User's Manual

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Body
Body: 1040 bytes (8 blocks)
Block 1
Block 2
Block 3
...
Block 8
Azimuth 1
Azimuth 2
Azimuth 3
...
Azimuth 8
Channel 1
Channel 1
Channel 1
...
Channel 1
Channel 2
Channel 2
Channel 2
...
Channel 2
...
...
...
...
...
Channel 32
Channel 32
Channel 32
...
Channel 32
Under the Dual Return mode, the ranging data from each firing is stored in two adjacent blocks:
· The odd number block is the last return, and the even number block is the strongest return
· If the last and strongest returns coincide, the second strongest return will be placed in the even number block
· The Azimuth changes every two blocks
Block size = Size of Azimuth + 32 * Size of Channel X = 130 bytes
Each Block in the Body: 130 bytes
Field
Bytes
Description
Azimuth
2
Current reference angle of the rotor
Azimuth[15:0]: lower byte Azimuth_L[7:0], upper byte Azimuth_H[15:8].
Azimuth Angle = [Azimuth_H, Azimuth_L] / 100° = Azimuth / 100°
Channel X
4
2-byte Distance
Distance[15:0]: lower byte Distance_L[7:0], upper byte Distance_H[15:8]
Distance Value = [Distance_H, Distance_L] * 4 mm = Distance * 4
Maximum Distance Value = (2 ^ 16 - 1) * 4 mm = 262.14 m
1-byte Reflectivity
Reflectivity, in percentage (0 to 255%)
Reserved
-