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UART Protocol
iliasam edited this page Jan 31, 2024
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Mavlink v1 protocol is used for communication with this LIDAR.
You can see XML with commands here: https://github.com/iliasam/OpenTOFLidar/blob/develop/Firmware/MavlinkXML/mavlink_tof.xml
Mavlink is not supporting long packets, so special custom packets "LONG_PACKET" are used for sending captured results.
There are two types of that packets:
- data_code = MAVLINK_LONG_PACKET_BATCH_CODE (1) - used for sending data from TDC in non-scanning mode.
- data_code = MAVLINK_LONG_PACKET_SCAN_CODE (2) - used for sending measured distances in scanning mode.
UART baudrate is 500000 both in scanning and non-scanning modes.
See also: https://github.com/iliasam/OpenTOFLidar/wiki/State-Mask-bits-description