Data Sheet

Page 10
Figure 6 Illustration of LiDAR’s deflection angle
Horizontal deflection angle is 2 bytes long. For example, horizontal deflection angle data 0x18 0x06 is received, the angle
can be calculated through the following steps:
a. Exchange the 2 bytes’ order: 0x06 0x18
b. Get 2 bytes integer: 0x618
c. Transform to decimal system: 1560
d. Multiply 0.01 to get angle: 15.60°
5.3. Calculation of Photoreceptor Cell Data
Photoreceptor cell data consists of 3 bytes, contains distance and intensity information. Distance data is 2 bytes long and
intensity is 1 byte long. For example, photoreceptor cell data 0x85 0x26 0x00 is received, the information can be calculated
through the following steps:
 Calculate distance:
a. Exchange the order of first 2 bytes: 0x26 0x85
b. Get 2 bytes integer: 0x2685
c. Transform to decimal system: 9861
d. Multiply 2.0 millimeters: 19722 mm