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RoboSense RS-Bpearl

RoboSense RS-Bpearl
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32
RS-Bpearl User Manual
The LSB for Idat is 1μA, the formula is as below:

󰇟󰇠󰇛󰇟󰇠 󰇜
󰇟󰇠󰇛󰇟󰇠 󰇜

󰇟󰇠󰇛󰇟󰇠 󰇜
󰇟󰇠󰇛󰇟󰇠 󰇜
For example, if byte1 = 8C, byte2 = D5 and byte3 = 00, then the current value is:
Idat = -Idat_reg[22:0] = -0x0CD500 uA = -840960uA≈-841mA
(2) There are six different voltages, each voltage register has 2 bytes to be
Vdat_reg[15:0]. Vdat_reg[15:12] is invalid, while Vdat[11:0] represent the
voltage value. The six different voltage formula is as below:
The unit above is volt (V).
B.11 Fault Diagnosis
Fault Diagnosis (40bytes in total)
Byte No.
byte1
byte2
byte3
byte4
byte5
byte6
byte7
byte8
Function
internal debug
Byte No.
byte9
byte10
byte11
byte12
byte13
byte14
byte15
byte16
Function
internal debug
cksum_st
manc_err1
manc_err2
gps_st
Byte No.
byte17
byte18
byte19
byte20
byte21
byte22
byte23
byte24
Function
temperature1
temperature2
temperature3
temperature4
Byte No.
byte25
byte26
byte27
byte28
byte29
byte30
byte31
byte32
Function
temperature5
internal debug
r_rpm1
Byte No.
byte33
byte34
byte35
byte36
byte37
byte38
byte39
byte40
Function
r_rpm2
internal debug
Register description:
(1) chksum_st represents the temperature compensation status. If chksum_st = 0x00, the
temperature compensation is working. If chksum_st = 0x01, the temperature
compensation is, the temperature compensation is abnormal.
(2) manc_err1 and manc_err2 are used to calculate the bit error rate of the data
communication. manc_err1 represents 1bit error, while manc_err2 represents 2bit error.
The error rate formula is as below:
  
  
When the manc_err1_per and manc_err1_per are both zero, the system data
communication is normal.
(3) Temperature1 and temperature2 represent the bottom board temperature, while
temperature3 and temperature4 represent the top board temperature. Each temperature
register contains 2 bytes to be temperature_reg[15:0]. temperature_reg[2:0] is invalid.
temperature_reg[15:3] is temperature value, while temperature_reg[15] is symbol flag.
The temperature formula is as below:

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