RoboSense LIDAR RS-Helios-5515 - Data Blocks

RS-Helios-1615 User Manual
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6.2.2 Data Blocks
As shown in the table below, the Data Blocks in the MSOP packet store the data measured by the
sensor, and has a total of 1200 bytes. There are a total of 12 data blocks in one MSOP Packet. Each
data block has 100 bytes and represents a complete measurement. Each data block starts with a
2-byte flag: Oxffee, followed by a 2-byte azimuth value (horizontal rotation angle), and 32 channel
data (each channel data has 3 bytes) corresponding to a firing sequences of the 32 lasers (channel
data 1… to channel data 32). Please refer to Section 6 of this manual for the relationship between
channel number and vertical angle.
Table 10 Data Blocks Definitions
Data Block (1200 bytes)
Data Block 1
Data Block 2
Data Block 3
Data Block n
Data Block 12
0xff,0xee
0xff,0xee
0xff,0xee
0xff,0xee
0xff,0xee
Azimuth 1
Azimuth 2
Azimuth 3
Azimuth n
Azimuth 12
Channel data 1
Channel data 1
Channel data 1
Channel data 1
Channel data 1
Channel data 2
Channel data 2
Channel data 2
Channel data 2
Channel data 2
... ...
... ...
... ...
... ...
... ...
Channel data 31
Channel data 31
Channel data 31
Channel data 31
Channel data 31
Channel data 32
Channel data 32
Channel data 32
Channel data 32
Channel data 32
Note: In the dual return mode, for each data block, the odd-numbered data block reports the strongest return data,
and the even-numbered data block reports the last return data.
6.2.2.1 Channel Data
Each channel data has 3 bytes, the upper two bytes store distance information, and the lower one
byte stores reflectivity information, as shown in the figure below.
Table 11 Channel Data
Channel data n （3 bytes）
2 byte Distance
1 byte Reflectivity
Distance1 [15:8]
Distance2 [7:0]
Reflectivity
Distance information contains 2 bytes, the unit is cm, the resolution is 0.25cm.