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RS-Ruby Users’ Manual
8
MSOP Packet
(1248 byte)
4byte
80 byte
data packet
3*388byte= 1164byte
80 byte
(11~20
byte is
timestamp)
Header
4byte
(parity)
Tail
Figure 5. MSOP Packet of RS-Ruby in Single Return Mode.
5.1.1 Header
The 80-byte Header is used to mark the start position of data, return mode setting, sensor
temperature and timestamp. The detail of the header is as shown in Table 4.
Table 4. Format of Header.
Header(80bytes)
Header Resv Wave_Mode Temp Time Resv
4bytes 3bytes 1bytes 2bytes 10bytes 60bytes
header : this can be used for packets identification: 0x55, 0xAA, 0x05, 0x5A (Default
Value)
wave_mode : Big-Endian mode, lower 4 bit is used to representing the return mode of the
LiDAR, for instance:
00000011 stands for that first and second return mode is chosen.
00000001 stands for that first return mode is chosen.
00000010 stands for that second return mode is chosen.
temp : the temperature of device;
time : it is used to save the timestamp. In the defined timestamp the system time is
recorded, resolution 1us, the definition of time can be found in the appendix A.9 and the
table 8 of this chapter.
resv
: those bytes are reserved.
Azimuth 3
l data 1
channel data 1
0xFE
Data block 2
Ret_id
channel data 0
channel data ...
channel data 127
Azimuth 1
l data 1
channel data 1
0xFE
Data block 0
Ret_id
channel data 0
channel data ...
channel data 127
Azimuth 2
l data 1
channel data 1
0xFE
Data block 1
Ret_id
channel data 0
channel data ...
channel data 127