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
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B.10 STATUS
Register description:
(1) Idat1 is sensor power supply current, Idat2 is top board power supply current. We use Idat to
represent Idat1 or Idat2. Idat_reg contains 3 bytes to be Idat_reg[23:0]. Idat_reg[23] is symbol flag,
while Idat_reg[22:0] is current value. The LSB for Idat is 1uA, the formula is as below:
For example, if byte1 = 0x8C, byte2 = 0xD5 and byte3 = 0x00, then the current value is:
Idat = -Idat_reg[22:0] = -0x0CD500 uA = -840960uA≈-841mA
(2) We have six different voltage, each voltage register has 2 bytes to be Vdat_reg[15:0].
Vdat_reg[15:12] is invalid, while Vdat[11:0] represent the voltage value. The six different voltage
formulas is as below:
The unit above is volt (V).
Status (18bytes in total)
Byte No.
byte1
byte2
byte3
byte4
byte5
byte6
byte7
byte8
Function
Idat1_reg
Idat2_reg
Vdat_12V_reg
Byte No.
byte9
byte10
byte11
byte12
byte13
byte14
byte15
byte16
Function
Vdat_12V_M_reg
Vdat_5V_reg
Vdat_3V3_reg
Vdat_2V5_reg
Byte No.
17byte
18byte
Function
Vdat_1V2_reg