LD06 Arduino Library

Author: Jonathan QUILLES (Mike118)
Sensor: LD06 LiDAR
Version: 2025

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Description

This library provides a robust and easy-to-use interface for the LD06 LiDAR, a compact 2D laser distance scanner capable of a full 360° horizontal scan.
It handles packet decoding, angle reconstruction, CRC checking, and full 360° scan detection.

Each data packet from the LD06 contains 12 measurements, including distance, intensity, and angular information.
The library reconstructs all intermediate angles and provides access to both polar (angle, distance, intensity) and Cartesian (x, y) coordinates.

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Features

• Decode LD06 UART packets (12 points per frame)

• Automatic 360° scan detection

• Per-point data access: angle, distance, intensity

• Optional Cartesian coordinate computation (x, y)

• Built-in CRC validation and packet resynchronization

• Support for Teleplot real-time visualization

• Optional filtering by distance or intensity

• Optional “upside-down” mounting compensation

• Lightweight and memory-safe (no String objects, static buffers only)

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Hardware Specifications

Parameter	Typical Value
Interface	UART (3.3V TTL)
Baud rate	230400 bps
Points per packet	12
Rotation speed	10–15 Hz
Angular resolution	0.5°–1°
Maximum range	~12 m
Packet size	47–48 bytes
Header byte	0x54
Version/length byte	0x2C

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Example: Basic Usage

#include <LD06.h> 

LD06 lidar(Serial1); 
void setup() { 
    Serial.begin(115200); // Debug output 
    lidar.init(); // Initialize UART at 230400 baud 
    lidar.enableCRC(); // Enable checksum validation 
    lidar.enableFullScan(); // Detect full 360° scans 
} 

void loop() { 
    if (lidar.readScan()) { // Returns true when a full 360° scan is ready 
        lidar.printScanCSV(Serial); 
    } 
}

Example CSV Output

N,Angle(°),Distance(mm),Intensity,x(mm),y(mm) 0,0.50,623,12,622.8,5.4 1,1.50,624,11,623.4,16.2 ...

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Real-Time Visualization (Teleplot)

You can visualize scan data in real time using Teleplot.
Simply print the scan in the expected format:

#include <LD06.h>

LD06 lidar(Serial1);

void setup() { 
    Serial.begin(115200); 
    lidar.init();
    lidar.enableFullScan(); 
}

void loop() { 
    if (lidar.readScan()) {
        lidar.printScanTeleplot(Serial); // Sends data in Teleplot XY format
    } 
}`

On Teleplot, select XY mode to display the live LiDAR point cloud.

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API Reference

Function	Description
init()	Initializes the serial interface and powers the LiDAR
readScan()	Reads data; returns true when a new scan (or packet) is available
enableCRC() / disableCRC()	Enable or disable checksum validation
enableFullScan() / disableFullScan()	Choose between full 360° scans or per-packet updates
enableFiltering() / disableFiltering()	Enable or disable distance/intensity filtering
printScanCSV(Stream &)	Output the latest scan as CSV data
printScanTeleplot(Stream &)	Output in Teleplot-compatible format
setUpsideDown(bool)	Inverts rotation direction for upside-down mounting
setDistanceRange(min, max)	Defines the valid distance range (mm)
setOffsetPosition(x, y, θ)	Defines mechanical offset and rotation of the LiDAR

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Usage Notes

• The LD06 should be powered at 5V, but uses 3.3V TTL UART logic.

• A hardware serial port is required (e.g. Serial1, Serial2);
  SoftwareSerial is too slow for 230400 baud.

• Call readScan() regularly in your main loop — it is non-blocking.

• If the sensor is mounted upside-down, call setUpsideDown(true) to correct the angle direction.

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Compatibility

Platform	Status
ESP32 / STM32 / Teensy	Supported
Arduino Uno / Nano / Arduino Mega2560	Limited (low RAM and speed)
Raspberry Pi Pico	To be confirmed

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License

MIT License
Copyright (c) 2025
Author: Jonathan QUILLES (Mike118)

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files to use, copy, modify, merge, publish, and distribute without restriction.