# 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.

- Type: Case study
- Targets: Protocol
- Category: Independent reconstruction cases
- Relationship: Independent reconstruction project
- Sources reviewed: 2026-11-06
- Added to the catalog: 2026-11-08
- Original resource: <https://github.com/BVLGARISSK/xiaomi-wpftb-lidar>
- Primary source: <https://github.com/BVLGARISSK/xiaomi-wpftb-lidar/blob/7f971bae183b9e567355545080ea2e41951d661a/README.md>
- Catalog page: <https://awesomerea.org/resources/xiaomi-wpftb-lidar-case/>
- Record JSON: <https://awesomerea.org/resources/xiaomi-wpftb-lidar-case/record.json>
- Chinese version: [简体中文](https://awesomerea.org/zh/resources/xiaomi-wpftb-lidar-case/index.md)

## 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.

## Primary sources

1. <https://github.com/BVLGARISSK/xiaomi-wpftb-lidar/blob/7f971bae183b9e567355545080ea2e41951d661a/README.md>
2. <https://github.com/BVLGARISSK/xiaomi-wpftb-lidar/blob/7f971bae183b9e567355545080ea2e41951d661a/docs/protocol.md>
3. <https://github.com/BVLGARISSK/xiaomi-wpftb-lidar/blob/7f971bae183b9e567355545080ea2e41951d661a/docs/reverse-engineering.md>

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## About this entry

The description was reviewed against primary sources.
Original editorial content: MIT. Linked projects, papers and assets retain their own rights and licenses.