RoboSense RS-LiDAR-32 - Msop

RS-LiDAR-32 User Manual
11
The basic data structure of a MSOP packet for dual return is as shown in Figure 7.
Figure 7: Dual returns 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, from 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 1us records the system time. Please refer to the definition of time in
Appendix B.9 and Table 8 in part 3 of this section.
The 31st byte LiDAR model is described as below:
channel data 16
channel data 16
channel data 16
Second
Return
First
Return
channel data 32
channel data ...
channel data 17
channel data 17
channel data ...
channel data 32
channel data 17
channel data ...
channel data 32
42 bytes
data packet
12 * 100 bytes = 1200 bytes
MSOP Packet (1248 bytes)
6 bytes
42 bytes
(21
st
~30
th
byte is
time
stamp)
Header
Tail
4 bytes
resv. + 2
bytes
(0x00,
0xFF)
channel data 1
channel data 2
0xffee
Data block 1
Azimuth 1
channel data ...
channel data 16
channel data 1
channel data 2
0xffee
Data block 2
Azimuth 2
channel data ...
channel data 1
channel data 2
0xffee
Data block n
Azimuth n
channel data ...
channel data 1
channel data 2
0xffee
Data block 12
Azimuth 12
channel data ...
channel data 17
channel data ...
channel data 32