Crate embedded_camsense_x1 

Embedded Camsense-X1

Platform agnostic Rust driver for the Camsense-X1 LiDAR sensor, based on the embedded-hal traits.

Picture of Camsense-X1 LiDAR sensor

This library provides a no_std interface for interacting with the Camsense-X1 LiDAR sensor.

Most of the information about the inner workings of the LiDAR was taken from:

• Official C++ SDK
• Vidicon’s reverse engineering of Camsense-X1

Features

• no_std & zero-allocations: Fully compatible with bare-metal and RTOS targets. Uses fixed-size arrays and avoids heap allocation.
• Platform-Agnostic I/O: Built on embedded-hal, embedded-io traits for blocking, embedded-hal-async and embedded-io-async for asynchronous communication, supporting any UART peripheral and delay backend.
• Blocking and Asynchronous Interfaces: Provides interfaces for both blocking and asynchronous (async feature) communication.
• Robust Protocol Synchronization: Const-generic state machine for byte-level frame detection with automatic recovery from noisy UART lines.
• Checksum Validation: Implements exact SDK algorithm (linear accumulator with 15-bit folding) to silently drop corrupted frames.

Device

The Camsense-X1 is a cost-effective consumer-level LiDAR with the following characteristics¹:

Description	Parameter value
Operating range	100mm - 8000mm
Repeatability	<0.5%
Absolute accuracy	<2%
Angle resolution	0.9°
Rotating speed	312±10 RPM
Power consumption	<2W
Laser light source	780nm EEL/808nm VCSEL laser
Laser safety level	IEC60825 Class I

Examples

See the examples directory for examples of using the Camsense-X1 with different micro-controllers and boards.

Feature Flags

• defmt - Enable logging output using defmt and implement defmt::Format on certain types.
• async - Enable asynchronous interface.

License

Licensed under either of

• Apache License, Version 2.0 (LICENSE-APACHE or http://www.apache.org/licenses/LICENSE-2.0)
• MIT license (LICENSE-MIT or http://opensource.org/licenses/MIT)

at your option.

Contribution

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.

---

1. Camsense-X1 Product Page ↩

Re-exports

pub use driver::blocking::CamsenseX1;

pub use driver::asynchronous::CamsenseX1 as CamsenseX1Async;

Modules

constants

Constants module

driver

Camsense-X1 Driver.

Structs

Config

Camsense-X1 LiDAR sensor driver configuration.

PartialScan

A single partial scan containing up to NUMBER_OF_POINTS_PER_MEASUREMENT valid points.

Scan

A complete 360° LiDAR scan.

Enums

Error

Errors that can occur during Camsense-X1 communication or packet parsing.