Data Sheet
www.ydlidar.com Copyright 2015-2019 YDLIDAR
5
/ 5
Assume that in the frame data,
= 1000
，
，
and bring in the
second-level solution formula, you get:
−
，
, so:
=
=
Similarly,
，can be obtained sequentially.
Check code:
The check code uses a two-byte XOR to verify the current data packet, and does not
participate in the exclusive OR operation itself, and the XOR sequence is not strictly in byte
order. The XOR sequence is shown in the figure. It should be noted that since the sampled
data Si has 3 bytes, the upper 8 bits of the first byte of Si need to be complemented by 0,
such as C_3 and C_5 on the left. Therefore, the
checksum solving formula is:
indicates the XOR of the element from subscript
1 to end. However, XOR satisfies the exchange law, and
the actual solution may not need to follow the XOR
sequence.
MOTOR SPEED CONTROL
Users can change the scanning frequency to meet the needs according to actual needs.
The motor speed can be adjusted by changing the input voltage of the M_SCTP pin or
changing the duty cycle of the input PWM signal (refer to the data sheet for specific control
methods).
REVISION
Date
ver
sio
n
content
2019-
04-24
1.0
First written
PH
FIG 5 CS XOR SEQUENCE
FSA
CT
LSN
LSA
S1
S2
‥‥
‥