RoboSense LiDAR Helios-1615, Руководство пользователя

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RS-Helios-16P User Manual
37
B.3 FOV Setting
（
FOV_SET
）
FOV_SET (4 bytes in total)
Byte No. byte1 byte2 byte3 byte4
Function FOV_START FOV_END
Register Description:
Set the azimuth range that the sensor can output valid data, the values of FOV_START and
FOV_END could be any integer between 0 to 36000, corresponding 0~360°, the data storage adopts
the big endian ordering. For example: byte1 = 0x5d
，
byte2 = 0xc0
，
byte3 = 0x1f
，
byte4 = 0x40,
therefore:
FOV_START = 93*256+192=24000
FOV_END = 31*256+64=8000
Which indicates that the azimuth range for valid data output is from 240.00° to 80.00° in clockwise
direction.
Note: In all above calculations, bytes have been converted from hexadecimal to decimal.
B.4 Motor Phase Offset (MOT_PHASE)
MOT_PHASE(2 bytes in total)
Byte No. byte1 byte2
Function MOT_PHASE
Register description:
This register can be used together with the PPS pulse of GPS to adjust the phase offset of the motor
at the top of seconds. The value can be set from 0 to 360 corresponding 0 to 360°. The data storage
adopts the big endian ordering. For example: the byte1=1, byte2=14, so the motor phase should
be 1*256+14 = 270.
Note: In all above calculations, bytes have been converted from hexadecimal to decimal.
B.5 Top Board Firmware Version (TOP_FRM)
TOP_FRM(5 bytes in total)
Byte No. byte1 byte2 byte3 byte4 byte5
Function TOP_FRM
Register description
：
This register corresponds to the top board firmware version:
Register value: 00 01 06 05 00
Segmentation of value: 0x0001060500
Top board firmware version: 01060500