Livox SDK Communication Protocol
Livox SDK Communication Protocol(Livox SDK 通信协议中文文档)
| Document Release History | ||
|---|---|---|
| Date | Release | Change Description |
| 2020/10/26 | V1.3.0 | 1.Add Mid70/Avia LiDAR support |
| 2020/06/10 | v1.2.0 | 1. add write/read configuration parameters commands |
| 2019/10/22 | v1.1.1 | 1. Update status code, add time synchronization status (Horizon: v06.05.00.00+, Mid-40/Mid-100: v03.07.00.00+) 2. Change IMU data push frequency |
| 2019/9/25 | v1.1.0 | 1. Add Tele-15 / Horizon LiDAR's support |
| 2019/7/08 | v1.0.6 | 1. Fix crc32 bits error 2. Add system status code 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;
- Sample Data: Sample data generated by LiDAR units including point cloud data and IMU data(Not supported by MID-40/70/100); 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:
When the user sets LiDAR mode and the mode switching is completed, the LiDAR unit(s) will be in the corresponding state:
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 | 4 | 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 | |
| 0x0A | Reboot device | |
| 0x0B | write configuration parameters | |
| 0x0C | read configuration parameters | |
| 0x01 LiDAR Command Set | 0x00 | Set Mode |
| 0x01 | Write LiDAR Extrinsic Parameters | |
| 0x02 | Read LiDAR Extrinsic Parameters | |
| 0x03 | Turn On/Off Rain/Fog Suppression | |
| 0x04 | Set Turn On/Off Fan | |
| 0x05 | Get Turn On/Off Fan State | |
| 0x06 | Set LiDAR Return Mode | |
| 0x07 | Get LiDAR Return Mode | |
| 0x08 | Set IMU Data Push Frequency | |
| 0x09 | Get IMU Data Push Frequency | |
| 0x0A | Update UTC synchronization time | |
| 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 | |
| 0x09 | Set LiDAR Turn On/Off Fan | |
| 0x0A | Get LiDAR Turn On/Off Fan State | |
| 0x0B | Set LiDAR Return Mode | |
| 0x0C | Get LiDAR Return Mode | |
| 0x0D | Set LiDAR IMU Data Push Frequency | |
| 0x0E | Get LiDAR IMU Data Push Frequency |
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:
- When the slave is powered on, it broadcasts the device information data to port 55000 of the master using source port 65000;
- After receiving the broadcast data, the master sends a connection request to the slave port 65000, which contains the source port information;
- The slave replies ACK data to this source port after receiving the master's connection request;
- 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:
3 Sample Data Package
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/Mid-70/Avia 2: Mid-100 Middle 3: Mid-100 Right 
|
| 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](#3.2 Time Stamp {#timestamp}) |
| data_type | 9 | 1 | Data Type, For details, see [3.3](#3.3 Point Cloud/IMU Data {#data_type}) |
| timestamp | 10 | 8 | Nanosecond or UTC Format Timestamp, For details, see 3.2 |
| data | 18 | -- | Data information, For details, see [3.3](#3.3 Point Cloud/IMU Data {#data_type}) |
3.2 Time Stamp {#timestamp}
LiDAR system supports three synchronization modes:
- PTP: IEEE 1588v2.0 PTP network protocol synchronization.
- GPS: In order to synchronize with GPS, LiDAR/Hub have to receive PPS and UTC timestamps. For Horizon/Tele-15/Mid-70/Avia, LiDAR unit can receive UTC timestamps in control command over Ethernet. Livox Hub unit can receive UTC timestamps in $GPRMC message over RS485 serial port.
- PPS: Pulse synchronization (only supported by LiDAR).
Synchronization Priority: PTP > GPS > PPS, when there are multiple synchronization sources in the system, the synchronization mode with the highest priority will be selected. If the highest priority synchronization source is offline, the timestamp type will continue to be maintained and will not fall back to the lower priority, and time_sync_status in [Status Code](#3.5.1 LiDAR Status Code) will be set to 4(the highest priority synchronization signal is abnormal).
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 |
| 4 | PPS | int64_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
A timestamp of 3 indicates LIDAR/Hub unit is sync with GPS. For LiDAR unit, PPS in RS485 level and UTC timestamp through SDK control command (refer to [Update UTC synchronization time](#0x0A Update UTC synchronize time {#utc_cmd}) for details) are needed. The sequence diagram is as follows:
For Livox Hub unit, PPS and $GPRMC message in RS485 level are needed. The sequence diagram is as follows:
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. The rising edge of PPS will reset the timestamp to zero. So the timestamp of point cloud data indicates the offset between the point cloud sampling and the PPS rising edge. In the case of IMU packets, the time offset may be negative due to the compensation delay.
3.3 Point Cloud/IMU Data {#data_type}
There are N samples in each data package. N depends on the data type. The sample data can be one of the following formats.
Data Type:
| Data Type | Sample Type | Coordinate Format | Return Mode | N | Data Frequency | Supported Devices |
|---|---|---|---|---|---|---|
| 0 | Point Cloud Data | Cartesian Coordinate | Single Return Mode | 100 | 100,000 points/s | Mid-40 |
| 1 | Point Cloud Data | Spherical Coordinate | Single Return Mode | 100 | 100,000 points/s | Mid-40 |
| 2 | Point Cloud Data | Cartesian Coordinate | Single Return Mode | 96 | Horizon/Tele-15/Avia: 240,000 points/s Mid-70: 100,000 points/s |
Horizon Tele-15 Mid-70 Avia |
| 3 | Point Cloud Data | Spherical Coordinate | Single Return Mode | 96 | Horizon/Tele-15/Avia: 240,000 points/s Mid-70: 100,000 points/s |
Horizon Tele-15 Mid-70 Avia |
| 4 | Point Cloud Data | Cartesian Coordinate | Dual Return Mode | 48 | Horizon/Tele-15/Avia: 480,000 points/s Mid-70: 200,000 points/s |
Horizon Tele-15 Mid-70 Avia |
| 5 | Point Cloud Data | Spherical Coordinate | Dual Return Mode | 48 | Horizon/Tele-15/Avia: 480,000 points/s Mid-70: 200,000 points/s |
Horizon Tele-15 Mid-70 Avia |
| 6 | IMU Data | --- | --- | 1 | see [IMU Data Push Frequency](#0x08 Set IMU Data Push Frequency {#imu_freq}) | Horizon Tele-15 Avia |
| 7 | Point Cloud Data | Cartesian Coordinate | Triple Return Mode | 30 | Avia: 720,000 points/s |
Avia |
| 8 | Point Cloud Data | Spherical Coordinate | Triple Return Mode | 30 | Avia: 720,000 points/s |
Avia |
Data Type 0
Single return cartesian coordinate data 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 |
Data Type 1
Single return spherical coordinate data 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 |
Data Type 2
Single return cartesian coordinate data 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 |
| tag | 13 | uint8_t | For details, see [tag information](#3.4 Tag Information {#tag_info) |
Data Type 3
Single return spherical coordinate data 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 |
| tag | 9 | uint8_t | For details, see [tag information](#3.4 Tag Information {#tag_info}) |
Data Type 4
Dual return Cartesian coordinate data format:
| Field | Offset (byte) | Data Type | Description |
|---|---|---|---|
| x1 | 0 | int32_t | X axis, Unit: mm |
| y1 | 4 | int32_t | Y axis, Unit: mm |
| z1 | 8 | int32_t | Z axis, Unit: mm |
| reflectivity1 | 12 | uin8_t | Reflectivity |
| tag1 | 13 | uint8_t | For details, see [tag information](#3.4 Tag Information {#tag_info}) |
| x2 | 14 | int32_t | X axis, Unit: mm |
| y2 | 18 | int32_t | Y axis, Unit: mm |
| z2 | 22 | int32_t | Z axis, Unit: mm |
| reflectivity2 | 26 | uin8_t | Reflectivity |
| tag2 | 27 | uint8_t | For details, see [tag information](#3.4 Tag Information {#tag_info}) |
Data Type 5
Dual return spherical coordinate data format:
| Field | Offset (byte) | Data Type | Description |
|---|---|---|---|
| theta | 0 | uint16_t | Zenith angle[0, 18000], Unit: 0.01 degree |
| phi | 2 | uin16_t | Azimuth[0, 36000], Unit: 0.01 degree |
| depth1 | 4 | uint32_t | Depth, Unit: mm |
| reflectivity1 | 8 | uin8_t | Reflectivity |
| tag1 | 9 | uint8_t | For details, see [tag information](#3.4 Tag Information {#tag_info}) |
| depth2 | 10 | uint32_t | Depth, Unit: mm |
| reflectivity2 | 14 | uin8_t | Reflectivity |
| tag2 | 15 | uint8_t | For details, see [tag information](#3.4 Tag Information {#tag_info}) |
Data Type 6
IMU data format:
| Field | Offset (byte) | Data Type | Description |
|---|---|---|---|
| gyro_x | 0 | float | Unit: rad/s |
| gyro_y | 4 | float | Unit: rad/s |
| gyro_z | 8 | float | Unit: rad/s |
| acc_x | 12 | float | Unit: g |
| acc_y | 16 | float | Unit: g |
| acc_z | 20 | float | Unit: g |
Data Type 7
Triple return Cartesian coordinate data format:
| Field | Offset (byte) | Data Type | Description |
|---|---|---|---|
| x1 | 0 | int32_t | X axis, Unit: mm |
| y1 | 4 | int32_t | Y axis, Unit: mm |
| z1 | 8 | int32_t | Z axis, Unit: mm |
| reflectivity1 | 12 | uint8_t | Reflectivity |
| tag1 | 13 | uint8_t | For details, see [tag information](#3.4 Tag Information {#tag_info}) |
| x2 | 14 | int32_t | X axis, Unit: mm |
| y2 | 18 | int32_t | Y axis, Unit: mm |
| z2 | 22 | int32_t | Z axis, Unit: mm |
| reflectivity2 | 26 | uint8_t | Reflectivity |
| tag2 | 27 | uint8_t | For details, see [tag information](#3.4 Tag Information {#tag_info}) |
| x3 | 28 | int32_t | X axis, Unit: mm |
| y3 | 32 | int32_t | Y axis, Unit: mm |
| z3 | 36 | int32_t | Z axis, Unit: mm |
| reflectivity3 | 40 | uint8_t | Reflectivity |
| tag3 | 41 | uint8_t | For details, see [tag information](#3.4 Tag Information {#tag_info}) |
Data Type 8
Triple return spherical coordinate data format:
| Field | Offset (byte) | Data Type | Description |
|---|---|---|---|
| theta | 0 | uint16_t | Zenith angle[0, 18000], Unit: 0.01 degree |
| phi | 2 | uin16_t | Azimuth[0, 36000], Unit: 0.01 degree |
| depth1 | 4 | uint32_t | Depth, Unit: mm |
| reflectivity1 | 8 | uint8_t | Reflectivity |
| tag1 | 9 | uint8_t | For details, see [tag information](#3.4 Tag Information {#tag_info}) |
| depth2 | 10 | uint32_t | Depth, Unit: mm |
| reflectivity2 | 14 | uint8_t | Reflectivity |
| tag2 | 15 | uint8_t | For details, see [tag information](#3.4 Tag Information {#tag_info}) |
| depth3 | 16 | uint32_t | Depth, Unit: mm |
| reflectivity3 | 20 | uint8_t | Reflectivity |
| tag3 | 21 | uint8_t | For details, see [tag information](#3.4 Tag Information {#tag_info}) |
3.4 Tag Information {#tag_info}
| Bit | Description |
|---|---|
| 7:6 | Reserved |
| 5:4 | Return Number: 00: Return 0 01: Return 1 02: Return 2 03: Return 4 |
| 3:2 | Point property based on return intensity: 00: Normal 01: High confidence level of the noise 02: Moderate confidence level of the noise 03: Reserved |
| 1:0 | Point property based on spatial position: 0: Normal 1: High confidence level of the noise 2: Moderate confidence level of the noise 3: Low confidence level of the noise |
For details, see Livox Horizon/Tele-15/Mid-70/Avia user manual.
3.5 Status Code
3.5.1 LiDAR Status 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 | fan_status | 0: Fan in Normal State 1: Fan in Warning State Supported devices: Mid-40/03.07.0000+ Horizon/06.04.0000+ Tele-15/07.03.0000+ |
| Bit12 | self_heating | 0: Low Temperature Self Heating On 1: Low Temperature Self Heating Off Supported devices: Horizon/06.04.0000+ Tele-15/07.03.0000+ Mid-70/10.03.0000+ Avia/11.06.0000+ |
| Bit13 | ptp_status | 0: No 1588 Signal 1: 1588 Signal is OK |
| Bit14:16 | time_sync_status | 0: System dose not start time synchronization 1: Using PTP 1588 synchronization 2: Using GPS synchronization 3: Using PPS synchronization 4: System time synchronization is abnormal (The highest priority synchronization signal is abnormal) |
| Bit17:29 | RSVD | |
| Bit30:31 | system_status | 0: Normal 1: Warning Any of the following situations will trigger warning: 1.1 temp_status is 1;1.2 volt_status is 1;1.3 motor_status is 1;1.4 dirty_warn is 1;1.5 device_status is 1; 1.6 fan_status is 1;2: Error Causes the LiDAR to Shut Down and Enter the Error State. Any of the following situations will trigger error: 2.1 temp_status is 2;2.2 volt_status is 2;2.3 motor_status is 2;2.4 firmware_status is 1; |
3.5.2 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 3: System time synchronization is abnormal (The highest priority synchronization signal is abnormal) |
| 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: 1.1 temp_status is 1;2: Error Any of the following situations will trigger error: 2.1 temp_status is 2;2.2 LiDAR_status is 1;2.3 firmware_status is 1; |
4 Configuration Parameters
4.1 Description
The configuration parameter table is designed to configure the Livox device more easily. It is stored in the non-volatile area of the device. So configuration parameters will not lose after reboot.
Each configuration has an independent key. The following are all available configuration parameters:
| Key | Name | Supported Device | Value Length | Value Type | Value Description |
|---|---|---|---|---|---|
| 0x00 | Reserved | -- | Invalid | ||
| 0x01 | High Sensitivity Function | Tele-15/07.09.0000+ Avia/11.06.0000+ |
1 | uint8_t | 0:High Sensitivity Function disable 1:High Sensitivity Function enable(Default) |
| 0x02 | Switch Repetitive/Non-repetitive Scanning Pattern | Avia/11.06.0000+ | 1 | uint8_t | 0:Non-repetitive Scanning Pattern(Default) 1:Repetitive Scanning Pattern |
| 0x03 | Slot ID Configuration | Mid-70/10.03.0000+ Avia/11.06.0000+ |
1 | uint8_t | configure Slot ID,range 1 to 9 |
- See Write Configuration Parameters for writing configuration parameters;
- See Read Configuration Parameters for reading configuration parameters;
5 Control Command Detail
5.1 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 6: Mid-70 7:Avia |
|
| 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 | |
| imu_port | 10 | uint16_t | Host Control IMU UDP Destination Port, Supported Devices: Horizon/06.04.0000+ Tele-15/07.03.0000+ |
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 |
NOTE: This cmd only takes effect in RAM, the coordinate system will reset to Cartesian after reboot .
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] | For details, see: IP Address Information | |
| net_mask | 7 | uint8_t[4] | IPV4 netmask IP netmask is valid when ‘ip_mode’ is 0x01(Static IP) Example: AA.BB.CC.DD net_mask[0]: AA net_mask[1]: BB net_mask[2]: CC net_mask[3]: DD Supported devices: Horizon/06.04.0000+ Tele-15/07.03.0000+ Mid-70/10.03.0000+ Avia/11.06.0000+ |
|
| gw_addr | 11 | uint8_t[4] | IPV4 gateway IP gateway is valid when ‘ip_mode’ is 0x01(Static IP) Example: AA.BB.CC.DD gw_addr[0]: AA gw_addr[1]: BB gw_addr[2]: CC gw_addr[3]: DD Supported devices: Horizon/06.04.0000+ Tele-15/07.03.0000+ Mid-70/10.03.0000+ Avia/11.06.0000+ |
IP Address Information:
| Device Type/Firmware version | IP Address Information |
|---|---|
| Livox Hub Mid-40 |
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 |
| Horizon/06.04.0000+ Tele-15/07.03.0000+ Mid-70/10.03.0000+ Avia/11.06.0000+ |
IPV4 Address IP address is valid when ‘ip_mode’ is 0x01(Static IP) ip_addr[0]:1 ~ 126 && 127 ~ 223 ip_addr[1]: 0 ~ 255 ip_addr[2]: 0 ~ 255 ip_addr[3]: 0 ~ 255 |
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 |
NOTE: For IP details, see:IP_address.
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 |
|
| net_mask | 8 | uint8_t[4] | Device IPV4 netmask Example: AA.BB.CC.DD user_netmask[0] = AA user_netmask[1] = BB user_netmask[2] = CC user_netmask[3] = DD Supported devices: Livox Hub/08.07.0000+ Horizon/06.04.0000+ Tele-15/07.03.0000+ Mid-70/10.03.0000+ |
|
| gw | 12 | uint8_t[4] | Device IPV4 gateway Example: AA.BB.CC.DD user_gw[0] = AA user_gw[1] = BB user_gw[2] = CC user_gw[3] = DD Supported devices: Livox Hub/08.07.0000+ Horizon/06.04.0000+ Tele-15/07.03.0000+ Mid-70/10.03.0000+ |
0x0A Reboot Device
Supported devices/firmware version:
Livox Hub/08.07.0000+
Mid-40/03.07.0000+
Horizon/06.04.0000+
Tele-15/07.03.0000+
Mid-70/10.03.0000+
Avia/11.06.0000+
request
| CMD | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | General Command: 0x00 |
| cmd_id | 1 | uint8_t | Command ID: 0x0A | |
| timeout | 2 | uint16_t | Reboot device delay time |
response
| ACK | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | General Command: 0x00 |
| cmd_id | 1 | uint8_t | Command ID: 0x0A | |
| ret_code | 2 | uint8_t | Return Code: 0x00: Success 0x01: Fail |
0x0B Write Configuration Parameters
Supported devices/firmware version:
Livox Hub/08.09.0000+
Horizon/06.11.0000+
Tele-15/07.09.0000+
Mid-70/10.03.0000+
Avia/11.06.0000+
request
| CMD | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | General Command: 0x00 |
| cmd_id | 1 | uint8_t | Command ID: 0x0B | |
| param_list | 2 | -- | Configuration Parameters in the form of Key-Value pairs. See the following part |
In 'param_list', each of the configuration parameter has the following format:
Configuration Parameter List Format
| Field | Offset (byte) | Data Type | Description |
|---|---|---|---|
| key | 0 | uint16_t | Key |
| length | 2 | uint16_t | Length of value |
| value | 4 | -- | The type varies with different keys. For details, see [Configuration Parameters](#4 Configuration Parameters) |
response
| ACK | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | General Command: 0x00 |
| cmd_id | 1 | uint8_t | Command ID: 0x0B | |
| ret_code | 2 | uint8_t | Return Code: 0x00: Success 0x01: Fail, an error occurred while writing a parameter |
|
| error_key | 3 | uint16_t | The Key of the first error Configuration Parameter | |
| error_code | 5 | uint8_t | See the following part |
The meaning of the 'error_code':
Configuration Parameter Error Code
| Error Code | Description |
|---|---|
| 0 | No Error |
| 1 | The key is not supported |
| 2 | Execution failed |
| 3 | The key cannot be written |
| 4 | Wrong value |
| 5 | Wrong value length |
| 6 | Reading parameter length limit |
| 7 | The number of parameters does not match |
0x0C Read Configuration Parameters
Supported devices/firmware version:
Livox Hub/08.09.0000+
Horizon/06.11.0000+
Tele-15/07.09.0000+
Mid-70/10.03.0000+
Avia/11.06.0000+
request
| CMD | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | General Command: 0x00 |
| cmd_id | 1 | uint8_t | Command ID: 0x0C | |
| param_num | 2 | uint8_t | The number of parameters | |
| key_list | 3 | -- | Keys List to read |
In 'key_list', each of the key has the following format:
| Field | Offset (byte) | Data Type | Description |
|---|---|---|---|
| key | 0 | uint16_t | Key |
response
| ACK | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | General Command: 0x00 |
| cmd_id | 1 | uint8_t | Command ID: 0x0C | |
| ret_code | 2 | uint8_t | Return Code: 0x00: Success 0x01: Fail, an error occurred while writing a parameter |
|
| error_key | 3 | uint16_t | The Key of the first error Configuration Parameter | |
| error_code | 5 | uint8_t | For details, see Configuration Parameter Error Code | |
| param_list | 6 | -- | Configuration Parameters in the form of Key-Value pairs, see Configuration Parameter List Format |
5.2 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
Supported devices:
Mid-40
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 |
0x04 Set Turn On/Off Fan
Supported devices:
Mid-40/03.07.0000+
Horizon/06.04.0000+
Tele-15/07.03.0000+
request
| CMD | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
| cmd_id | 1 | uint8_t | Command ID: 0x04 | |
| state | 2 | uint8_t | Turn On/Off Fan: 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: 0x04 | |
| ret_code | 2 | uint8_t | Return Code: 0x00: Success 0x01: Fail This configuration is saved in Flash |
0x05 Get Turn On/Off Fan State
Supported devices:
Mid-40/03.07.0000+
Horizon/06.04.0000+
Tele-15/07.03.0000+
request
| CMD | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
| cmd_id | 1 | uint8_t | Command ID: 0x05 |
response
| ACK | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
| cmd_id | 1 | uint8_t | Command ID: 0x05 | |
| ret_code | 2 | uint8_t | Return Code: 0x00: Success 0x01: Fail |
|
| state | 3 | uint8_t | Turn On/Off Fan State: 0x00: Turn Off 0x01: Turn On |
0x06 Set LiDAR Return Mode
Supported devices:
Horizon/06.04.0000+
Tele-15/07.03.0000+
Mid-70/10.03.0000+
Avia/11.06.0000+
request
| CMD | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
| cmd_id | 1 | uint8_t | Command ID: 0x06 | |
| mode | 2 | uint8_t | Return Mode: 0x00: Single Return First 0x01: Single Return Strongest 0x02: Dual Return 0x03: Triple Return |
response
| ACK | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
| cmd_id | 1 | uint8_t | Command ID: 0x06 | |
| ret_code | 2 | uint8_t | Return Code: 0x00: Success 0x01: Fail This configuration is saved in Flash |
0x07 Get LiDAR Return Mode
Supported devices:
Horizon/06.04.0000+
Tele-15/07.03.0000+
Mid-70/10.03.0000+
Avia/11.06.0000+
request
| CMD | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
| cmd_id | 1 | uint8_t | Command ID: 0x07 |
response
| ACK | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
| cmd_id | 1 | uint8_t | Command ID: 0x07 | |
| ret_code | 2 | uint8_t | Return Code: 0x00: Success 0x01: Fail |
|
| mode | 3 | uint8_t | Return Mode: 0x00: Single Return First 0x01: Single Return Strongest 0x02: Dual Return 0x03: Triple Return |
0x08 Set IMU Data Push Frequency {#imu_freq}
Supported devices:
Horizon/06.04.0000+
Tele-15/07.03.0000+
Avia/11.06.0000+
request
| CMD | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
| cmd_id | 1 | uint8_t | Command ID: 0x08 | |
| frequency | 2 | uint8_t | IMU Data Push Frequency: 0x00: 0Hz(Close IMU push) 0x01: 200Hz |
response
| ACK | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
| cmd_id | 1 | uint8_t | Command ID: 0x08 | |
| ret_code | 2 | uint8_t | Return Code: 0x00: Success 0x01: Fail This configuration is saved in Flash. |
0x09 Get IMU Data Push Frequency
Supported devices:
Horizon/06.04.0000+
Tele-15/07.03.0000+
Avia/11.06.0000+
request
| CMD | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
| cmd_id | 1 | uint8_t | Command ID: 0x09 |
response
| ACK | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
| cmd_id | 1 | uint8_t | Command ID: 0x09 | |
| ret_code | 2 | uint8_t | Return Code: 0x00: Success 0x01: Fail |
|
| frequency | 3 | uint8_t | IMU Data Push Frequency: 0x00: 0Hz(Close IMU Data Push) 0x01: 200Hz |
0x0A Update UTC synchronize time {#utc_cmd}
Supported devices:
Mid-40/03.07.0000+
Horizon/06.04.0000+
Tele-15/07.03.0000+
Mid-70/10.03.0000+
Avia/11.06.0000+
request
| CMD | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
| cmd_id | 1 | uint8_t | Command ID: 0x0A | |
| year | 2 | uint8_t | UTC Year: 0 is 2000 year 255 is 2255 year |
|
| month | 3 | uint8_t | UTC Month: Range is 1-12 | |
| day | 4 | uint8_t | UTC Day: Range is 1-31 | |
| hour | 5 | uint8_t | UTC Hour: Range is 0-23 | |
| microsecond | 6 | uint32_t | 1 Hour Microsecond Offset | |
| response |
| ACK | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
| cmd_id | 1 | uint8_t | Command ID: 0x0A | |
| ret_code | 2 | uint8_t | Return Code: 0x00: Success 0x01: Fail |
5.3 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
Supported devices:
Mid-40
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 0x02: Device not support |
| 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 |
0x09 Set LiDAR Turn On/Off Fan
Supported devices:
Mid-40/03.07.0000+
Horizon/06.04.0000+
Tele-15/07.03.0000+
request
| CMD | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 |
| cmd_id | 1 | uint8_t | Command ID: 0x09 | |
| count | 2 | uint8_t | Number of LiDAR to Configure Range: 1 ~ 27 | |
| config_list | 3 | -- | LiDAR Fan Configuration List |
In ‘config_list’, each LiDAR fan configuration information has the following format:
| Field | Offset (byte) | Data Type | Description |
|---|---|---|---|
| broadcast_code | 0 | uint8_t[16] | LiDAR Broadcast Code |
| state | 1 | uint8_t | Turn On/Off Fan: 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: 0x09 | |
| 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 0x02: Device not support |
| broadcast_code | 1 | uint8_t[16] | LiDAR Broadcast Code |
NOTE: This cmd data is saved to LiDAR's flash, and power down is not lost.
0x0A Get LiDAR Turn On/Off Fan State
Supported devices:
Mid-40/03.07.0000+
Horizon/06.04.0000+
Tele-15/07.03.0000+
request
| CMD | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 |
| cmd_id | 1 | uint8_t | Command ID: 0x0A | |
| count | 2 | uint8_t | Number of LiDAR to Configure Range: 1 ~ 27 | |
| config_list | 3 | -- | LiDAR Fan Configuration List |
In ‘config_list’, each LiDAR fan configuration information has the following format:
| Field | Offset (byte) | Data Type | Description |
|---|---|---|---|
| broadcast_code | 0 | uint8_t[16] | LiDAR Broadcast Code |
response
| ACK | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 |
| cmd_id | 1 | uint8_t | Command ID: 0x0A | |
| 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 0x02: Device not support |
| broadcast_code | 1 | uint8_t[16] | LiDAR Broadcast Code |
| state | 17 | uint8_t | Turn On/Off Fan State: 0: Turn Off 1: Turn On |
0x0B Set LiDAR Return Mode
Supported devices:
Horizon/06.04.0000+
Tele-15/07.03.0000+
request
| CMD | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 |
| cmd_id | 1 | uint8_t | Command ID: 0x0B | |
| count | 2 | uint8_t | Number of LiDAR to Configure Range: 1 ~ 27 | |
| config_list | 3 | -- | LiDAR Return Mode Configuration List |
In ‘config_list’, each LiDAR return mode configuration information has the following format:
| Field | Offset (byte) | Data Type | Description |
|---|---|---|---|
| broadcast_code | 0 | uint8_t[16] | LiDAR Broadcast Code |
| mode | 1 | uint8_t | Return Mode: 0x00: Single Return First 0x01: Single Return Strongest 0x02: Dual Return |
response
| ACK | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 |
| cmd_id | 1 | uint8_t | Command ID: 0x0B | |
| 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 0x02: Device not support |
| broadcast_code | 1 | uint8_t[16] | LiDAR Broadcast Code This configuration is saved in Flash |
0x0C Get LiDAR Return Mode
Supported devices:
Horizon/06.04.0000+
Tele-15/07.03.0000+
request
| CMD | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 |
| cmd_id | 1 | uint8_t | Command ID: 0x0C | |
| count | 2 | uint8_t | Number of LiDAR to Configure Range: 1 ~ 27 | |
| config_list | 3 | -- | LiDAR Return Mode Configuration List |
In ‘config_list’, each LiDAR return mode configuration information has the following format:
| Field | Offset (byte) | Data Type | Description |
|---|---|---|---|
| broadcast_code | 0 | uint8_t[16] | LiDAR Broadcast Code |
response
| ACK | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 |
| cmd_id | 1 | uint8_t | Command ID: 0x0C | |
| 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 0x02: Device not support |
| broadcast_code | 1 | uint8_t[16] | LiDAR Broadcast Code |
| mode | 17 | uint8_t | Return Mode: 0x00: Single Return First 0x01: Single Return Strongest 0x02: Dual Return |
0x0D Set LiDAR IMU Data Push Frequency
Supported devices:
Horizon/06.04.0000+
Tele-15/07.03.0000+
request
| CMD | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 |
| cmd_id | 1 | uint8_t | Command ID: 0x0D | |
| count | 2 | uint8_t | Number of LiDAR to Configure Range: 1 ~ 27 | |
| config_list | 3 | -- | LiDAR IMU Frequency Configuration List |
In ‘config_list’, each LiDAR IMU Frequency configuration information has the following format:
| Field | Offset (byte) | Data Type | Description |
|---|---|---|---|
| broadcast_code | 0 | uint8_t[16] | LiDAR Broadcast Code |
| frequency | 1 | uint8_t | IMU Data Push Frequency: 0x00: 0Hz(Close IMU Data Push) 0x01: 200Hz |
response
| ACK | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 |
| cmd_id | 1 | uint8_t | Command ID: 0x0D | |
| 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 0x02: Device not support |
| broadcast_code | 1 | uint8_t[16] | LiDAR Broadcast Code This configuration is saved in Flash |
0x0E Get LiDAR IMU Data Push Frequency
Supported devices:
Horizon/06.04.0000+
Tele-15/07.03.0000+
request
| CMD | Name | Offset (byte) | Data Type | Description |
|---|---|---|---|---|
| data | cmd_set | 0 | uint8_t | Hub Command: 0x02 |
| cmd_id | 1 | uint8_t | Command ID: 0x0C | |
| count | 2 | uint8_t | Number of LiDAR to Configure Range: 1 ~ 27 | |
| config_list | 3 | -- | LiDAR IMU Frequency Configuration List |
In ‘config_list’, each LiDAR IMU frequency configuration information has the following format:
| Field | Offset (byte) | Data Type | Description |
|---|---|---|---|
| broadcast_code | 0 | uint8_t[16] | LiDAR Broadcast Code |
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 0x02: Device not support |
| broadcast_code | 1 | uint8_t[16] | LiDAR Broadcast Code |
| frequency | 17 | uint8_t | IMU Data Push Frequency: 0x00: 0Hz(Close IMU Data Push) 0x01: 200Hz |