Case study

Xiaomi X-WPFTB LiDAR: decoding a robot-vacuum sensor's UART frames

Xiaomi X-WPFTB LiDAR documents the one-way UART data format of the X-WPFTB-V2.6.2 sensor used in Xiaomi and Dreame robot vacuums. The author reports decoding 36-byte frames carrying eight distance samples, angle, quality and flags, then implements an Arduino parser and Windows visualizers.

Targets: Protocol
Category: Independent reconstruction cases
Relationship: Independent reconstruction project
Sources reviewed: 2026-11-06
Evidence class: C2 code & docs, no demo or download

Stars: 5
Last commit: 2026-06-28
Language: C#
License (GitHub): MIT

GitHub data as of 2026-11-10

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Evidence

Observed: Code, documentation and a demo observed; no download method found.
Checked: 2026-11-08

How evidence classes are assigned

Requirements & limits

Prerequisites: An X-WPFTB-V2.6.2 LiDAR and a serial-capable host such as the documented Arduino Uno setup.
Limits: The supply voltage must be measured before changing the original power arrangement.
Limits: The final two-byte checksum and exact RPM scale are unresolved.
License: MIT license.

Cite

BibTeX

@misc{xiaomi-wpftb-lidar-case,
  title = {{Xiaomi X-WPFTB LiDAR: decoding a robot-vacuum sensor's UART frames}},
  howpublished = {\url{https://github.com/BVLGARISSK/xiaomi-wpftb-lidar}},
  url = {https://github.com/BVLGARISSK/xiaomi-wpftb-lidar},
  urldate = {2026-11-06},
  note = {Awesome REA entry: \url{https://awesomerea.org/resources/xiaomi-wpftb-lidar-case/}}
}

Plain text

Xiaomi X-WPFTB LiDAR: decoding a robot-vacuum sensor's UART frames. https://github.com/BVLGARISSK/xiaomi-wpftb-lidar (accessed 2026-11-06). Awesome REA entry: https://awesomerea.org/resources/xiaomi-wpftb-lidar-case/

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About this entry

The description was reviewed against primary sources.

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Primary sources

README.md GitHub · BVLGARISSK/xiaomi-wpftb-lidar · Revision 7f971ba
docs/protocol.md GitHub · BVLGARISSK/xiaomi-wpftb-lidar · Revision 7f971ba
docs/reverse-engineering.md GitHub · BVLGARISSK/xiaomi-wpftb-lidar · Revision 7f971ba