OMEN-1F-202012

User Manual LR-1F
OMEN-1F-202012
7
Offset
Length
Description
22
2
Internal model code
24
2
Hardware version
26
2
Software version
28
4
Timestamp, unit: ms
32
2
Bit[14:0]: Rotation rate
BIT 15：rotation direction（0：clockwise，1： anticlockwise）
34
1
Safe zone status, same as status of the hardware INPUT/OUTPUT
BIT[3:0]: Same as OUTPUT[3:0]
BIT[7:4]: Same as INPUT[3:0]
35
1
Error status, the corresponding position is “1”, indicates an error
BIT0: Motor fault,
BIT1: Power fault,
BIT2: Temperature fault
36
4
Reserved (detailed meaning to be determined)
Table 4 Definition of header file
6.3 Definition of Data Block
Total length of data packet is 1240 bytes, among which header accounts for 40 bytes, data
returned by laser is 1200 bytes.
Table 5 Definition of data block
6.4 Data conversion
6.4.1 Angle calculation
Details on calculating angle of LR-1F is shown as below:
1) Obtain angle value:0xaa & 0x1d
2) Interchange of high bits and low bits:0x1d & 0xaa
3) Combine into an unsigned hexadecimal number:0x1daa
4) Convert to decimal:7594
5) Multiply by minimum resolution:0.01°
6) Result:75.94°
Offset
Length
Description
0
2
Angle，unsigned integer，valid range：0~35999
Unit :0.01°/LSB，indicating range：0°~359.99°
Note：If this value is greater than or equal to 0xFF00, then this block is invalid
and must be ignored.
2
2
Distance reading, unsigned integer.
The measured distance is determined by the distance ratio of the header, that
is, measured distance="the reading value × the distance ratio of the packet
header" (unit: mm).
4
2
Signal strength indicates the strength of the received signal, ranging from 0
to 65535.
6
2
Reserved (detailed meaning to be determined)