User's Manual

Following is the response message format sent from server (LiDAR) to client:

NOTE LiDAR echos feedback message to every command it received.

Field Description

Table IV.2 Feedback Message Format from LiDAR to Client

0×47

0×74

Cmd

Return Code

Data Length

1 byte

Type Length

1 byte

4 bytes

fixed content

the code for command, see command description for details

return code from server

the additional data length for the command, 0x00 means that the command does not have payload

Payload data length bytes

the payload data for the command, its length is indicated by “payload length” field

Additional Data

Table IV.3 Type of Command

PTC_COMMAND_GET_LIDAR_CALIBRATION

PTC_COMMAND_PTP_DIAGNOSTICS

0x5

Command Command Code

0x6

None

PTP Query Type

Description

to retrieve the LiDAR’s calibration files

to retrieve PTP-diagnostic for speciﬁed PTP Query Type

PTC_COMMAND_GET_INVENTORY_INFO 0x7 None to retrieve the LiDAR inventory information

PTC_COMMAND_GET_CONFIG_INFO 0x8 None

to retrieve the LiDAR configuration parameters

PTC_COMMAND_GET_LIDAR_STATUS 0x9 None to retrieve the LiDAR temperature, system uptime etc information

Command list is shown as Table IV.3.

2 Command Description

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