RS-LiDAR-16 User Manual
The basic data structure of a MSOP packet for dual return is as shown in Figure 8.
Figure 8: Dual Return MSOP Packet Definition Diagram.
5.1.1 Header
The 42-byte header marks the beginning of data blocks. In the 42-byte data header, the first 8 bytes are
for header identification, the 21st. to 30th. byte records time stamp, the 31st byte represents the LiDAR
model, and the rest bytes are reserved for future updates.
The first 8 bytes of the header is defined as 0x55,0xAA,0x05,0x0A,0x5A,0xA5,0x50,0xA0.
Time stamp with a resolution of 1 μs records the system time. Please refer to the definition of time in
Appendix B.10 and Table 8 in part 3 of this section. The 31st byte LiDAR model is described as below:
Table 4: LiDAR Model Flag.
data packet
12 * 100 bytes = 1200 bytes
42 bytes
(21
st
~30
th
byte is
time
stamp)
4 bytes
resv. + 2
bytes
(0x00,
0xFF)
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