22
Figure 5.2 The Azimuth of the Lidar
Additional Information
The additional information is 12 bytes in length, including 6 bytes UTC, 4 bytes of
microsecond Timestamp and 2 bytes of Factory.
Additional Information: 12 bytes
Name
Length (byte)
Function
UTC time
6
Year, month, day, hour, minute and second
Timestamp
4
Timestamp (μs)
Factory
Echo
Information
1
0x1 represents single echo Lidar
0x2 represents dual echo Lidar
Vendor
Information
1
0x20 represents the MS03 Lidar
1) When there is a GPS device inputting PPS signal to the Lidar, the timestamp is
generated according to the PPS time as the cycle time, and the range of the timestamp
is 0-999999 (μs);
2) When there is an external synchronization device inputting PPS signal, the timestamp
is generated according to the external synchronization PPS time as the cycle time, and
the range of the timestamp is 0-999999 (μs);
3) When there is no synchronization device inputting PPS signal, the Lidar generates
timestamp with a period of 1 hour. The range of the timestamp is 0-3599_999_999 (μs).
5.2 DIFOP Protocol
The device package outputs read-only parameters and status information such as
version number, Ethernet configuration, motor speed and operating status, and fault
diagnosis. The data of the device package adopts Big-Endian mode.
The device package includes a 42-byte Ethernet header and a 1206-byte payload, with
a length of 1248 bytes. The payload is composed of an 8-byte frame header, 1196-byte
data and a 2-byte frame tail.
