RoboSense LIDAR RS-Helios-5515 - DIFOP Device Information Protocol

RS-Helios-1615 User Manual
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6.3 Device Info Output Protocol（DIFOP）
Device Info Output Protocol is abbreviated as DIFOP
I/O type: device output, computer read.
Default port number: 7788.
DIFOP is an "output-only" protocol to periodically send the LiDAR serial number (S/N), firmware
version information, host computer driver compatibility information, network configuration
information, calibration information, motor operating configuration, operating status, and fault
diagnosis information to users. By reading DIFOP, users can learn specific information of various
parameters of the LiDAR currently in use.
A complete DIFOP packet consists of a synchronization header, data area and a tail. Each DIFOP
Packet is 1248-byte long, including an 8-byte long synchronization header, 1238-byte long data
blocks and a 2-byte long tail.
The basic structure of the DIFOP packet is as shown in the table below.
Table 12 DIFOP Packet Structure
Segments
No.
Information Registers
Offset
Length（byte）
Header
0
DIFOP identification header
0
8
Data
1
Motor speed
8
2
2
Ethernet
10
22
3
FOV setting
32
4
4
Reserved
36
2
5
Motor phase lock
38
2
6
Top board firmware version number
40
5
7
Bottom board firmware version number
45
5
8
Bottom board software version
50
5
9
Motor firmware version number
55
5
10
Sensor hardware version number
60
3
11
Web page cgi version number
63
4
12
Top board backup CRC
67
4
13
Bottom board backup CRC
71
4
14
Software app backup CRC
75
4
15
Web page cgi backup CRC
79
4
16
Ethernet gateway
83
4
17
Subnet mask
87
4
18
Reserved
91
201
19
Serial number
292
6
20
Zero angle offset
298
2
21
Return mode
300
1
22
Time Synchronization Mode
301
1