Manual
www.ydlidar.com Copyright 2015-2018 Ydlidar Team
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Therefore
°
，and according to this, the angle data of each sample point in
the data packet of this frame can be obtained.
Check code parsing:
The check code uses a two-byte exclusive OR to verify the
current data packet. It does not participate in XOR operations
itself, and the XOR order is not strictly in byte order, as shown in
the XOR order. Therefore, the check code solution formula is:
is an XOR formula that XORs the number of elements in
the element from subscript 1 to end. But the XOR satisfies the
commutative law, and the actual solution may not need to follow the XOR order.
Stop command [A5 65]
When the system is in the scanning state, G4 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 the stop
command is sent, the system will be in the standby state. At this time, the ranging unit of the device
is in the low power consumption 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 the external device sends a Get Device Information command (A5 90) to the G4, G4 will
feedback the device model, firmware version and hardware version, and the device's factory serial
number. The reply message is:
FIG 8 YDLIDAR G4 DEVICE INFORMATION
According to the protocol resolution: response length = 0x00000014, answer mode = 0x0, type code
= 0x04.
That is, the number of response content bytes is 20. The response is a single response and the type
code is 04. This type of response content satisfies the following data structure:
00
A5
5A
14
00
00
04
‥‥
Start sign
Length
Mode
Type code
Content
Model number
Firmware version
Hardware version
Serial number
Byte offset
0
1
2
3
4
5
‥
19
PH
𝐶
FIG 7 CS XOR SEQUENCE DIAGRAM
FSA
𝐶
CT
𝐶
𝑒𝑛𝑑
LSN
LSA
𝐶
𝑒𝑛𝑑
S1
𝐶
S2
𝐶
‥‥
‥