User Guide

RS-LiDAR-16 User Manual
48
temperature4 represent the top board temperature. Each temperature register contains 2 bytes to be
temperature_reg[15:0]. temperature_reg[2:0] is invalid. temperature_reg[15:3] is temperature value,
while temperature_reg[15] is symbol flag. The temperature formula is as below:
Temperature5 represents bottom board temperature. The temperature register contains 2 bytes to be
temperature_reg[15:0]. temperature_reg[15:12] is invalid. temperature_reg[11:0] is temperature value,
while temperature_reg[15] is symbol flag
(4) Byte16 represents the GPS input status register gps_st, this register uses 3 bit to describe the
validation for PPS, GPRMC, and time stamp. The details are shown below:
(5) The real-time rotation speed of the motor is composed of two bytes, byte32 and byte33. The
calculation formula is as follows:
Motor real-time rotation speed = (256 * r_rpm1 r_rpm2)÷6
(6) The reset is used for debug, they are not opened.
B.13 ASCII code in GPRMC Packet
GPRMC register reserve 86byte, it can store the whole GPRMC message from GPS module in to the
register in ASCII code.
GPS input status register: gps_st
BIT
Function
Value
Status
bit0
PPS Flag:
PPS_LOCK
0
PPS is invalid
1
PPS is valid
bit1
GPRMC Flag：
GPRMC_LOCK
0
GPRMC is invalid
1
GPRMC is valid
bit2
UTC Lock Flag:
UTC_LOCK
0
LiDAR internal time stamp is not synchronizing the UTC.
1
LiDAR internal time stamp is synchronizing the UTC.
bit3~bit7
Reserved
x
N/A