in the beginning of openpylivox(object), CMD codes are first defined.
take _CMD_LIDAR_SINGLE_1ST for example, its hexcode is: AA011000000000B80901060001B5A043.
according to the Protocol, I sparate it into different fields as follow:
sof ver len cmd seq crc16 data crc32
b'AA 01 1000 00 0000 B809 010600 01B5A043'
The crc16 = B809 and crc32 = 01B5A043.
My question is what crc16 and crc32 schemes are used, or maybe I calculated in a wrong way, I cannot generate a right crc32 checksum.
So I am not sure what is the right CMD for triple return mode:
AA011000000000B809010603+crc32
hahakid
commented
1 year ago
in the beginning of openpylivox(object), CMD codes are first defined.
take _CMD_LIDAR_SINGLE_1ST for example, its hexcode is: AA011000000000B80901060001B5A043.
according to the Protocol, I sparate it into different fields as follow:
sof ver len cmd seq crc16 data crc32 b'AA 01 1000 00 0000 B809 010600 01B5A043'
The crc16 = B809 and crc32 = 01B5A043.
My question is what crc16 and crc32 schemes are used, or maybe I calculated in a wrong way, I cannot generate a right crc32 checksum. So I am not sure what is the right CMD for triple return mode: AA011000000000B809010603+crc32
010603: set=0x01, id=0x06, data=0x03