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srcs/RobotNet10/RobotApp/Communication/Olei.LidarSensor/README.md Normal file
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# LR-1F / LR-1BS
# 2D LiDAR Sensor
# Communication Data Protocol
**v2.1**
## 1. Type of Connector
**1.1** Connector: RJ-45 standard internet connector
**1.2** Basic protocol: UDP/IP standard internet protocol
Data are in **little-endian** format, lower byte first
---
## 2. Data Packet Format
### 2.1. General
The total length of a data frame is **1240 bytes**, including:
- Frame header: **40 bytes**
- Data block: **150 × 8 = 1,200 bytes**
Header Block0 Block1 ... Block149
+40 bytes +8 bytes +8 bytes +8 bytes
└───────────────────────────────┘
1200 bytes
┌───────────────────────────────┐
1240 bytes total
### 2.2. Header
**Definition of Frame Header**
| Offset | Length | Description |
|--------|--------|-------------------------------------------------------------------------------------------------------|
| 0 | 4 | ID, it is always `0xFEF0010F` |
| 4 | 2 | Protocol version code, the current code is `0x0200` |
| 6 | 1 | Distance scale<br>distance = readout data × distance scale |
| 7 | 3 | Brand name code, use capital letters and digits. Using "0" for missing code |
| 10 | 12 | Commercial type code: ended with `\0` |
| 22 | 2 | Internal type code |
| 24 | 2 | Hardware version |
| 26 | 2 | Software version |
| 28 | 4 | **Time stamp**<br>• When NTP is **OFF**: Unit ms. represents the number of milliseconds after power-on<br>• When NTP is **ON**: Represents the fractional part of a timestamp in NTP64 format. |
| 32 | 2 | **Bit[14:0]**: Rotation rate<br>**Bit[15]**: Rotation direction (0: clockwise, 1: counter clockwise) |
| 34 | 1 | Safe zone status, same as the hardware INPUT/OUTPUT<br>**BIT[3:0]**: Same as OUTPUT[3:0]<br>**BIT[7:4]**: Same as INPUT[3:0] |
| 35 | 1 | **Error status**. A corresponding bit of "1" indicates an error<br>• BIT0: Motor fault<br>• BIT1: Abnormal voltage<br>• BIT2: Temperature fault |
| 36 | 4 | • When NTP is **OFF**: Reserved<br>• When NTP is **ON**: Represents the integer part of a timestamp in NTP64 format. |
### 2.3. Data block definition
Each data block is **8 bytes**
| Offset | Length | Description |
|--------|--------|-------------------------------------------------------------------------------------------------------|
| 0 | 2 | **Angle**, unsigned integer. Range: 0~35999<br>Unit: 0.01°/LSB, range 0° ~ 359.99°<br>**Note**: Data block is invalid if this value is greater or equal than `0xFF00` |
| 2 | 2 | **Distance readout data**, unsigned integer<br>Actual distance = readout data × distance scale |
| 4 | 2 | **Signal strength**, indicates the strength of the received signal, range 0~65535 |
| 6 | 2 | Reserved (TBD) |
---