RoboSense LiDAR RS-Ruby Plus, Руководство пользователя, Страница: 44 / 60

RS-Ruby Plus User Manual
38
Function Channel 19 horizontal angle Channel 20 horizontal angle Channel 21 horizontal angle
Byte No. … … …
Function …
Byte No. byte358 byte359 byte360 byte361 byte362 byte363 byte364 byte365 byte366
Function Channel 120 horizontal angle Channel 121 horizontal angle Channel 122 horizontal angle
Byte No. byte367 byte368 byte369 byte370 byte371 byte372 byte373 byte374 byte375
Function Channel 123 horizontal angle Channel 124 horizontal angle Channel 125 horizontal angle
Byte No. byte376 byte377 byte378 byte379 byte380 byte381 byte382 byte383 byte384
Function Channel 126 horizontal angle Channel 127 horizontal angle Channel 128 horizontal angle
Register description:
(1) The channel horizontal angle value is composed of 3 bytes, among which the 1
st byte is used
to indicate positive/negative angle, the 2
nd
and 3
rd
bytes indicate angle value. The data storage
adopts big-endian format;
(2) The 1
st byte of the horizontal angle value, 0x00 means a positive angle, 0x01 means a negative
angle;
(3) The angle resolution: LBS=0.01;
(4) For example, the register value of channel 1: byte1=0x01, byte2=0x01 (converted to decimal is
1), byte3=0x53 (converted to decimal is 83), then the
horizontal
angle of channel 1 is:
（
2*256+83
）
*0.01=5.95°
B.11 Serial Number(SN
）
SN(6 bytes in total)
Byte No. 1byte 2byte 3byte 4byte 5byte 6byte
Function SN
Similar to the MAC address, it indicates the serial number of the LiDAR with a total of 6 bytes in
hexadecimal.
B.12 Time synchronization Setting
（
Sync_set
）
Sync_set
（
1 bytes in total
）
Byte No. 1byte
Function Sync_set
Register description
：
1
）
00 represents GPS Time Synchronization
；
2
）
01 represents PTP-E2E Time Synchronization
；
3
）
02 represents PTP-P2P Time Synchronization
；
4
）
03 represents Gptp Time Synchronization
。