1.2. Mid-360

1.2.1. Communication Protocol

• 1.2.1.1. Livox LiDAR Communication Protocol–Mid360
• 1.2.1.2. Overview
  • 1.2.1.2.1. Protocol Types
  • 1.2.1.2.2. LiDAR Working Status
  • 1.2.1.2.3. Port Description
• 1.2.1.3. Point Cloud & IMU Data Protocol
  • 1.2.1.3.1. Protocol Format
  • 1.2.1.3.2. Timestamp
  • 1.2.1.3.3. Data Types
  • 1.2.1.3.4. Tag Information
• 1.2.1.4. Control Command
  • 1.2.1.4.1. Frame Format
  • 1.2.1.4.2. Command ID
  • 1.2.1.4.3. Communication 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
  • 1.2.1.5.2. LiDAR Information
    • 1.2.1.5.2.1. 0x0100 Parameter Configuration
    • 1.2.1.5.2.2. 0x0101 Parameter Inquire
    • 1.2.1.5.2.3. 0x0102 LiDAR Information Push
  • 1.2.1.5.3. Control Command
    • 1.2.1.5.3.1. 0x0200 Reboot Device
    • 1.2.1.5.3.2. 0x0201 Restore Factory Settings
    • 1.2.1.5.3.3. 0x0202 Set GPS Timestamp
  • 1.2.1.5.4. General Upgrade
    • 1.2.1.5.4.1. 0x0400 Request to Start Upgrade
    • 1.2.1.5.4.2. 0x0401 Firmware Data Transmit
    • 1.2.1.5.4.3. 0x0402 Firmware Transmit Complete
    • 1.2.1.5.4.4. 0x0403 Get Firmware Upgrade State
• 1.2.1.6. Return Code Description
• 1.2.1.7. CRC Algorithm

1.2.2. Supported Time Synchronization Methods

Livox Mid-360 supports 3 time synchronization methods：

PTP：IEEE 1588v2.0 UDP/IP Network protocol synchronization, see details: PTP Time Synchronization；

gPTP: Automotive ethernet time synchronization protocol(2 layer), see details: gPTP Time Synchronization;

GPS: Second pulse + GPRMC time data to form GPS time synchronization mode, see details: GPS Time Synchronization；

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；

1.2.3. HMS Diagnostic Code Introduction

• 1.2.3.1. Composition format
• 1.2.3.2. Parsing example
• 1.2.3.3. Diagnostic codes table