Communication Protocol

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2019 Shanghai Slamtec Co., Ltd.
The following table describes the filed definition of the above packet.
Figure 4-31 Field Definition of Sample Rate Data Response Packet
Device configuration query command
(GET_LIDAR_CONF)
Use this command to fetch characters of RPLIDAR. Use type and payload to specify
the configuration entry to query.
Format of data request packets:
Figure 4-32 Format of a Get LIDAR Conf Request Packet
A5
84
Request Packet:
A5
5A
Response Descriptor
:
S
00
00
00
20
Response Mode:
Single
Data Response Le
ngth:
Variable
S
Request Data
C
type
32
0
payload[0]
8
0
+0
+4
Byte Offset:
payload[n]
8
0
n+4
…
optional