Cygbot CygLiDAR D1 Manuel de l'utilisateur - Page 8
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6. Serial Communication
Packet
Request Overview
Request Name
Get Device Info
Run 2D Mode
Run 3D Mode
Run Dual Mode
Stop
Set 3D Light pulse
duration
Set Frequency
Channel
Set Sensitivity
Set Baud Rate
Get Device Info Request
Request Packet
0x5A 0x77 0xFF 0x02 0x00
0x5A 0x77 0xFF 0x07 0x00
Response Packet
Both versions of firmware and hardware are provided.
Payload
Payload
Header
Length
Value
0x10
2
0x01
2
0x08
2
0x07
2
0x02
2
0x0C
3
0x0F
2
0x11
2
0x12
2
0x10
0x10
[Example] F/W version = 0.0.1, H/W Version = 0.2.0
0x00
F/W1
Response
LiDAR Operation
Packet
Get the release versions of the
O
latest update to F/W and H/W
O
Start 2D Data measurement.
O
Start 3D Data measurement.
O
Start Dual Data measurement.
X
Change status to Idle.
X
Control 3D Light pulse duration.
X
Change frequency channel.
X
Control measurement sensitivity.
X
Change seral baud rate
0x00 0x12
F/W 1 F/W 2 F/W 3 H/W 1 H/W 2 H/W 3
0x00
0x01
0x00
F/W2
F/W3
H/W1
8
Ver 0.2.2
Supported
Firmware
Version
0.0.1
0.0.1
0.0.1
0.0.1
0.0.1
0.0.1
0.0.1
0.0.2
0.2.4
Check
Sum
0x02
0x00
H/W2
H/W3