RoboSense RS-Bpearl, User Manual

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RS-Bpearl User Manual
First
return
Second
return
The basic data structure of a MSOP packet for dual return is as shown in
Figure 6.
Figure 6: Dual Return MSOP.
5.1.1 Header
The 42-byte Header marks the beginning of data blocks.
In the 42-byte data header, the first 8 bytes are for header identification, the 21st to 30th byte
records timestamp, and the rest bytes are reserved for future updates.
The first 8 bytes of the header is defined as 0x55, 0xAA, 0x05, 0x0A, 0x5A, 0xA5, 0x50, 0xA0.
Time stamp with a resolution of 1us records the system time. Please refer to the definition of
time in Appendix B.9 and Table 6 in section 5.3 of this chapter.