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A response descriptor uses fixed two bytes’ pattern 0xA5 0x5A for the host system

to identify the start of a response descriptor. The 30bit Data Response Length field

records the size of a single incoming data response packet in bytes. (All the

incoming data response packets within a request/response session should have the

same format and length). The 2bits Send Mode field describes the request/response

mode of the current session. Its values are listed below:

Figure 2-8 RPLIDAR Data Response Packets Value

The 1byte Data Type describes the type of the incoming data response packets. It

is related to the type of the request RPLIDAR just received. Host systems can choose

different data receiving and handling policy based on this field.

Different from response descriptors, there is no common format used among

response data packets. Each type of response data has its own data format and

packet length based on its type.

Send Mode

Description

0x0

Single Request – Single Response mode, RPLIDAR will send only one data

response packet in the current session.

0x1

Single Request – Multiple Response mode, RPLIDAR will continuously send

out data response packets with the same format in the current session.

0x2

Reserved for future use

0x3

Reserved for future use