RoboSense RS-LiDAR-32 - Page 53

RS-LiDAR-32 User Manual
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 
󰇟󰇠  󰇛󰇟󰇠  󰇜
 󰇛󰇛  󰇟󰇠󰇜󰇜 󰇛󰇟󰇠  󰇜
Temperature5 represents bottom board tempreture. The temperature register contains 2 bytes to be
temperature_reg[15:0]. temperature_reg[15:12] is invalid. temperature_reg[11:0] is temperature value,
while temperature_reg[15] is symbol flag
 
󰇟󰇠 󰇛󰇟󰇠  󰇜
 󰇛  󰇟󰇠󰇜 󰇛󰇟󰇠  󰇜
(4) Byte16 represents the GPS input status register gps_st, this register uses 3 bit to describe the
validation for PPS, GPRMC, and timestamp. The details are shown below:
(5) The real-time rotation speed of the motor is composed of two bytes, byte32 and byte33. The
calculation formula is as follows:
Motor real-time rotation speed = (256 * r_rpm1 + r_rpm2)÷6
(6) The reset is used for debug, they are not opened.
B.12 ASCII code in GPRMC Packet
GPRMC register reserve 86byte, it can store the whole GPRMC message from GPS module in to the register in ASCII
code.
GPS input status register gps_st
BIT
Function
Value
Status
bit0
PPS Flag:
PPS_LOCK
0
PPS is invalid
1
PPS is valid
bit1
GPRMC Flag:
GPRMC_LOCK
0
GPRMC is invalid
1
GPRMC is valid
bit2
UTC_LOCK Flag:
UTC_LOCK
0
LiDAR internal timestamp is not synchronizing the UTC.
1
LiDAR internal timestamp is synchronizing the UTC.
bit3~bit7
Reserved
x
N/A