diff --git a/core/common/DriverInterface.h b/core/common/DriverInterface.h
index 4aef988..a297efd 100644
--- a/core/common/DriverInterface.h
+++ b/core/common/DriverInterface.h
@@ -502,6 +502,12 @@ namespace ydlidar
           return RESULT_OK; 
         }
 
+        //获取俯仰角值
+        virtual bool getPitchAngle(float& pitch) {
+          UNUSED(pitch);
+          return false;
+        }
+
         // 开始OTA升级
         virtual bool ota() {
           return false;
@@ -552,6 +558,7 @@ namespace ydlidar
           YDLIDAR_Tmini = 140, /**< Tmini LiDAR Model. */
           YDLIDAR_TminiPro = 150, /**< Tmini Pro LiDAR Model. */
           YDLIDAR_TminiPlus = 151, /**< Tmini Plus LiDAR Model. */
+          YDLIDAR_TminiPlusSH = 152, //Tmini Plus 森合
 
           YDLIDAR_SDM15 = 160, //SDM15单点雷达
           YDLIDAR_SDM18, //DTS单点雷达
diff --git a/core/common/ydlidar_help.h b/core/common/ydlidar_help.h
index c0f6c2d..5ac8719 100644
--- a/core/common/ydlidar_help.h
+++ b/core/common/ydlidar_help.h
@@ -80,6 +80,12 @@ namespace common {
     localTime->tm_hour, \
     localTime->tm_min, \
     localTime->tm_sec);
+#define WIN_PRINT_TIME UNIX_PRINT_TIME
+#ifdef _WIN32
+  #define PRINT_TIME WIN_PRINT_TIME
+#else
+  #define PRINT_TIME UNIX_PRINT_TIME
+#endif
 //格式化字符串
 #define FORMAT_STDOUT \
   char buff[1024] = {0}; \
@@ -94,10 +100,7 @@ namespace common {
 inline void debug(char* fmt, ...)
 {
   printf(GREEN); //设置绿色
-#ifdef _WIN32
-#else
-  UNIX_PRINT_TIME
-#endif
+  PRINT_TIME
   printf("[debug] ");
   FORMAT_STDOUT
   printf(COLOFF); //恢复默认颜色
@@ -107,10 +110,7 @@ inline void debug(char* fmt, ...)
 //常规
 inline void info(char* fmt, ...)
 {
-#ifdef _WIN32
-#else
-  UNIX_PRINT_TIME
-#endif
+  PRINT_TIME
   printf("[info] ");
   FORMAT_STDOUT
   fflush(stdout);
@@ -120,10 +120,7 @@ inline void info(char* fmt, ...)
 inline void warn(char* fmt, ...)
 {
   printf(YELLOW); //设置黄色
-#ifdef _WIN32
-#else
-  UNIX_PRINT_TIME
-#endif
+  PRINT_TIME
   printf("[warn] ");
   FORMAT_STDOUT
   printf(COLOFF); //恢复默认颜色
@@ -134,10 +131,7 @@ inline void warn(char* fmt, ...)
 inline void error(char* fmt, ...)
 {
   printf(RED); //设置红色
-#ifdef _WIN32
-#else
-  UNIX_PRINT_TIME
-#endif
+  PRINT_TIME
   printf("[error] ");
   FORMAT_STDOUT
   printf(COLOFF); //恢复默认颜色
@@ -150,10 +144,7 @@ inline void debugh(const uint8_t *data, int size)
   if (!data || !size)
     return;
   printf(GREEN); //设置绿色
-#ifdef _WIN32
-#else
-  UNIX_PRINT_TIME
-#endif
+  PRINT_TIME
   printf("[debug] ");
   for (int i=0; i<size; ++i)
       printf("%02X", data[i]);
@@ -165,17 +156,14 @@ inline void debugh(const uint8_t *data, int size)
 //常规（16进制）
 inline void infoh(const uint8_t *data, int size)
 {
-    if (!data || !size)
-        return;
-#ifdef _WIN32
-#else
-  UNIX_PRINT_TIME
-#endif
-    printf("[info] ");
-    for (int i=0; i<size; ++i)
-        printf("%02X", data[i]);
-    printf("\n");
-    fflush(stdout);
+  if (!data || !size)
+      return;
+  PRINT_TIME
+  printf("[info] ");
+  for (int i=0; i<size; ++i)
+      printf("%02X", data[i]);
+  printf("\n");
+  fflush(stdout);
 }
 
 /*!
@@ -295,6 +283,9 @@ inline std::string lidarModelToString(int model)
   case DriverInterface::YDLIDAR_TminiPlus:
     name = "Tmini Plus";
     break;
+  case DriverInterface::YDLIDAR_TminiPlusSH:
+    name = "Tmini Plus SH";
+    break;
   case DriverInterface::YDLIDAR_T15:
     name = "T15";
     break;
diff --git a/core/common/ydlidar_protocol.h b/core/common/ydlidar_protocol.h
index 1ecc780..0bced4b 100644
--- a/core/common/ydlidar_protocol.h
+++ b/core/common/ydlidar_protocol.h
@@ -60,13 +60,8 @@
 #define LIDAR_CMD_GET_EAI                   0x55
 #define LIDAR_CMD_GET_DEVICE_INFO           0x90
 #define LIDAR_CMD_GET_DEVICE_HEALTH         0x92
-#define LIDAR_ANS_TYPE_DEVINFO              0x4
-#define LIDAR_ANS_TYPE_DEVHEALTH            0x6
 #define LIDAR_CMD_SYNC_BYTE                 0xA5
 #define LIDAR_CMDFLAG_HAS_PAYLOAD           0x80
-#define LIDAR_ANS_SYNC_BYTE1                0xA5
-#define LIDAR_ANS_SYNC_BYTE2                0x5A
-#define LIDAR_ANS_TYPE_MEASUREMENT          0x81
 #define LIDAR_RESP_SYNCBIT        (0x1<<0)
 #define LIDAR_RESP_QUALITY_SHIFT  2
 #define LIDAR_RESP_CHECKBIT       (0x1<<0)
@@ -74,6 +69,13 @@
 #define LIDAR_RESP_DIST_SHIFT  2
 #define LIDAR_RESP_ANGLE_SAMPLE_SHIFT 8
 
+#define LIDAR_ANS_SYNC_BYTE1                0xA5
+#define LIDAR_ANS_SYNC_BYTE2                0x5A
+#define LIDAR_ANS_TYPE_DEVINFO              0x04
+#define LIDAR_ANS_TYPE_DEVHEALTH            0x06
+#define LIDAR_ANS_TYPE_PITCH                0x10
+#define LIDAR_ANS_TYPE_MEASUREMENT          0x81
+
 #define LIDAR_CMD_RUN_POSITIVE             0x06
 #define LIDAR_CMD_RUN_INVERSION            0x07
 #define LIDAR_CMD_SET_AIMSPEED_ADDMIC      0x09
@@ -101,6 +103,7 @@
 #define LIDAR_CMD_DIS_EXPOSURE       	    0x97
 
 #define LIDAR_CMD_SET_HEART_BEAT            0xD9
+#define LIDAR_CMD_GETPITCH 0x98 //获取俯仰角
 
 //GS命令
 #define GS_LIDAR_CMD_GET_ADDRESS               0x60
diff --git a/examples/tmini_test.cpp b/examples/tmini_test.cpp
index ee41f6c..d1cb485 100644
--- a/examples/tmini_test.cpp
+++ b/examples/tmini_test.cpp
@@ -1,74 +1,25 @@
-/*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2018, EAIBOT, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-#include "CYdLidar.h"
-#include <iostream>
+#include <iostream>
 #include <string>
 #include <algorithm>
 #include <cctype>
+#include "CYdLidar.h"
+#include "core/common/ydlidar_help.h"
+
 using namespace std;
 using namespace ydlidar;
+using namespace ydlidar::core::common;
 
 #if defined(_MSC_VER)
 #pragma comment(lib, "ydlidar_sdk.lib")
 #endif
 
-/**
- * @brief ydlidar test
- * @param argc
- * @param argv
- * @return
- * @par Flow chart
- * Step1: instance CYdLidar.\n
- * Step2: set paramters.\n
- * Step3: initialize SDK and LiDAR.(::CYdLidar::initialize)\n
- * Step4: Start the device scanning routine which runs on a separate thread and enable motor.(::CYdLidar::turnOn)\n
- * Step5: Get the LiDAR Scan Data.(::CYdLidar::doProcessSimple)\n
- * Step6: Stop the device scanning thread and disable motor.(::CYdLidar::turnOff)\n
- * Step7: Uninitialize the SDK and Disconnect the LiDAR.(::CYdLidar::disconnecting)\n
- */
 
-int main(int argc, char *argv[]) {
-  printf("__   ______  _     ___ ____    _    ____  \n");
-  printf("\\ \\ / /  _ \\| |   |_ _|  _ \\  / \\  |  _ \\ \n");
-  printf(" \\ V /| | | | |    | || | | |/ _ \\ | |_) | \n");
-  printf("  | | | |_| | |___ | || |_| / ___ \\|  _ <  \n");
-  printf("  |_| |____/|_____|___|____/_/   \\_\\_| \\_\\ \n");
-  printf("\n");
-  fflush(stdout);
-  std::string port;
-  ydlidar::os_init();
+int main(int argc, char *argv[]) 
+{
+  printLogo();
+  os_init();
 
+  std::string port;
   std::map<std::string, std::string> ports =
     ydlidar::lidarPortList();
   std::map<std::string, std::string>::iterator it;
@@ -111,75 +62,9 @@ int main(int argc, char *argv[]) {
   }
 
   int baudrate = 230400;
-  // std::map<int, int> baudrateList;
-  // baudrateList[0] = 115200;
-  // baudrateList[1] = 128000;
-  // baudrateList[2] = 153600;
-  // baudrateList[3] = 230400;
-  // baudrateList[4] = 460800;
-  // baudrateList[5] = 512000;
-
-  // printf("Baudrate:\n");
-
-  // for (std::map<int, int>::iterator it = baudrateList.begin();
-  //      it != baudrateList.end(); it++) {
-  //   printf("%d. %d\n", it->first, it->second);
-  // }
-
-  // while (ydlidar::os_isOk()) {
-  //   printf("Please select the lidar baudrate:");
-  //   std::string number;
-  //   std::cin >> number;
-
-  //   if ((size_t)atoi(number.c_str()) > baudrateList.size()) {
-  //     continue;
-  //   }
-
-  //   baudrate = baudrateList[atoi(number.c_str())];
-  //   break;
-  // }
-
-  if (!ydlidar::os_isOk()) {
-    return 0;
-  }
-
   bool isSingleChannel = false;
-  // std::string input_channel;
-  // printf("Whether the Lidar is one-way communication[yes/no]:");
-  // std::cin >> input_channel;
-  // std::transform(input_channel.begin(), input_channel.end(),
-  //                input_channel.begin(),
-  // [](unsigned char c) {
-  //   return std::tolower(c);  // correct
-  // });
-
-  // if (input_channel.find("y") != std::string::npos) {
-  //   isSingleChannel = true;
-  // }
-
-  // if (!ydlidar::os_isOk()) {
-  //   return 0;
-  // }
-
-  std::string input_frequency;
-
   float frequency = 10.0;
 
-  // while (ydlidar::os_isOk() && !isSingleChannel) {
-  //   printf("Please enter the lidar scan frequency[5-12]:");
-  //   std::cin >> input_frequency;
-  //   frequency = atof(input_frequency.c_str());
-  //   if (frequency <= 12 && frequency >= 5.0) {
-  //     break;
-  //   }
-  //   fprintf(stderr,
-  //           "Invalid scan frequency,The scanning frequency range is 5 to 12 HZ, Please re-enter.\n");
-  // }
-
-  if (!ydlidar::os_isOk()) {
-    return 0;
-  }
-
   CYdLidar laser;
   //////////////////////string property/////////////////
   /// lidar port
@@ -193,7 +78,7 @@ int main(int argc, char *argv[]) {
   //////////////////////int property/////////////////
   /// lidar baudrate
   laser.setlidaropt(LidarPropSerialBaudrate, &baudrate, sizeof(int));
-  /// tof lidar
+  //TYPE_TRIANGLE(Tmini Pro\Tmini Plus),TYPE_TOF(Tmini Plus(森合))
   int optval = TYPE_TRIANGLE;
   laser.setlidaropt(LidarPropLidarType, &optval, sizeof(int));
   /// device type
@@ -251,41 +136,50 @@ int main(int argc, char *argv[]) {
   laser.enableSunNoise(false);
 
   bool ret = laser.initialize();
-  if (!ret) {
-    fprintf(stderr, "Fail to initialize %s\n", laser.DescribeError());
-    fflush(stderr);
+  if (!ret) 
+  {
+    error("Fail to initialize %s", laser.DescribeError());
     return -1;
   }
 
+  //获取俯仰角值
+  float pitch = .0f;
+  if (!laser.getPitchAngle(pitch))
+  {
+    warn("Fail to get pitch angle");
+  }
+  else
+  {
+    info("Pitch angle [%.02f]°", pitch);
+  }
+
   ret = laser.turnOn();
-  if (!ret) {
-    fprintf(stderr, "Fail to start %s\n", laser.DescribeError());
-    fflush(stderr);
+  if (!ret) 
+  {
+    error("Fail to start %s", laser.DescribeError());
     return -1;
   }
 
   LaserScan scan;
   while (ydlidar::os_isOk())
   {
-      if (laser.doProcessSimple(scan))
-      {
-        printf("[%u] points [%.02f(%.02f)]Hz\n",
-               (unsigned int)scan.points.size(),
-               scan.scanFreq,
-               1.0 / scan.config.scan_time);
-        for (size_t i = 0; i < scan.points.size(); ++i)
-        {
-          const LaserPoint &p = scan.points.at(i);
-          printf("%d a %.01f r %.04f i %.0f\n", 
-            i, p.angle * 180.0 / M_PI, p.range, p.intensity);
-        }
-        fflush(stdout);
-      }
-      else
-      {
-          fprintf(stderr, "Failed to get Lidar Data\n");
-          fflush(stderr);
-      }
+    if (laser.doProcessSimple(scan))
+    {
+      info("[%u] points [%.02f(%.02f)]Hz",
+              (unsigned int)scan.points.size(),
+              scan.scanFreq,
+              1.0 / scan.config.scan_time);
+      // for (size_t i = 0; i < scan.points.size(); ++i)
+      // {
+      //   const LaserPoint &p = scan.points.at(i);
+      //   info("%d a %.01f r %.04f i %.0f", 
+      //     i, p.angle * 180.0 / M_PI, p.range, p.intensity);
+      // }
+    }
+    else
+    {
+        error("Failed to get Lidar Data");
+    }
   }
 
   laser.turnOff();
diff --git a/src/CYdLidar.cpp b/src/CYdLidar.cpp
index 06522ab..6a3c4f8 100644
--- a/src/CYdLidar.cpp
+++ b/src/CYdLidar.cpp
@@ -945,6 +945,13 @@ void CYdLidar::setAutoIntensity(bool yes)
   m_AutoIntensity = yes;
 }
 
+bool CYdLidar::getPitchAngle(float& pitch)
+{
+    if (lidarPtr)
+      return lidarPtr->getPitchAngle(pitch);
+    return false;
+}
+
 bool CYdLidar::ota()
 {
   if (lidarPtr)
diff --git a/src/CYdLidar.h b/src/CYdLidar.h
index d64025e..67a75cb 100644
--- a/src/CYdLidar.h
+++ b/src/CYdLidar.h
@@ -178,6 +178,8 @@ class YDLIDAR_API CYdLidar {
   bool getDeviceInfo(std::vector<device_info_ex>& dis);
   //设置是否自动识别强度（启用时会占用一定时间）
   void setAutoIntensity(bool yes=false);
+  //获取俯仰角值（目前仅针对Tmini Plus（森合））
+  bool getPitchAngle(float& pitch);
 
   //启用调试
   void setEnableDebug(bool yes) {m_Debug = yes;}
diff --git a/src/YDlidarDriver.cpp b/src/YDlidarDriver.cpp
index 23348fa..09fa8d5 100644
--- a/src/YDlidarDriver.cpp
+++ b/src/YDlidarDriver.cpp
@@ -2768,4 +2768,40 @@ namespace ydlidar
     return RESULT_OK;
   }
 
+bool YDlidarDriver::getPitchAngle(float& pitch)
+{
+  if (!m_isConnected || m_SingleChannel)
+      return false;
+
+  result_t ret = RESULT_OK;
+  ScopedLocker l(_cmd_lock);
+  ret = sendCommand(LIDAR_CMD_GETPITCH);
+  if (!IS_OK(ret))
+    return false;
+  u_int32_t timeout = TIMEOUT_300;
+  uint32_t st = getms();
+  uint32_t wt = 0;
+  while ((wt = getms() - st) <= timeout)
+  {
+    lidar_ans_header head = {0};
+    ret = waitResponseHeader(&head, timeout);
+    if (!IS_OK(ret))
+      return ret;
+    if (head.type != LIDAR_ANS_TYPE_PITCH)
+      continue;
+    if (head.size < 4) //数据大小为4字节
+      return false;
+    ret = waitForData(head.size, timeout);
+    if (!IS_OK(ret))
+      return ret;
+
+    int32_t p = 0;
+    getData(reinterpret_cast<uint8_t *>(&p), 4);
+    pitch = p / 100.0f; //缩小100倍
+    return true;
+  }
+
+  return false;
+}
+
 }
diff --git a/src/YDlidarDriver.h b/src/YDlidarDriver.h
index 7d571bd..29f966d 100644
--- a/src/YDlidarDriver.h
+++ b/src/YDlidarDriver.h
@@ -584,6 +584,8 @@ class YDlidarDriver : public DriverInterface {
     uint32_t timeout = DEFAULT_TIMEOUT / 2);
   //解析点云数据并判断带不带强度信息
   virtual result_t getIntensityFlag();
+  //获取俯仰角值
+  virtual bool getPitchAngle(float& pitch);
 
  private:
   /// package sample bytes