User Guide
Table Of Contents
- 1 Safety Notices
- 2 Introduction
- 3 Product Specifications
- 4 Connections
- 5 Communications Protocols
- 6 GPS Synchronization
- 7 Key characteristics
- 8 Point Cloud
- 9 Laser Channels and Vertical Angles
- 10 Calibrated Reflectivity
- 11 Troubleshooting
- Appendix A ▪ Point Time Calculate
- Appendix B ▪ Information Registers
- B.1 Motor(MOT_SPD)
- B.2 Ethernet(ETH)
- B.3 FOV Setting (FOV SET)
- B.4 Motor Phase Offset (MOT_PHASE)
- B.5 Top Board Firmware (TOP_FRM)
- B.6 Bottom Board Firmware (BOT_FRM)
- B.7 Serial Number(SN)
- B.8 Software Version(SOFTWARE_VER)
- B.9 UTC Time(UTC_TIME)
- B.10 STATUS
- B.11 Fault Diagnosis
- B.12 ASCII code in GPRMC Packet
- B.13 Corrected Vertical Angle (COR_VERT_ANG)
- B.14 Corrected Horizontal Offset Angle (COR_HOR_AN
- Appendix C ▪ RSView
- Appendix D ▪ RS-LiDAR-32 ROS Package
- Appendix E ▪ Dimensions
- Appendix G ▪ How to Distinguish the Port Number of
RS-LiDAR-32 User Manual
15
Figure 10: 0.5cm resolution MSOP Data Block.
5.2 DIFOP
I/O type: device output, computer read.
Default port number is 7788.
DIFOP is a protocol that reports and outputs only device information including the device serial number,
firmware version, driver compatibility, internet setting, calibration data, electrical machine setting and
operation status, fault detection information to users. It is a viewer for users to get comprehensive
details about the device.
Each DIFOP packet is 1248 byte long, and comprises an 8-byte Header, a 1238-byte data field, and a
2-byte tail.
The structure of DIFOP is as shown in Table 7.
Table 7: DIFOP Packet.
No.
Information
Offset
Length(byte
)
Header
0
DIFOP header
0
8
Data
1
Motor rotation speed (MOT_SPD)
8
2
2
Ethernet (ETH)
10
22
3
FOV setting
32
4