User Guide

RS-LiDAR-16 User Manual
43
B.6 Bottom Board Firmware (BOT_FRM)
BOT_FRM(5bytes in total)
No.
byte1
byte2
Byte3
Byte4
Byte5
Function
BOT_FRM
Register description：
If our top board firmware revision is B7R14V4_T1_F, then BOT_FRM will output 07 14 04 01 F0. In the
output, the A represents release version Application, while the F represents factory version Factory.
B.7 Corrected Vertical Angle (COR_VERT_ANG)
Register description:
(1) The storage format of corrected vertical angle data adopts big endian format.
(2) LSB = 0.0001°
(3) The value of the vertical angle is unsigned integer. Channel 1 to Channel 8 pitches downwards,
channel 9 to channel 16 pitches upwards.
For example, the calculation of vertical angle of channel 9:
byte1 = 0x00, byte2 = 0x27, byte3 = 0x10.
COR_VERT_ANG(48 bytes in total)
Byte No.
byte1
byte2
byte3
byte4
byte5
byte6
byte7
byte8
Byte9
Function
Channel 1
Channel 2
Channel 3
Byte No.
byte10
Byte11
Byte12
Byte13
Byte14
Byte15
Byte16
Byte17
Byte18
Function
Channel 4
Channel 5
Channel 6
Byte No.
byte19
byte20
Byte21
Byte22
Byte23
Byte24
Byte25
Byte26
Byte27
Function
Channel 7
Channel 8
Channel 9
Byte No.
Byte28
byte29
byte30
Byte31
Byte32
Byte33
Byte34
Byte35
Byte36
Function
Channel 10
Channel 11
Channel 12
Byte No.
Byte37
Byte38
byte39
byte40
Byte41
Byte42
Byte43
Byte44
Byte45
Function
Channel 13
Channel 14
Channel 15
Byte No.
Byte46
Byte47
Byte48
Function
Channel 16