LSLIDAR C32 - Difop Protocol

27
-> Actual obtained distance: (120* 256 + 86) * 0.004 = 123.224 m;
3) Intensity: The obtained byte is in HEX: 0x90, then the corresponding
decimal DEC is: 144
-> Actual obtained strength value 144;
4) Timestamp: The bytes obtained are in HEX: 0x78; 0x56; 0x34; 0x12; then
the corresponding decimal DEC is: 120; 86; 52; 18
-> Timestamp = (18*2
24
+ 52*2
16
+ 86*2
8
+ 120*2
0
) = 305419896 ns.
Additional Information
The additional information is 12 bytes in length, including 6 bytes of UTC, 4
bytes of Timestamp and 2 bytes of Factory.
Additional Information: 12 bytes
Name
Length (byte)
Function
UTC
6
year/month/day/hour/minute/second,
add 2000 to the value of year
Timestamp
4
Timestamp (ns), the least significant value
in the sequence is stored first, at the
lowest storage address while the most
significant value is stored at the highest
storage address.
Factory
Echo information
1
0x37 represents the strongest echo,
0x38 the last echo，0x39 the dual echo
Vendor information
1
0x10 represents C16 lidar, 0x20
represents C32 lidar
1) When there is a GPS device inputting PPS signal to the lidar, the timestamp is
generated with the PPS time as the cycle time, and the range of the timestamp
is 0-999,999,999 (ns);
2) When there is an external synchronization device inputting PPS signal, the
timestamp is generated with the external synchronization PPS time as the cycle
time, and the range of the timestamp is 0-999,999 (ns);
3) When there is no synchronization device inputting PPS signal, the lidar
generates timestamps with a period of 1 second. The range of the timestamp is
0-3599,999,999 (μs).
5.2 DIFOP Protocol
The device package outputs read-only parameters and status information such
as version number, Ethernet configuration, motor speed and operating status,
and fault diagnosis. The data of the device package adopts Big-Endian mode.
The device package includes a 42-byte Ethernet header and a 1206-byte
payload, with a length of 1248 bytes. The payload is composed of 8-byte frame