Communication Protocol

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FIGURE 4-25 FORMAT OF A DEVICE INFO DATA RESPONSE PACKET................................................................... 34

FIGURE 4-26 FIELD DEFINITION OF DEVICE INFO DATA RESPONSE PACKET ....................................................... 35

FIGURE 4-27 THE TIMING SEQUENCE OF A GET_INFO REQUEST ...................................................................... 35

FIGURE 4-28 FORMAT OF A DEVICE HEALTH DATA RESPONSE PACKET .............................................................. 36

FIGURE 4-29 FIELD DEFINITION OF DEVICE HEALTH STATUS DATA RESPONSE PACKET ..................................... 36

FIGURE 4-30 FORMAT OF A SAMPLE RATE DATA RESPONSE PACKET ................................................................. 37

FIGURE 4-31 FIELD DEFINITION OF SAMPLE RATE DATA RESPONSE PACKET ..................................................... 38

FIGURE 4-32 FORMAT OF A GET LIDAR CONF REQUEST PACKET ...................................................................... 38

FIGURE 4-33 DEFINITION OF GET LIDAR CONF REQUEST FIELDS ...................................................................... 39

FIGURE 4-34 FORMAT OF A GET LIDAR CONF RESPONSE PACKET .................................................................... 40

FIGURE 4-35 DEFINITION OF DEVICE CONFIGURATION GET COMMAND RESPONSE PACKET ............................. 40

FIGURE 4-36 FUNDAMENTAL DATA TYPES AND DEFINITION .............................................................................. 41

FIGURE 4-37 SUPPORTED CONFIGURATION ENTRIES .......................................................................................... 41

FIGURE 5-1 RECOMMENDATION FOR STARTING RPLIDAR SCANNING AND DATA RETRIEVING ....................... 45

FIGURE 5-2 BLOCK DIAGRAM OF RPLIDAR A1 SPEED DETECTION AND CONTROL SYSTEM ............................ 46

FIGURE 5-3 BLOCK DIAGRAM OF RPLIDAR A2 SPEED DETECTION AND CONTROL SYSTEM ............................ 46