RoboSense RS-LiDAR-16 - 5.3 UCWP Protocol Explained

RS-LiDAR-16 User Manual
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Note: The Header (the DIFOP identifier) in the table above is 0xA5, 0xFF, 0x00, 0x5A, 0x11, 0x11, 0x55, 0x55, among
which the first 4 byte 0xA5,0xFF,0x00,0x5A is the sequence to identify the packet.
The tail is 0x0F,0xF0.
For definition of information registers as well as their usage, please check more details in Appendix B of
this manual.
5.3 UCWP
I/O type: computer writes into the device.
Function: user can reconfigure Ethernet connection, time and some parameters of the device.
Each UCWP Packet is 1248 byte long, and is comprised of an 8-byte Header and a 40-byte data field.
The UCWP packet structure is as shown below:
Table 7: Data Format of UCWP Packet.
Note: The Header (UCWP identifier) in the table above is 0xAA, 0x00, 0xFF, 0x11, 0x22, 0x22, 0xAA, 0xAA, among
16
Operation status (STATUS)
313
18
17
Reserved
331
11
18
Fault diagnosis (FALT_DIGS)
342
40
19
GPRMC
382
86
20
Corrected static (COR_STATIC)
468
697
21
Corrected vertical angle (COR_VERT_ANG)
1165
48
22
Reserved
1213
33
Tail
23
Tail
1246
2
No.
Info
Offset
Length(byte)
Header
0
UCWP header
0
8
Data
1
Motor rotation speed
8
2
2
Ethernet
10
22
3
FOV setting
32
4
4
Time
36
10
5
Motor phase lock
46
2