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
42
B.9 UTC Time(UTC_TIME)
Register description:
(1) Year
(2) month
(3) Day
(4) Hour
UTC Time (10 bytes in total)
Byte No.
byte1
byte2
byte3
byte4
byte5
byte6
byte7
byte8
Function
year
month
day
hour
min
sec
ms
Byte No.
byte9
byte10
Function
μs
set_year
Byte No.
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Function
set_year[7:0]: data 0~255 corresponds year 2000 to year 2255.
set_month
Byte No.
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Function
reserve
reserve
reserve
reserve
set_month[3:0]: 1~12 month
set_day
Byte No.
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Function
reserve
reserve
reserve
set_day[4:0]: 1~31 day
set_hour
Byte No.
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Function
reserve
reserve
reserve
set_hour[4:0]: 0~23 hour