User Manual

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Host system should prevent sending extra request packets if the RPLIDAR is busy

with handing the current request and hasn’t replied to the host system yet.

Otherwise,

these extra request packets will be discarded by the RPLIDAR’s protocol stack and

the RPLIDAR will not have any chance to handle it.

Single Request-Multiple Response Modes

This mode is used when the RPLIAR is asked to perform the scan operation. After a

host system sending a Start Scan request, RPLIDAR will take distance scan

measurement continuously. Once a scan measurement sample is retrieved, its

related result data (distance, angle value) will be sent out as individual response

packets.

Host systems are only required to send a single request packet with this mode but

will receive a continuous response packet stream with multiple response packets.

Figure 2-2 RPLIDAR Single Request - Multiple Response Mode

The host system can interrupt RPLIDAR and let it leave the multiple responses mode

by sending a STOP request or any request packet. After leaving the multiple

RPLIDAR

Host System

Send a Start Scan

Request

Initialization

Reply a response descriptor

Waiting for

response

Prepare for

receiving

Scan

Operation

Measurement Sample1

Measurement Sample2

Receiving data

…

Measurement Samplen

Another response

Exit the scan

operation

Handle other

responses