01: Stop Sampling |
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| | sample_ctrl | 2 | uint8_t | 0x00: Stop Sampling <br>0x01: Start Sampling |
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response
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response
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@@ -603,12 +604,12 @@ In ‘return_list’, each return information has the following format:
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request
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request
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| CMD | Name | Offset (byte) | Data Type | Description |
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| CMD | Name | Offset (byte) | Data Type | Description |
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|------|------------|---------------|-----------|-----------------------------------------------------------|
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| ---- | ---------- | ------------- | --------- | --------------------------------------------------- |
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| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 |
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| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 |
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| | cmd_id | 1 | uint8_t | Command ID: 0x02 |
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| | cmd_id | 1 | uint8_t | Command ID: 0x02 |
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| | slot_id | 2 | uint8_t | Slot id of Hub Range: 1 ~ 9 |
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| | slot_id | 2 | uint8_t | Slot id of Hub Range: 1 ~ 9 |
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| | power_ctrl | 3 | uint8_t | Power Control (Default 0x00) <br>0x00: Turn Off <br>0x01: Turn On |
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| | power_ctrl | 3 | uint8_t | Power Control: <br>0x00: Turn Off <br>0x01: Turn On |
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response
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response
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@@ -643,20 +644,20 @@ In ‘param_list’, each LiDAR parameter configuration has the following format
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response
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response
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| ACK | Name | Offset (byte) | Data Type | Description |
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| ACK | Name | Offset (byte) | Data Type | Description |
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|------|-------------|---------------|-----------|-----------------------------------------|
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| ---- | ----------- | ------------- | --------- | --------------------------------------------- |
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| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 |
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| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 |
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| | cmd_id | 1 | uint8_t | Command ID: 0x03 |
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| | cmd_id | 1 | uint8_t | Command ID: 0x03 |
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| | ret_code | 2 | uint8_t | Return Code: 0x00: Success 0x01: Fail |
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| | ret_code | 2 | uint8_t | Return Code: <br>0x00: Success <br>0x01: Fail |
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| | count | 3 | uint8_t | Number of LiDAR to Write Range: 1 ~ 27 |
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| | count | 3 | uint8_t | Number of LiDAR to Write Range: 1 ~ 27 |
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| | return_list | 4 | -- | Return Information List |
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| | return_list | 4 | -- | Return Information List |
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In ‘return_list’, each return information has the following format:
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In ‘return_list’, each return information has the following format:
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| Field | Offset (byte) | Data Type | Description |
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| Field | Offset (byte) | Data Type | Description |
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|----------------|---------------|-------------|---------------------------------------------|
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| -------------- | ------------- | ----------- | -------------------------------------------------- |
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| ret_code | 0 | uint8_t | LiDAR Return Code:<br> 0x00: Success <br>0x01: Fail |
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| ret_code | 0 | uint8_t | LiDAR Return Code:<br>0x00: Success <br>0x01: Fail |
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| broadcast_code | 1 | uint8_t[16] | LiDAR Broadcast Code |
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| broadcast_code | 1 | uint8_t[16] | LiDAR Broadcast Code |
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### 0x04 Read LiDAR Extrinsic Parameters
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### 0x04 Read LiDAR Extrinsic Parameters
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Reference in New Issue
Block a user