RS-Ruby Plus User Manual
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the angle encoder corresponding the zero degree of the azimuth value. The azimuth resolution is
0.01 degrees.
5.2.3 Tail
The Tail is 4 bytes in length, reserved for calibration.
5.3 Device Info Output Protocol
（
DIFOP
）
Device Info Output Protocol is abbreviated as DIFOP
I/O type: device output, computer read.
Default port number: 7788.
DIFOP is an "output-only" protocol to periodically send the LiDAR serial number (S/N), firmware
version information, host computer driver compatibility information, network configuration
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
blocks and a 2-byte long tail.
The basic structure of the DIFOP packet is as shown in the table below:
Table 5-6 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 source address
10
4
Ethernet destination address
14
4
Ethernet IP and LiDAR MAC address
18
6
MSOP port number
24
2
Reserved
26
2
DIFOP port number
28
2
Reserved
30
2
3
The FOV start angle
32
2
The FOV end angle
34
2
4
Reserved
36
2
5
Motor phase lock
38
2
6
Top board firmware version number
40
5
Bottom board firmware version number
45
5
Bottom board software version
50
5
Motor firmware version number
55
5
Sensor hardware version number
60
3
Web page cgi version number
63
4