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
43
(5) Min
(6) Sec
(7) ms
Note: set_ms[9:0] value: 0~999
(8) μs
Note: set_μs[9:0] value: 0~999
set_min
Byte No.
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Function
reserve
reserve
set_min[5:0]: 0~59 min
set_sec
Byte No.
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Function
reserve
reserve
set_sec[5:0]: 0~59 sec
set_ms
Byte No.
bit15
bit14
bit13
bit12
bit11
bit10
bit9
bit8
Function
reserve
reserve
reserve
reserve
reserve
reserve
ms[9:8]
Byte No.
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Function
set_ms[7:0]
set_μs
Byte No.
bit15
bit14
bit13
bit12
bit11
bit10
bit9
bit8
Function
reserve
reserve
reserve
reserve
reserve
reserve
us[9:8]
Byte No.
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
Function
set_μs[7:0]