Manual

www.ydlidar.com Copyright 2015-2018 YDLIDAR Team
6 / 12
FIG5 SCAN COMMAND RESPONSE CONTENT DATA STRUCTURE
CHART 4 SCAN COMMAND RESPONSE CONTENT DATA STRUCTURE DESCRIPTION
Content
Name
Description
PH(2B)
Packet header
The length is 2B, which is 0x55AA. The low one is in the front and the high
one is in the back.
CT(1B)
Packet type
Indicates the type of the current packet; 0x00: Cloud packet 0x01: Zero packet.
LSN(1B)
Sample quantity
Indicates the number of sampling points contained in the current packet; there
is only 1 zero point in the zero packet. The value is 1.
FSA(2B)
Starting angle
The angle data corresponding to the first sample point in the sampled data.
LSA(2B)
End angle
The angle data corresponding to the last sample point in the sampled data.
CS(2B)
Check code
The check code of the current data packet uses a two-byte XOR to check the
current data packet.
Si(2B)
Sampling data
The system test sampling data is the distance data of the sampling point.
Stop command [A5 65]
When the system is in a scanning state, F4PRO always sends point cloud data. If you need to close
the scan at this time, you can send this command to stop the system from scanning. After sending the
stop command, the system will be in standby state. At this point, the device's ranging unit is in low
power mode and the laser is off.
The command is unresponsive, so the system will not reply with any message after receiving the
command.
Device Information [A5 90]
When an external device sends a Get Device Information command to the F4PRO (A5 90), F4PRO
will feedback the device model, firmware version and hardware version, and the device's factory
serial number. The reply message is:
FIG8 YDLIDAR F4PRODEVICE INFORMATION
According to the protocol resolution: response length = 0x00000014, answer mode = 0x0, type code
= 0x04.
00
A5
5A
14
00
00
04
‥‥
Start
Length
Mode
Type code
Content