Manual
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Ang_q2[14:7]
C
Ang_q2[6:0]
LL
HH
FIG 6 ANGLE DATA STRUCTURE
CS(2B)
Check code
The check code of the current data packet uses a two-byte exclusive OR to check the current
data packet.
Si(2B)
Sampling data
The system test sampling data is the distance data of the sampling point.
Zero resolution:
The zero-bit data is in a zero-bit packet with LSN = 1, that is, the number of Si is 1, and S1 = zero-
distance data. FSA = LSA = zero angle data. For the analysis of the specific values of distance and
angle, see the analysis of distance and angle.
Distance resolution:
Distance solution formula:
Among them, Si is sampling data. Set the sampling data to E5 6F. Since this system is a small-endian
mode, the sampling point S = 0x6FE5, and it is substituted into the distance solution formula, which
yields Distance = 7161.25mm.
Angle analysis:
Angle data is stored in FSA and LSA. Each angle data has the following data structure. C is the
check digit and its value is fixed at 1.
Starting angle solution formula：
End angle solution formula：
Middle corner solution formula：
AngCorrect is an angle correction value, and its calculation formula is as follows. tand^(-1) is an
inverse trigonometric function and returns an angle value:
ELSE
means to shift data right by one bit. Diff (Angle) represents the clockwise angle
difference from the starting angle to the ending angle. LSN indicates the number of packets sampled
in this frame.
Let the 4th to 8th bytes of the packet be 28 E5 6F BD 79，
= 1000，
，
LSN = 0x28 = 40(dec)，FSA = 0x6FE5，LSA = 0x79BD，