Data Sheet
Page 8
will be introduced in section 4.1.
LiDAR Command:
a. Get version information
CMD: “version”
Return: 6 bytes version information
b. Start measurement
CMD: “getDistanceAndAmplitudeSorted”
Return: measurement data package
5.1. CE30 – D Data Package Form
CE30-D is a 320*24 solid state array LiDAR. It has 6400 photoreceptors.
CE30-D output data row by row. Data of 320 rows is divided to 27 data packages, and each data package will contain 12
rows’ data. The first 26 packages have 12 rows’ measuring data. The last package will contain 8 rows’ measuring data and
4 rows’ padding data.
Each column data corresponds to a certain horizontal deflection angle, and each row data corresponds to a certain vertical
deflection angle. Vertical deflection angle is defined in Table 2.
Each data package contains header, data block, time stamp and factory information. The size of each package is fixed to
816 bytes.
CE30-D’s communication protocol:
Header
Data Block 1
Data Block 2
Data Block 3
...
Data Block
11
Data Block
12
Time
Stamp
Factory
Info.
42
bytes
Heading
Code
0xFFEE
Heading
Code
0xFFEE
Heading
Code
0xFFEE
Heading
Code
0xFFEE
Heading
Code
0xFFEE
4 bytes
2 bytes
Horizontal
Deflection
Angle 1
Horizontal
Deflection
Angle 2
Horizontal
Deflection
Angle 3
Horizontal
Deflection
Angle 11
Horizontal
Deflection
Angle 12
Photoreceptor
Cell 0 Data
Photoreceptor
Cell 0 Data
Photoreceptor
Cell 0 Data
Photoreceptor
Cell 0 Data
Photoreceptor
Cell 0 Data