31
0x0000 indicates that the lidar is rotating, and 0x0001 indicates that the lidar is
stationary, and the default value of the lidar is rotating scan.
Clock Source Selection
Clock Source Selection (2 bytes)
0 GPS 1 PTP (the unit of timestamp is ns);
0x0000 indicates GPS time service, 0x0001 indicates PTP time service
PPS Alignment Horizontal Angle
When the lidar obtains the PPS signal input by the external device, it controls
the lidar to scan to a specific horizontal angle at the moment. The configuration
package sets the PPS alignment angle value, the unit of which is 0.01°. For
example, if the alignment angle is 90°, the setting value should be 9000, and the
hexadecimal number is 0x2328, corresponding to byte2 = 23h, byte1 = 28h.
PPS Alignment Angle Value (2 bytes)
Configure the PPS Alignment Horizontal Angle
The device package outputs the PPS synchronization time. The unit of the
alignment angle error, which is the difference between the actual scanning
horizontal angle of the lidar and the set PPS alignment angle value, is 0.01°.
“Valid is 0” indicates that the second pulse signal is valid. Angle_err[14:0] is the
alignment angle error value, which is a signed integer with a range of -
18000~18000, that is, between -180° and 180°.
PPS Alignment Angle Error (2 bytes Read only)
5.3.2 Configuration Package Example
If parameters like motor speed, IP address, lidar device port number, NTP server
address, PPS alignment angle value, lidar rotation/stationary, etc. need to be
reset, according to the definition of the configuration package, the 1206-byte
payload is set as follows:
Table 5.4 Configuration Package Example
0xAA, 0x00, 0xFF,
0x11, 0x22, 0x22,
0xAA, 0xAA
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