Cygbot CygLiDAR D1 Руководство пользователя - Страница 7
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6. Serial Communication
UART
Data Bit
Parity
Stop Bit
Baud Rate
PINMAP
VCC
Rx
Tx
GND
GPIO
Packet structure
Packet
Header1
Header2
Header3
1 byte
1 byte
Header : Three fixed values assigned to every valid dataset, consisting of 0x5A, 0x77 and 0xFF.
Payload Length : Payload size in byte.
Payload Header : A unique value for a clarification of the device version.
Payload Data : A set of the significant bits of the pixel component data.
Checksum : The result of XOR of all values only except Headers from 1 to 3.
Checksum
Checksum is the last byte of a frame that is only used for an integrity check.
#define PAYLOAD_LENGTH_LSB_INDEX 3
uint8_t CalcChecksum(uint8_t *buff, int buffSize)
{
uint8_t CheckSum = 0;
for(int i = PAYLOAD_LENGTH_LSB_INDEX; i < buffSize – 1; i++)
{
CheckSum ^= buff[i];
}
return CheckSum;
}
: 8 bit
: none
: 1 bit
: 3,000,000 bps
: +5V
: UART TTL Rx
: UART TTL Tx
: GND
: Reserved
Payload
Payload
Length
Length
LSB
MSB
1 byte
1 byte
1 byte
Payload
Payload
Payload
Payload
Header
Data 0
Data 1
1 byte
7
...
Payload
Data n
n byte
Ver 0.2.2
Packet
Checksum
1 byte