YDLidar Rust Driver

High-performance Rust driver for YDLidar sensors with support for multiple models.

Supported Models

Currently Implemented

• YDLidar T-mini Plus

Compatible Models (Can be added via LidarCommands trait)

• YDLidar X2/X2L
• YDLidar X4
• YDLidar G2/G4
• YDLidar S2/S4

Module Specifications

T-mini Plus

• Scanning Range: 0.1 - 12m
• Scan Rate: 5Hz - 10Hz (adjustable)
• Ranging Frequency: 3000Hz
• Angle Resolution: 0.5° - 1.5°
• Measurement Resolution: 1mm
• Scan Angle: 360°

Communication Interface

• Protocol: YDLidar Protocol v1.3
• Interface: UART
• Baud Rate: 230400 bps
• Data Bits: 8
• Stop Bits: 1
• Parity: None
• Flow Control: None

USB Connection

• USB Chip: CP2102 (Silicon Labs)
• VID: 0x10c4
• PID: 0xEA60
• Auto-detection: Supported

Data Format

• Packet Size: 5 bytes per point
• Angle Encoding: 14-bit (0.0055° resolution)
• Distance Encoding: 16-bit (mm)
• Quality: 6-bit (0-63)

Usage

Basic Example

use ydlidar_rust_driver::{Lidar, TMiniPlus, LidarError};

fn main() -> Result<(), LidarError> {
    // Auto-detect USB port
    let mut lidar = Lidar::<TMiniPlus>::new()?;
    
    // Start scanning
    lidar.start_scan()?;
    
    loop {
        let points = lidar.get_scan_points()?;
        for point in points {
            println!("{}°: {}mm (Q:{})", point.angle, point.distance, point.quality);
        }
    }
}

Cartesian Coordinates

use ydlidar_rust_driver::{Lidar, TMiniPlus, LidarError};

fn main() -> Result<(), LidarError> {
    let mut lidar = Lidar::<TMiniPlus>::new()?;
    lidar.start_scan()?;
    
    loop {
        let points = lidar.get_scan_points()?;
        for point in points.iter().filter(|p| p.quality >= 40) {
            let (x, y) = point.to_cartesian();
            println!("Point: ({:.1}, {:.1}) mm", x, y);
        }
    }
}

Examples

This repository includes several example applications:

Visual PCL

Real-time ASCII visualization of LiDAR data in your terminal:

cargo run --bin monitor_pcl

Configuration Tool

Device configuration and parameter:

cargo run --bin config

No-std Usage

use ydlidar_rust_driver::{Lidar, TMiniPlus};

let mut lidar = Lidar::<TMiniPlus, UART>::new(uart);
lidar.start_scan()?;

loop {
    lidar.read_scan_data()?;
    let points = lidar.get_scan_points()?;
    // Process points...
}