RoboSense LiDAR RS-Helios-16P - Info Registers: Status & UTC Time

RS-Helios-16P User Manual
41
B.12 Software Version（SOFTWARE_VER）
This register describes the version compatibility of the host computer.
B.13 UTC Time（UTC_TIME）
UTC_TIME (10 bytes in total)
Byte No.
byte1
byte2
byte3
byte4
byte5
byte6
byte7
byte8
Function
sec
us
Byte No.
byte9
byte10
Function
us
Note: the range of ns is from 0 to 999999999.
B.14 STATUS（STATUS）
STATUS (18 bytes in total)
Byte No.
byte1
byte2
byte3
byte4
byte5
byte6
byte7
byte8
Function
Idat1_reg
Vdat
Vdat_12V_reg
Vdat_5V_reg
Byte No.
byte9
byte10
byte11
byte12
byte13
byte14
byte15
byte16
Function
Vdat_2V5_reg
Vdat_APD
Internal debug
Byte No.
17byte
18byte
19byte
20byte
21byte
22byte
23byte
24byte
Function
Internal debug
Byte No.
25byte
26byte
27byte
28byte
29byte
Function
Internal debug
Note:【Value】is the decimal value calculated after the byte at the corresponding position, in big-endian mode,
with the high order first and the low order last.
Register description:
(1) Idat is the current of the LiDAR power supply. The current value is composed of 2 bytes. Current
calculation formula:
Idat=Value_temp/4096 *5A
For example, when byte1 = 0xc8, byte2 = 0x02, the actual current value:
Idat =Value_temp/4096 *5A= 0x02c8/4096 *5A =0.87A
(2) Vdat has 5 different voltage values, each voltage value has 2 byte, calculation formula of the 5
voltages are as below:
SOFTWARE_VER(2 bytes in total)
Byte No.
byte1
byte2
Function
SOFTWARE_VER