Interface Protocol

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2019 Shanghai Slamtec Co., Ltd.
to the source of our public SDK or related patent for technical details. Using open-
sourced SDK is preferred, comparing to implement decoder on your own.
Following chart shows the communication between host system and lidar when
LIDAR is required to work in this mode:
Figure 4-18 The Communication Status Sending Out the Ultra Capsuled Express
Scan Request
RPLIDAR
H
ost System
A5
A5
…
N
ext Request
D
ata transfer order:
…
…
S
=
0
360° scan
A new scan
A5
5A
8
4
00
00
40
8
4
82
05 …
S
=1