User Manual LR-16F
OMEN-16F-202012
15
8.4.
Distance
Distance calculation method of LR-16F is similar to that of azimuth angle, as is shown
in the following example:
1
）
Obtain the distance value:0x11 & 0x21
2
）
Interchange of high byte and low byte:0x21 & 0x11
3
）
Combine into an unsigned hexadecimal number:0x2111
4
）
Convert to decimal number:8465
5
）
Multiply by the minimum resolution:2mm
6
）
result:16930mm
8.5.
Time stamp
The calculation method of timestamp of LR-16F is shown in the following example:
1
）
Obtain time stamp data:0x43 & 0x32&0x21&0x10
2
）
Interchange of high byte and low byte:0x10&0x21&0x32&0x43
3
）
Combination
0X10
0X21
0X32
0X43
0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 1 0 0 1 0 0 1 0 0 0 0 1 1
Second(uint16)
Microsecond(uint32)
Calculation of second
0 0
0
0
0
0
0
1
0
0
0
0
0
0
1
0
Second(uint16)
Convert from binary to decimal: 258 unit:s
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 1 0 0 1 0 0 1 0 0 0 0 1 1
Convert from binary to decimal: 78403 unit: us
4
）
Calculate seconds:258+78403/1000000=258.078403
8.6.
Emission time
The laser emission time of each channel of LR-16F is 3us, and there is a waiting time of
3us after all 16-line lasers are emitted. The total time for each 16 channels of laser to complete
a round is 51us. Therefore, the laser beam after the first channel has a corresponding time
offset.
To calculate emission time of the laser beam of any channel in any data block in the
data package, the 24 laser sequences should be numbered as M(M is 0~23) according to the
sequence of data blocks, the 16 laser channels for each laser sequence are numbered as N, and
the laser emission time
T
shift
of each channel is: (refer to Appendix C)
)
*
3
(
)
*
51
(
shift
N
M
T
