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Lidar UART Protocol

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iliasam edited this page Feb 23, 2018 · 3 revisions

Raw Image protocol

This data protocol is used by "test1_capture_image" firmware. Single data packet consists of two parts:

  • Header: [0x41, 0x62, 0x43, 0x64, 0x45, 0x66] - 6 bytes.
  • Data captured from TSL1401: [(LSB + MSB)*128] - (128 x 16-bit values) - 256 bytes.

Main Lidar Protocol

This data protocol is used by "lidar4_main_code" firmware. Single data packet consists of parts:

  • Header: [0xAA, 0xBB, 0xCC, 0xDD] - 4 bytes.
  • Status: [LSB + MSB] - (16-bit value) - 2 bytes.
  • Duration of the last turn: [LSB + MSB] - (16-bit value is ms) - 2 bytes.
  • Distance data: [(LSB + MSB)*360] - (360 x 16-bit values) - 720 bytes.

Total number of bytes in this packet - 728.

Every "distance data value" is a 16-bit unsigned value, corresponding to a certain rotation angle. In fact "distance data value" is a position of the laser light spot at the TSL1401. High level software must convert that values to a real distance values.

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