RoboSense LiDAR RS-Bpearl, User Manual

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RS-Bpearl User manual
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Table 5-5 RS-Bpearl_2.0 DIFOP Packet Structure
Segments No. Information Registers Offset
Length
（
byte
）
Header 0
DIFOP header
0 8
Data
1 Motor speed 8 2
2 Ethernet 10 22
3 FOV setting 32 4
4 Reserved 36 2
5 Motor phase lock 38 2
6 Top board firmware version 40 5
7 Bottom board firmware version 45 5
8 Reserved 50 242
9 Serial number 292 6
10 Zero angle offset 298 2
11 Return mode 300 1
12 Upper computer compatibility 301 2
13 UTC time 303 10
14 Operating status 313 18
15 Reserved 331 11
16 Fault diagnosis 342 40
17 GPRMC 382 86
18 Corrected vertical angle 468 96
19 Corrected horizontal angle 564 96