Hesai Pandar20A, User Manual

Page: 42 / 63

Following is the response message format sent from server (LiDAR) to client:
NOTE LiDAR echos feedback message to every command it received.
Field Description
Table IV.2 Feedback Message Format from LiDAR to Client
0×47
0×74
Cmd
Return Code
Data Length
1 byte
Type Length
1 byte
1 byte
1 byte
4 bytes
fi xed content
fi xed content
the code for command, see command description for details
return code from server
the additional data length for the command, 0x00 means that the command does not have payload
Payload data length bytes the payload data for the command, its length is indicated by “payload length” fi eld
Additional Data
Table IV.3 Type of Command
PTC_COMMAND_GET_LIDAR_CALIBRATION
PTC_COMMAND_PTP_DIAGNOSTICS
0x5
Command Command Code
0x6
None
PTP Query Type
Description
to retrieve the LiDAR’s calibration fi les
to retrieve PTP-diagnostic for speci
fi
ed PTP Query Type
PTC_COMMAND_GET_INVENTORY_INFO 0x7 None to retrieve the LiDAR inventory information
PTC_COMMAND_GET_CONFIG_INFO 0x8 None to retrieve the LiDAR con fi guration parameters
PTC_COMMAND_GET_LIDAR_STATUS 0x9 None to retrieve the LiDAR temperature, system uptime etc information
Command list is shown as Table IV.3.
2 Command Description
- 3 9 -