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RS-Ruby Plus User Manual
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Table 5-3 Wave_mode and Ret_id correspondence table
Wave_mode and Ret_id correspondence table
Definition
Mode
Wave_mode Ret_id
single return 1 1
dual return 3
1,2
；
1,2…
5.2.2 Data Blocks
As shown in the table below, the Data Blocks in the MSOP packet store the data measured by the
sensor, and has a total of 1164 bytes. There are a total of 3 data blocks in one MSOP Packet. Each
data block has 388 bytes and represents a complete measurement, see the following table for
details:
Table 5-4 Data Blocks Definitions
Data Block (1164 bytes)
Data Block 1 Data Block 2 Data Block 3
0xFE 0xFE 0xFE
Ret_id
Ret_id Ret_id
Azimuth 1 Azimuth 2 Azimuth 3
Channel data 1 Channel data 1 Channel data 1
Channel data 2 Channel data 2 Channel data 2
... ... ... ... ... ...
Channel data 127 Channel data 127 Channel data 127
Channel data 128 Channel data 128 Channel data 128
Note: In the dual return mode, the first column of 128 channels data block reports the last return data, and the
second column of 128 channels data block reports the strongest return data.
5.2.2.1 Channel Data
Each channel data has 3 bytes, the upper two bytes store distance information, and the lower
one byte stores reflectivity information, as shown in the figure below.
Table 5-5 Channel Data
Channel data n
（
3 bytes
）
2 byte Distance 1 byte Reflectivity
Distance1 [15:8] Distance2 [7:0] Reflectivity
Distance information contains 2 bytes, the unit is cm, the resolution is 0.5cm.