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
41
B.5 Top Board Firmware (TOP_FRM)
Register description:
If our top board firmware revision is T6R23V6_T6_A, then TOP_FRM will output 06 23 06 06 A0. In the
output, the A represents release version Application, while the F represents factory version Factory.
B.6 Bottom Board Firmware (BOT_FRM)
Register description:
If our top board firmware revision is B6R23V6_T6_F, then BOT_FRM will output 06 23 06 06 F0. In the
output, the A represents release version Application, while the F represents factory version Factory.
B.7 Serial Number(SN)
The Serial Number of each device adopts the same format as the MAC_Address, namely, a 6-byte
hexadecimal number.
B.8 Software Version(SOFTWARE_VER)
It provides instruction for version compatibility of the upper-computer
TOP_FRM(5bytes in total)
Byte No.
byte1
byte2
Byte3
Byte4
Byte5
Function
TOP_FRM
BOT_FRM(5bytes in total)
Byte No.
byte1
byte2
Byte3
Byte4
Byte5
Function
BOT_FRM
SN(6 bytes in total)
Byte No.
1byte
2byte
3byte
4byte
5byte
6byte
Function
SN
SOFTWARE_VER(2 bytes in total)
Byte No.
byte1
byte2
Function
SOFTWARE_VER