1.2.1.1. Livox LiDAR Communication Protocol–Mid360

Release History

Date

Version

Description

20220519

v1.0

1. Initialized version

20220530

v1.1

1. Merge status and parameter key_value information fields
2. The information push command supports pushing LiDAR parameter information and status information

20220602

v1.2

1. Add log related commands

20220622

v1.3

1. Port 56000 only supports discovery command by broadcasting. Discovery command by broadcasting ack adds the control command port field of the current LiDAR

20220628

v1.4

1. Update working status description

20220629

v1.4.1

1. Add firmware type to key value list

20220815

v1.4.2

1. Add detect_mode & func_io_cfg to key value list

20220825

v1.4.3

1.Add tag_type to the point cloud frame header to describe the type of point cloud tag
2.Added description of tag type

20220915

v1.4.4

1.Add point cloud format description in spherical coordinate system
2.Modified description of ROI configuration

20221028

v1.4.5

1. Modified description of FOV configuration
2. Modified description of GPS time synchronization

20221114

v1.4.6

1. Add description of communication process

20221213

v1.4.7

1. Modified description of pattern_mode configuration

20230904

v1.4.8

1. Add description of log related protocols

20240102

v1.4.9

1. Add upgrade error related abnormal code description
2. Add environment temp related high abnormal code

20240117

v1.4.10

1. Update description of GPS sync high-level time of the second pulse

20240222

v1.4.11

1. Add description related to time synchronization slope
2. Add descriptions related to shock absorption and heat dissipation

1.2.1.2. Overview

This communication protocol is only used for livox Mid360 LiDAR.

1.2.1.2.1. Protocol Types

There are two types of data protocols between the user and the LiDAR, see as below:

Point cloud data protocol:

Control command protocol:

  • Configure and query LiDAR parameters;

  • LiDAR reset;

  • Push and query LiDAR status;

  • Upgrade LiDAR;

    For details, see 4 CMD Detials

Both protocols are encapsulated using UDP data segments, and the protocol data is Little-endian.

1.2.1.2.2. LiDAR Working Status

The state machine of the current LiDAR is shown in the figure, The state enumeration values currently used by the Mid360 are as follows:

LiDAR Status

Enumeration Value

Whether to Support User Settings

SAMPLING

0x01

Support(By Parameter Configuration)

IDLE

0x02

Support(By Parameter Configuration)

ERROR

0x04

Not Support

SELFCHECK

0x05

Not Support

MOTORSTARUP

0x06

Not Support

UPGRADE

0x08

Support(By Entering Upgrade)

READY

0x09

Support(By Parameter Configuration)

1.2.1.2.3. Port Description

The source port and destination port are explained as follows according to the different data types:

Data Type

Transmission Direction

LiDAR Port

Host Computer Port

Transmission Type

Transmission Protocol

Device Type Query

LiDAR <—-> PC

56000

Any

Broadcast

UDP

56000 is used as the fixed listening port of Livox LiDAR, mainly used for the host computer to query the device through broadcast:

1. Only the device type query command (cmd_id: 0x0000) is supported. The host computer obtains the specific device type of the LiDAR through this port. This command response is replied by broadcast, so that when the host computer and the LiDAR IP are not in the same network segment, the host computer can still identify the LiDAR.

Mid-360 Communication Port:

Data Type

Transmission Direction

LiDAR Port

Host Computer Port

Transmission Type

Transmission Protocol

Control Command

LiDAR<—> Host Computer

56100

Any (56101 recommended)

Unicast

UDP

Push Command

LiDAR —> Host Computer

56200

Configurable (default 56201)

Default Unicast

UDP

Point Cloud Data

LiDAR —> Host Computer

56300

Configurable (default 56301)

Default Unicast(Support Multicast)

UDP

IMU Data

LiDAR —> Host Computer

56400

Configurable (default 56401)

Default Unicast(Support Multicast)

UDP

LOG Data

LiDAR <—> Host Computer

56500

Any (56501 recommended)

Unicast

UDP

1.2.1.3. Point Cloud & IMU Data Protocol

1.2.1.3.1. Protocol Format

Point cloud data format:

Fields

Offset (bytes)

Size (bytes)

Description

version

0

1

Package protocol version: currently 0.

length

1

2

The length of the entire UDP data segment starting from version.

time_interval

3

2

Intra-frame point cloud sampling time (Unit: 0.1us);
In this frame of point cloud data, the time of the last point minus the time of the first point.

dot_num

5

2

The current UDP packet data field contains the number of points.

udp_cnt

7

2

Point cloud UDP packet count, each UDP packet is incremented by 1 in turn, and cleared to 0 at the beginning of the point cloud frame.

frame_cnt

9

1

Point cloud frame count, plus 1 for each frame of point cloud (10Hz/15Hz, etc.);
For non-repeating scans, this field is invalid.

data_type

10

1

Data type. For details, see 2.3 Data Types.

time_type

11

1

Timestamp type. For details, see 2.2 Timestamp.

reserved

12

12

Reserved.

crc32

24

4

Timestamp + data segment check code, using CRC-32 algorithm. For details, see 6 CRC Algorithm.

timestamp

28

8

Point cloud timestamp. For details, see 2.2 Timestamp.

data

36

–

Data information. For details, see 2.3 Data Types.

1.2.1.3.2. Timestamp

The LiDAR system supports GPS time synchronization and PTP network time synchronization.

GPS time synchronization can be input through UDP packets, or through serial port GPRMC packets, see the time synchronization documentation for more details;

PTP time synchronization supports IEEE1588v2.0 UDP/IP synchronization, and gPTP L2 synchronization;

The timestamp in each packet represents the time of the first point cloud, and there are N point clouds in each packet. The time of these N point clouds is equally spaced, and the total time interval is the value of time_interval.

Timestamp type:

Timestamp Type

Sync Source Type

Data Format

Description

0

No synchronization source, the timestamp is the time when the LiDAR is turned on

uint64_t

Unit: ns

1

gPTP/PTP synchronization, the time of master clock source as a timestamp

uint64_t

Unit: ns

2

GPS time synchronization

uint64_t

Unit: ns

Notice:

  • The time limit for GPS time synchronization is from 1/1/2000 to 31/12/2037

  • PTP time synchronization does not support IEEE1588v2.1

  • Not recommended for use in scenarios where IEEE1588v2.0 and gPTP coexist;

1.2.1.3.3. Data Types

There are N samples in each packet. The size of N depends on the data type.

There are four data types from 0 to 3, the default data type is 1:

Data Type

Sampling Type

Echo Mode

Coordinate Mode

N

0

IMU data

1

Point cloud data 1

Single echo mode

Cartesian coordinates(32bit)

96

2

Point cloud data 2

Single echo mode

Cartesian coordinates(16bit)

96

3

Point cloud data 3

Single echo mode

Spherical coordinates

96

Data Type 0

IMU Data:

Field

Offset (bytes)

Data Type

Description

gyro_x

0

float

Unit: rad/s

gyro_y

4

float

Unit: rad/s

gyro_z

8

float

Unit: rad/s

acc_x

12

float

Unit: g

acc_y

16

float

Unit: g

acc_z

20

float

Unit: g

Data Type 1

Single echo Cartesian coordinate data format:

Field

Offset (bytes)

Data Type

Description

x

0

int32_t

X axis, Unit: mm

y

4

int32_t

Y axis, Unit: mm

z

8

int32_t

Z axis, Unit: mm

Reflectivity

12

uint8_t

Reflectivity

Tag

13

uint8_t

According to the point cloud frame header pack_info.tag_type field, match the specific tag type. For details, see 2.4 Tag Information.

Data Type 2

Single echo Cartesian coordinate data format (16bit):

Field

Offset (bytes)

Data Type

Description (10mm is the resolution in 16bit format)

x

0

int16_t

X axis, Unit: 10mm

y

2

int16_t

Y axis, Unit: 10mm

z

4

int16_t

Z axis, Unit: 10mm

Reflectivity

6

uint8_t

Reflectivity

Tag

7

uint8_t

According to the point cloud frame header pack_info.tag_type field, match the specific tag type. For details, see 2.4 Tag Information.

Data Type 3

Single return spherical coordinate data format:

Field

Offset (bytes)

Data Type

Description (10mm is the resolution in 16bit format)

depth

0

uint32_t

Depth, Unit: mm

theta

4

uint16_t

Zenith angle[0, 18000], Unit: 0.01 degree

phi

6

uint16_t

Azimuth[0, 36000], Unit: 0.01 degree

Reflectivity

8

uint8_t

Reflectivity

Tag

9

uint8_t

According to the point cloud frame header pack_info.tag_type field, match the specific tag type. For details, see 2.4 Tag Information.

1.2.1.3.4. Tag Information

Tag mainly indicates other additional information of the detection point.The point cloud is marked as an 8bit unsigned integer, which is divided into several areas according to the bit, and each area represents an attribute of the detection point, including rain, fog, dust, adhesion point clouds between similar objects, etc.; Among them, the confidence level indicates the reliability of the detection point, and the normal point is generally 0 (High confidence); Low confidence indicates that the detection point is greatly affected by the corresponding attributes, and the reliability of the detection result is poor; if necessary, the point cloud can be filtered based on this information.Details are as follows:

Bit

Description

bit 6~7

Reserved

bit 4~5

Properties of Detection Points: other
0: High confidence (normal point)
1: Medium confidence
2: Low confidence
3: Reserved

bit 2~3

Properties of Detection Points: Rain, fog, dust and other tiny particles
0: High confidence (normal point)
1: Medium confidence
2: Low confidence
3: Reserved

bit 0~1

Properties of Detection Points: Glue point cloud between adjacent objects
0: High confidence (normal point)
1: Medium confidence
2: Low confidence
3: Reserved

1.2.1.4. Control Command

1.2.1.4.1. Frame Format

Format of control command is as follows:

Field

Offset(byte)

Size (byte)

Description

sof

0

1

Starting byte, fixed to be 0xAA.

version

1

1

Protocol version, 0 for current version.

length

2

2

Length of frame;
The number of bytes from beginning of sof to end of entire data segment. Max value: 1400.

seq_num

4

4

This field is incremented by 1 for each new REQ request message;
This field of ACK message is the same as REQ and can be used for message matching.

cmd_id

8

2

Different types of messages are distinguished by this field, For details, see 5 Return Code Description.

cmd_type

10

1

Command Type:
0x00: REQ, actively send data request;
0x01: ACK, response to REQ data.

sender_type

11

1

The sender’s device type:
0x00: Host computer,
0x01: LiDAR.

resv

12

6

Reserved.

crc16

18

2

Frame header checksum, check data starts from sof to crc16 (not included), 18 bytes in total. For details, see 6 CRC Algorithm.

crc32

20

4

Frame data checksum. For details, see 6 CRC Algorithm;
When length of data field is 0, CRC32 needs to be padded with 0.

data

24

n

4 CMD detials.

1.2.1.4.2. Command ID

Command id list:

Function Type

CMD ID

Function

Device Type Query

0x0000

Discovery by broadcasting

LiDAR Information

0x0100

Parameter information configuration

0x0101

Inquire LiDAR information

0x0102

Push LiDAR information

Control CMD

0x0200

Request reboot device

0x0201

Restore factory settings

0x0202

Set GPS timestamp

log CMD

0x0300

Log file push

0x0301

Log collection configuration

0x0302

Log system time synchronization

0x0303

Debug raw data collection configuration

General Uprade CMD

0x0400

Request to start upgrade

0x0401

Firmware data transfer

0x0402

Firmware transfer complete

0x0403

Get firmware upgrade status

1.2.1.4.3. Communication Process

comm_process

1.2.1.5. CMD Detials

1.2.1.5.1. Device Type Query

1.2.1.5.1.1. 0x0000 Discovery By Broadcasting

Request

CMD

Name

Offset(byte)

Data Type

Description

data

NULL

ACK

ACK

Name

Offset(byte)

Data Type

Description

data

ret_code

0

uint8_t

Return code
(For details, see 5 Return Code Description )

dev_type

1

uint8_t

LiDAR type

serial_number

2

uint8_t[16]

LiDAR SN

lidar_ip

18

uint8_t[4]

LiDAR IP address
E.g: AA.BB.CC.DD
lidar_ip[0] = AA
lidar_ip[1] = BB
lidar_ip[2] = CC
lidar_ip[3] = DD

cmd_port

22

uint16_t

LiDAR command port

1.2.1.5.2. LiDAR Information

1.2.1.5.2.1. 0x0100 Parameter Configuration

Request

CMD

Name

Offset(byte)

Data Type

Description

data

key_num

0

uint16_t

Number of key in key_value_list

rsvd

2

uint16_t

Reserved

key_value_list

4

key_value_list[N]

Key list
For convenience of expansion, multiple pieces of information are placed in a variable-length key_value_list

Format of each parameter in key_value_list is as follows:

Data Field

Offset(byte)

Data Type

Description

key

0

uint16_t

Key number, see table below

length

2

uint16_t

Length of value to the key

value

4

–

Value content to the key

ACK

ACK

Name

Offset(byte)

Data Type

Description

data

ret_code

0

uint8_t

Return code
(For details, see 5 Return Code Description )

error_key

1

uint16_t

If the ret_code is not LVX_RET_SUCCESS, the error_key shows which key is error

1.2.1.5.2.2. 0x0101 Parameter Inquire

Request

CMD

Name

Offset(byte)

Data Type

Description

data

key_num

0

uint16_t

Number of key in key_list

rsvd

2

uint16_t

key_list

4

–

Key list

The key type in the key_list:

Data

Offset(byte)

Data Type

Description

key

0

uint16_t

key number

ACK

ACK

Name

Offset(byte)

Data Type

Description

data

ret_code

0

uint8_t

Return Code
(For details, see5 Return Code Description )

key_num

1

uint16_t

Number of key in key_value_list

key_value_list

3

–

Value of key

1.2.1.5.2.3. 0x0102 LiDAR Information Push

LiDAR push Actively

CMD

Name

Offset(byte)

Data Type

Description

data

key_num

0

uint16_t

Number of key in key_value_list

rsvd

2

uint16_t

key_value_list

4

–

Value of key

Format of the key_value_list :

Data Field

Offset(byte)

Data Type

Description

key

0

uint16_t

key number, see table below

length

2

uint16_t

Length of value to the key

value

4

–

Value content to the key

Specific meanings to key_value_list are as follows:

Number(key)

Name

Length

Type

Content

Support Parameter Information Configuration Command(cmd_id=0x0100)

0x0000

pcl_data_type

1

uint8_t

Type of point cloud data, For details, see[Data Types](2.3 Data Types)
0x01: Cartesian coordinate(32bits)
0x02: Cartesian coordinate(16bits)
0x03: Spherical coordinate

Yes

0x0001

pattern_mode

1

uint8_t

Pattern mode
0x00: Non-repetitive scan
0x01: Repetitive scan(Not Support Now)
0x02: Low frame rate Repetitive scan(Not Support Now)
Note: Repetitive scan and Low frame rate Repetitive scan are not supported now, it is invalid after setting, please pay attention continuous firmware version update;

Yes

0x0004

lidar_ipcfg

12

uint8_t[12]

LiDAR IP address configuration
LiDAR IP address: AA.BB.CC.DD
data[0]: AA
data[1]: BB
data[2]: CC
data[3]: DD
IPV4 subnet mask
data[4-7]
IPV4 gateway
data[8-11]

Yes

0x0005

state_info_host_ipcfg

8

uint8_t[8]

IP address configuration for pushing LiDAR status information
data[0-3]: Destination address: AA.BB.CC.DD
data[4-5]: Destination port
data[6-7]: Source port

Yes

0x0006

pointcloud_host_ipcfg

8

uint8_t[8]

IP address configuration for pushing LiDAR point cloud data
data[0-3]: Destination address: AA.BB.CC.DD
data[4-5]: Destination port
data[6-7]: Source port

Yes

0x0007

imu_host_ipcfg

8

uint8_t[8]

IP address configuration for pushing LiDAR IMU data
data[0-3]: Destination address: AA.BB.CC.DD
data[4-5]: Destination port
data[6-7]: Source port

Yes

0x0012

install_attitude

24

Installation location of LiDAR on user device.
Assigned by user, this information is carried in command and point cloud data, not processed by LiDAR.
Format
{
float roll_deg;
float pitch_deg;
float yaw_deg;
int x_mm;
int y_mm;
int z_mm;
}

Yes

0x0015

fov_cfg0

20

FOV configuration, if you do not need to use all the FOV, you can delineate an area (angle range) on the FOV sphere, the lidar only samples in this area, other areas do not work, you can configure two such areas independently, except for the configuration In addition to this parameter, the configuration needs to be enabled through fov_cfg_en; this is the configuration of the first working area, and its format is as follows:
struct{
int32_t yaw_start; //Start angle of yaw, range is [0°-360°)
int32_t yaw_stop; //End angle of yaw, range is [0°-360°)
int32_t pitch_start; //Start angle of pitch, range is(-10°-60°)
int32_t pitch_stop; //End angle of pitch, range is (-10°-60°)
uint32_t rsvd; //Reserved
};
Note:
1. In addition to this configuration, the actual light-emitting area also needs to consider the actual FOV limit range of the device;
2. In order to avoid the time synchronization problem, the points outside the FOV will still be in the point cloud package, the detection distance is 0, and the reflectivity is 60;

Yes

0x0016

fov_cfg1

20

Same as fov_cfg0, this is the configuration of the second working area

Yes

0x0017

fov_cfg_en

1

uint8_t

Dividing the enable of different regions by bit
Bit 0: 1 means fov_cfg0 is valid, 0 means invalid
Bit 1: 1 means fov_cfg1 is valid, 0 means invalid

Yes

0x0018

detect_mode

1

uint8_t

Detect mode
0x00: Normal
0x01: Sensitive
Note: Sensitive detection mode enhances detection ability of objects with low reflectivity, and has better detection results for extremely dark or bright surfaces, but may slightly increase noise rate at the same time.

Yes

0x0019

func_io_cfg

4

uint8_t[4]

Function IO configuration. Bytes 0-3 represent functions of IN0, NI1, OUT0, and OUT1 pins respectively, corresponding Mid-360 M12 pin numbers are 8, 10, 12, and 11.
IN0: Default value is 0, which means it is used to connect to PPS input, other values are invalid
IN1: Default value is 0, which means it is used to connect to GPS input, other values are invalid
OUT0: Default value is 0, which means no output (external pull-up resistor), a value of 1 means following the IN0 signal, a value of 2 means the safety zone function outputs 0, and other values are invalid.
OUT1: Default value is 0, which means no output (external pull-up resistor), a value of 1 means following the IN1 signal, a value of 2 means the safety zone function outputs 1, and other values are invalid

Yes

0x001A

work_tgt_mode

1

uint8_t

LiDAR target working mode, For details, see1.2 LiDAR Working Status

Yes

0x001C

imu_data_en

1

uint8_t

0x00: Disable IMU data push
0x01: Enable IMU data push

Yes

0x8000

sn

16

uint8_t[16]

String type(Use ‘\0’ padding for less than 16 bits)
LiDAR SN(Use ‘\0’ padding for less than 16 bits)

No

0x8001

product_info

64

char[64]

String type(Use ‘\0’ padding for less than 32 bits)
LiDAR type + LiDAR production date
Example: “Mid-360 2021/12/01”

No

0x8002

version_app

4

uint8_t[4]

App firmware version number: aa.bb.cc.dd
version_info[0]: aa
version_info[1]: bb
version_info[2]: cc
version_info[3]: dd

No

0x8003

version_loader

4

uint8_t[4]

Loader firmware version number

No

0x8004

version_hardware

4

uint8_t[4]

Hardware version number

No

0x8005

mac

6

uint8_t[6]

LiDAR MAC address: aa:bb:cc:dd:ee:ff
data[0]: aa
data[1]: bb
data[2]: cc
data[3]: dd
data[4]: ee
data[5]: ff

No

0x8006

cur_work_state

1

uint8_t

Current working state of LiDAR

No

0x8007

core_temp

4

int32_t

Core temperature(Unit: 0.01℃)

No

0x8008

powerup_cnt

4

uint32_t

Count of LiDAR powerup

No

0x8009

local_time_now

8

uint64_t

Local time of device

No

0x800A

last_sync_time

8

uint64_t

Master time of last synchronization:
If PTP synchronized: this time is t1 time carried in follow_up message
If GPS synchronized: this time is PPS rising edge time carried in synchronization command

No

0x800B

time_offset

8

int64_t

Time offset of current local time from synchronization source, unit: ns:
If local time of device is t0 and source time is t1, then
time_offset = t0 - t1

No

0x800C

time_sync_type

1

uint8_t

Type of time synchronization
0: No time synchronization
1: PTP time synchronization(IEEE 1588v2.0)
2: gps time synchronization

No

0x800E

lidar_diag_status

2

uint16_t

LiDAR diag status code
Level of module status abnormality:
0: normal
1: warning
2: error
3: safety_err
struct diag_status{
bit0-3: system module(Related to software and hardware of main controller)
bit4-7: Scan module(Related to optical path control and angle detection)
bit8-11: Ranging module(Related to control of transmit/receive, peripheral circuits, processing of original signals)
bit12-15: Communication module(Related to software and hardware of communication, time synchronization)
}

No

0x8010

FW_TYPE

1

uint8_t

Firmware type:
0: loader
1: application_image

No

0x8011

hms_code

1

uint32_t[8]

Diagnostic Trouble Code, Each non-0 value represents a piece of diagnostic information. When the radar does not work normally, the cause of the problem can be confirmed through the diagnostic code

1.2.1.5.3. Control Command

1.2.1.5.3.1. 0x0200 Reboot Device

Request

CMD

Name

Offset (byte)

Data Type

Description

data

timeout

0

uint16_t

Reboot device delay time: ms

ACK

ACK

Name

Offset (byte)

Data Type

Description

data

ret_code

0

uint8_t

Return code:
(For details, see 5 Return Code Description )

1.2.1.5.3.2. 0x0201 Restore Factory Settings

After this command is issued, the LiDAR will be restored to the factory settings. After the reply is successful, the LiDAR will reboot immediately.

Request

CMD

Name

Offset (byte)

Data Type

Description

data

SN

0

uint8_t[16]

Reserved

ACK

ACK

Name

Offset (byte)

Data Type

Description

data

ret_code

0

uint8_t

Return code:
(For details, see 5 Return Code Description )

1.2.1.5.3.3. 0x0202 Set GPS Timestamp

Request

CMD

Name

Offset (byte)

Data Type

Description

data

type

0

uint8_t

Timestamp format
0-1: Reserved
2: GPS time synchronization

time_set

1

uint64_t

If GPS synchronized, this field should be the time of the last rising edge of the PPS signal, the type is uint64_t, unit: ns

ACK

ACK

Name

Offset (byte)

Data Type

Description

data

ret_code

0

uint8_t

Return code:
(For details, see 5 Return Code Description )

1.2.1.5.4. Log Command

1.2.1.5.4.1. 0x0300 Log file push

Request

CMD

Name

Offset (byte)

Data Type

Description

data

log_type

0

uint8_t

Log type:
0 : real time log
3 : flash log

file_index

1

uint8_t

File index

file_num

2

uint8_t

This field is valid only log_type is 3，it means the number of flash log

flag

3

uint8_t

bit 0:
1 means need ack
bit 1:
1 means create file
bit 2:
1 means finish file

timestamp

4

uint32_t

unix time stamp，this count starts at the Unix Epoch on January 1st, 1970 at UTC
log file naming rules:
log_<log_type_name>_<file_index>_<system_time>.dat
example: log_fully_log_1_20220613203140.dat

rsvd

8

uint16_t

trans_index

10

uint32_t

send index

log_data_len

14

uint16_t

log content length

log_data

16

–

log content

ACK

ACK

Name

Offset (byte)

Data Type

Description

data

ret_code

0

uint8_t

Return code:
(For details, see 5 Return Code Description )

log_type

1

uint8_t

file_index

2

uint8_t

trans_index

3

uint32_t

1.2.1.5.4.2. 0x0301 Log collection configuration

Request

CMD

Name

Offset (byte)

Data Type

Description

data

log_type

0

uint8_t

Log type:
0 : real time log
3 : flash log

enable

1

uint8_t

0 : disable
1 : enable

ACK

ACK

Name

Offset (byte)

Data Type

Description

data

ret_code

0

uint8_t

Return code:
(For details, see 5 Return Code Description )

1.2.1.5.4.3. 0x0302 Log system time synchronization

Request

CMD

Name

Offset (byte)

Data Type

Description

data

timestamp

0

uint32_t

unix time stamp，this count starts at the Unix Epoch on January 1st, 1970 at UTC

ACK

ACK

Name

Offset (byte)

Data Type

Description

data

ret_code

0

uint8_t

Return code:
(For details, see 5 Return Code Description )

1.2.1.5.4.4. 0x0303 Debug raw data collection configuration

Request

CMD

Name

Offset (byte)

Data Type

Description

data

enable

0

uint8_t

0：disable
1 : enable

host_ip

1

uint8_t[4]

Debug raw data destination IP address：AA.BB.CC.DD
data[0]: AA
data[1]: BB
data[2]: CC
data[3]: DD

host_port

5

uint16_t

Debug raw data destination port

reserved

7

uint16_t

reserved

ACK

ACK

Name

Offset (byte)

Data Type

Description

data

ret_code

0

uint8_t

Return code:
(For details, see 5 Return Code Description )

1.2.1.5.5. General Upgrade

1.2.1.5.5.1. 0x0400 Request to Start Upgrade

Request

CMD

Name

Offset (byte)

Data Type

Description

data

firmware_type

0

uint8_t

Firmware type:
0: Package firmware
1: LiDAR firmware
2: Other firmware

encrypt_type

1

uint8_t

Encrypt type:
0: None encrypt
1: AES128
2: AES256
3: DES
4: 3DES

firmware_length

2

uint32_t

Firmware length

dev_type

6

uint8_t

Device type
9: 9：Mid360

ACK

ACK

Name

Offset (byte)

Data Type

Description

data

ret_code

0

uint8_t

Return code:
(For details, see 5 Return Code Description )

1.2.1.5.5.2. 0x0401 Firmware Data Transmit

Request

CMD

Name

Offset (byte)

Data Type

Description

data

firmware_offset

0

uint32_t

current_length

4

uint32_t

encrypt_type

8

uint8_t

rsvd

9

uint8_t[3]

data

12

uint8_t[n]

firmware data

ACK

ACK

Name

Offset (byte)

Data Type

Description

data

ret_code

0

uint8_t

Return code:
(For details, see 5 Return Code Description )

current_offset

1

uint32_t

received_length

5

uint32_t

1.2.1.5.5.3. 0x0402 Firmware Transmit Complete

Request

CMD

Name

Offset (byte)

Data Type

Description

data

checksum_type

0

uint8_t

checksum_length

1

uint8_t

checksum_data

2

uint8_t[n]

ACK

ACK

Name

Offset (byte)

Data Type

Description

data

ret_code

0

uint8_t

Return code:
(For details, see 5 Return Code Description )

1.2.1.5.5.4. 0x0403 Get Firmware Upgrade State

Request

CMD

Name

Offset (byte)

Data Type

Description

data

NULL

ACK

ACK

Name

Offset (byte)

Data Type

Description

data

ret_code

0

uint8_t

Return code:
(For details, see 5 Return Code Description )

upgrade_progress

1

uint8_t

Upgrade progress:
0 - 100

1.2.1.6. Return Code Description

Name

Return Code

Description

LVX_RET_SUCCESS

0x00

Execution succeed

LVX_RET_FAILURE

0x01

Execution failed

LVX_RET_NOT_PERMIT_NOW

0x02

Current state does not support

LVX_RET_OUT_OF_RANGE

0x03

Setting value out of range

LVX_RET_PARAM_NOTSUPPORT

0x20

The parameter is not supported

LVX_RET_PARAM_REBOOT_EFFECT

0x21

Parameters need to reboot to take effect

LVX_RET_PARAM_RD_ONLY

0x22

The parameter is read-only and cannot be written

LVX_RET_PARAM_INVALID_LEN

0x23

The request parameter length is wrong, or the ack packet exceeds the maximum length

LVX_RET_PARAM_KEY_NUM_ERR

0x24

Parameter key_ num and key_ list mismatch

LVX_RET_UPGRADE_PUB_KEY_ERROR

0x30

Public key signature verification error

LVX_RET_UPGRADE_DIGEST_ERROR

0x31

Digest check error

LVX_RET_UPGRADE_FW_TYPE_ERROR

0x32

Firmware type mismatch

LVX_RET_UPGRADE_FW_OUT_OF_RANGE

0x33

Firmware length out of range

LVX_RET_UPGRADE_FW_ERASING

0x34

Firmware erasing

1.2.1.7. CRC Algorithm

CRC Name

Polynomial Formula

Width

Polynomial

Initial Value

Result XOR value

Input Reverse

Output Reverse

CRC-16/CCITT-FALSE

x^16^ + x^12^ + x^5^ + 1

16

0x1021

0xFFFF

0x0000

false

false

CRC-32

x^32^ + x^26^ + x^23^ + x^22^ + x^16^ + x^12^ + x^11^ + x^10^ + x^8^ + x^7^ + x^5^ + x^4^ + x^2^ + x + 1

32

0x04C11DB7

0xFFFFFFFF

0xFFFFFFFF

true

true