RoboSense RS-LiDAR-16 - 5.2 DIFOP Protocol Explained

RS-LiDAR-16 User Manual
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5.2 DIFOP
I/O type：device output, computer read.
Default port number is 7788.
DIFOP is a protocol that reports and outputs only device information including the device serial number,
firmware version, driver compatibility, internet setting, calibration data, electrical machine setting and
operation status, fault detection information to users. It is a viewer for users to get comprehensive
details about the device.
Each DIFOP packet is 1248 byte long, and comprises an 8-byte Header, a 1238-byte data field, and a
2-byte Tail.
The structure of DIFOP is as shown in Table 6.
Table 6: Data Format of DIFOP Packet.
No.
Information
Offset
Length(byte)
Header
0
DIFOP header
0
8
Data
1
Motor rotation speed (MOT_SPD)
8
2
2
Ethernet (ETH)
10
22
3
FOV setting
32
4
4
Corrected static base (COR_STATIC_BASE)
36
2
5
Motor phase lock (MOT_PHASE)
38
2
6
Top board firmware version (TOP_FRM)
40
5
7
Bottom board firmware version (BOT_FRM)
45
5
8
Corrected intensity curves coefficient
50
240
9
Intensity scale
290
1
10
Intensity Mode
291
1
11
Serial number (SN)
292
6
12
Zero angle offset
298
2
13
Return mode
300
1
14
Upper computer compatibility
301
2
15
UTC time (UTC_TIME)
303
10