RoboSense LiDAR Helios-1615, Руководство пользователя

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RS-Helios-16P User Manual
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information, calibration information, motor operating configuration, operating status, and fault
diagnosis information to users. By reading DIFOP, users can learn specific information of various
parameters of the LiDAR currently in use.
A complete DIFOP packet consists of a synchronization header, data area and a tail. Each DIFOP
Packet is 1248-byte long, including an 8-byte long synchronization header, 1238-byte long data
area and a 2-byte long tail.
The structure of the DIFOP packet is as shown in the table below.
Table 11 DIFOP Packet Structure
Segments No.
Information Registers Offset Length
（
byte
）
Header
0 DIFOP identification 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 number
40
5
7 Bottom board firmware version number 45 5
8 Bottom board software version
50
5
9 Motor firmware version number
55
5
10 Sensor hardware version number
60
3
11 Web page cgi version number
63 4
12 Top board backup CRC
67 4
13 Bottom board backup CRC
71 4
14 Software app backup CRC
75 4
15 Web page cgi backup CRC
79 4
16 Ethernet gateway
83 4
17 Subnet mask
87 4
18 Reserved
91
201
19 Serial number 292 6
20 Zero angle offset 298 2
21 Return mode
300
1
22 Time Synchronization Mode
301
1
23 Synchronization status
302
1
24 Time 303 10
25 Operating status
313
12
26 Reserved
325
17
27 Fault diagnosis
342
18
28 Whether the code wheel is calibrated
360
1
29 GPS PPS pulse trigger mode
361
1