User Guide

54A0049_7.0_EN / Leddar Pixell – User Guide 99 | 127
Appendix D. Communication Protocol
Introduction
This section presents the Leddar™ Ipv4 communication protocol used with the Leddar Pixell 3D flash LiDAR
sensor. The protocol defines a set of communication rules that provide flexibility to support several product-
specific applications.
This protocol also offers a set of generic communication requests that may be implemented partially or
entirely depending on the product application and available hardware.
Architecture
The Leddar Pixell sensor uses the IPv4 protocol. Its IP address can be set automatically using a DHCP or
static mode. It is divided between the three servers: identification, configuration, and data server requests.
All ports are currently permanent and cannot be changed.
Protocol Concepts
Two major protocol concepts are used by the different servers. Both concepts involve a host and a sensor
(which is independent of the client or server side). All data transmitted over the Ipv4 communication protocol
is in little-endian (Intel) byte order.
Definitions
This section provides some common definitions used in those concepts (structures, constants, etc.).
Request Header Structure
All commands and data sent by the host minimally consist of a request header and may be followed by data
(specific to the request).
Table 32: Request header definition
Item
Size (bytes)
Description
Server protocol version
2
Protocol version specific to each server (identification,
configuration, data)
Request code
2
Used to uniquely identify the request type. Codes may be
reused for different server links. Note that request code 0 is
invalid.
Request size
4
Size of the complete request: header plus data.
Total
8
N/A
The protocol version number is specific to each server, which means that protocol
version 1 for a given server is not necessarily equivalent to protocol version 1 for another
server.