MysteryLidar: Difference between revisions
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Baud: 230400; Packet_length=60Bytes (in every ~4ms period) B0= 0x55 B1=0xAA B2=0x23 B3=0x10 B4+B5=current resolution LSB+MSB B6+B7= Start Angle of this packet LSB+MSB 16x: B8:B9= Distance LSB+MSB B10= Quality (1 byte only) . . . B56+B57= Final Angle of this packet (LSB+MSB) B58+B59= CRC | Baud: 230400; Packet_length=60Bytes (in every ~4ms period) B0= 0x55 B1=0xAA B2=0x23 B3=0x10 B4+B5=current resolution LSB+MSB B6+B7= Start Angle of this packet LSB+MSB 16x: B8:B9= Distance LSB+MSB B10= Quality (1 byte only) . . . B56+B57= Final Angle of this packet (LSB+MSB) B58+B59= CRC | ||
</blockquote> | </blockquote> | ||
The angle is encoded in steps of 1/64 degree, with a 640 offset. | |||
== Software == | == Software == | ||
Revision as of 15:11, 3 August 2024
| Project MysteryLidar | |
|---|---|
| |
| Aliexpress Mystery Lidar | |
| Status | In progress |
| Contact | bertrik |
| Last Update | 2024-08-03 |
Introduction
I bought a cheap lidar from AliExpress, no guarantees, no datasheets. This page is about understanding it and reverse engineering the protocol
Hardware
Protocol
Serial bit rate is 23400 bps
From the Aliexpress page:
Baud: 230400; Packet_length=60Bytes (in every ~4ms period) B0= 0x55 B1=0xAA B2=0x23 B3=0x10 B4+B5=current resolution LSB+MSB B6+B7= Start Angle of this packet LSB+MSB 16x: B8:B9= Distance LSB+MSB B10= Quality (1 byte only) . . . B56+B57= Final Angle of this packet (LSB+MSB) B58+B59= CRC
The angle is encoded in steps of 1/64 degree, with a 640 offset.