RS-Ruby Plus User Manual
17
5.2 Main Data Stream Output Protocol
（
MSOP
）
Main data Stream Output Protocol is abbreviated as MSOP
I/O type: device output, computer analysis
Default port number: 6699
5.2.1 Header
The header has 80 bytes and is used to identify the beginning of the data packet. The structure of
the Header is as shown in the table below:
Table 5-2 MSOP Header
Note: The time stamp is used to record the time of the sensor system, with a resolution of 1us. Please refer to the
definition of time in Appendix B.14.
Header (80 bytes)
Field
Offset
Length
(byte
）
Description
Header ID
0
4
0x55,0xAA,0x05,0x5A,
Protocol
Version
4
2
0x01,0x02,
Resv
6
1
Reserved for future updates
Wave_mode
7
1
Big-endian mode is adopted, the lower 4 bits are
used to select the echo mode, and the
corresponding bit indicates whether to select the
corresponding echo
Temp
8
2
Sensor temperature information
Timestamp
10
10
Time stamp which is used to record system time
Resv
20
11
Reserved for future updates
LiDAR Type
31
1
Series of Lidar
0x05:RS-Ruby plus
LiDAR Model
32
1
0x01:ruby_plus
0x02:ruby_plus_80
0x03:ruby_plus_80V
0x04:ruby_plus_48v
Resv
33
47
Reserved for future updates