Velodyne HDL-64E S3 User Manual

HDL-64E S3
High Definition LiDAR Sensor
Page 39
Velodyne LiDAR, Inc.
©
2019
63-HDL64ES3 REV K
CRC Checksum Algorithm
The following is an example of the CRC checksum algorithm for calibration data.
#include <stdio.h>
#define POLYNOMIAL 0x8005 //Standard CRC-16 polynomial
// CRC = A542
unsigned char TestDATA[]=
{
0xfe,0x7b,0xfd,0x27,0x05,0x0e,0x05,0x53,0x05,0x36,0x00,0xC5,0x00,0x19,0x36,0xb0,0x00,0x0a
,0x00,0xff,
0xff,0x51,0xfd,0x44,0x04,0xf6,0x05,0x50,0x05,0x42,0x00,0xC5,0xff,0xe6,0x23,0x28,0x00,0x0f
,0x00,0xff,
0x01,0x8f,0x00,0x06,0x04,0x9b,0x04,0xf4,0x04,0xb7,0x00,0xCe,0x00,0x19,0x2e,0xe0,0x00,0x14
,0x14,0xff,
};
// CRC = CA6C
unsigned char TestDATA1[] =
{
16,23,59,123,2,255,0,4,23,23,90,132,145,200
};
// CRC = 0x6328
unsigned char TestDATA2[] =
{
0xf1,0x0b,0xf0,0x24,0x78
};
// CRC = 0x9411
unsigned char TestDATA3[] =
{
0x06,0x07
};
main()
{
unsigned sh0rt remainder = 0;
f0r (int byte = 0; byte < size0f(TestDATA); ++byte)
{
remainder A= (TestDATA[byte] << 8);
f0r (unsigned char bit = 8; bit>0; --bit)
{
if(remainder & 0x8000)
{
remainder = (remainder << 1) A P0LYN0MIAL;
}
else
{
remainder = (remainder << 1);
}
}
}
printf(“Final Remainder = %d (0x%X) \n“,remainder,remainder);
};
Last Six Bytes Examples
Examples of the last row of 11 consecutive packets follows. In all cases, the “seconds” figure represents
the origin of the packet expressed in seconds since the top of the hour.

Velodyne HDL-64E S3 Specifications

General

Laser Count	64
Field of View	360° horizontal, 26.8° vertical
Accuracy	±2 cm
Operating Temperature	-10°C to +60°C
Frame Rate	5-20 Hz
Angular Resolution (Vertical)	0.4°
Laser Wavelength	905 nm
Rotation Rate	5-20 Hz
Ingress Protection	IP67
Data Output Rate	Up to 1.3 million points per second
Angular Resolution (Horizontal)	0.08°
Range	120 meters (for 10% reflectivity)

Summary

Safety Notices

Important Safety Instructions

Key safety instructions and warnings for operating the sensor.

Cautionary Guidelines

Important warnings and guidelines to reduce risks and maintain warranty.

Introduction

In the Box

Lists the contents of the sensor shipment.

Principles of Operation

Installation

Mounting Options

Details on mechanical mounting and considerations.

Electrical Connections

Covers power, Ethernet, and serial interface setup.

Lockout Circuit Function

Explanation of the laser firing prevention circuit.

View Image

Included Point-cloud Viewer

Using the DSR application for live data viewing.

Custom Point-cloud Viewer Development

Steps for creating custom data visualization software.

Change Run-Time Parameters

Serial Communication Setup

Specifies communication parameters and sample files for serial commands.

Upload Calibration Data

External GPS Time Synchronization

Synchronizing sensor data with GPS time pulses.

Laser Firing Sequence and Timing

Firmware Updates

Appendix A: Mechanical Drawings

Appendix B: Connector Pin outs

Power, Serial & GPS Connector

Pin assignments for the Deutsch DT06-8S connector.

Ethernet Connector

Pin assignments for the M12 D-CODED Ethernet connector.

Appendix C: Digital Sensor Recorder (DSR)

DSR Installation and Calibration

Instructions for installing DSR and using calibration files.

DSR Live Playback

Steps for viewing live data streams using DSR.

Appendix D: MATLAB Sample Code

Appendix E: Data Packet Format

Data Packet Structure Overview

Details the sensor's UDP Ethernet packet format.

CRC Checksum Algorithm

Appendix F: Dual Two Point Calibration Methodology & Code Samples

Coordinate Calculation Algorithm

Describes the methodology and provides sample code for data calculation.

Intensity Compensation and Calibration

Calibration Window Parameters

Details focal distance and focal slope for intensity scaling.

Appendix G: Ethernet Timing Tables

Sensor Ethernet Transmit Timing

Tables showing time elapsed for data capture and transmission.

Laser and Detector Arrangement

Laser Position Views

Diagrams showing laser positions from rear and wall views.

Appendix I: Angular Resolution

Appendix J: Troubleshoot

Appendix K: Service and Maintenance

Appendix L: Specifications