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Figure 2-4 RPLIDAR Request Packets’ Format

A fixed 0xA5 byte is used for each request packet, RPLIDAR uses this byte as the

identification of a new request packet. An 8bit (1byte) command field must follow

the start flag byte.

If the current request carries extra payload data, an 8bit (1byte) payload size field is

required to be transmitted after sending the command field and then follows the

payload data. After the payload data has been transmitted, an 8bit (1byte) checksum

field calculated from the previous sent data should be transmitted.

The checksum value can be calculated using the following equation:

  



























Note: Timing Consideration

All bytes within a request packet must be transmitted to RPLIDAR within 5 seconds.

Otherwise, the communication stack of RPLIDAR will discard the current request

packet.

Response Packets’ Format

All the response packets are divided into two classes: response descriptors and

data responses. If the current request received by RPLIDAR requires a response,

RPLDAR will always send a response descriptor packet first and then send one or

more data response packets based on the type of requests. Only one response

descriptor packet will be sent out during a request/response session. The response

descriptors carry the information of the incoming data responses. All the response

descriptors share a same format.

Start Flag

Command

Payload Size

Payload Data

Checksum

1byte

(0xA5)

1byte

0-255 bytes

1byte

Optional Section

Transmission Order

≤5 seconds