For All Three Returns; Table 4. Variable Definitions For M8 Packet; Table 5. Variable Definitions For The Packet Data - quanergy M8 User Manual

For All Three Returns

Field
P H
ACKET EADER
Packet Signature
Message Size
Timestamp Seconds
Timestamp Nanoseconds
API Version Major
API Version Minor
API Version Patch
Packet Type
P D (See Table 5)
ACKET ATA

Table 5. Variable Definitions for the Packet Data

Field
M8 Firing Data
Timestamp Seconds
Timestamp Nanoseconds
API Version
Status
M8 F D
IRING ATA
Position
Reserved
Returns Distances
Returns Intensities
Returns Status

Table 4. Variable Definitions for M8 Packet

Type Unit/Value
uint32 Ox75bd7e97
uint32 bytes
uint32 seconds
uint32 nanoseconds
uint8 0
uint8 1
uint8 0
uint8 0x00
Type Unit/Value
Firing Data[50]
uint32 seconds
uint32 nanoseconds
uint16 5
uint16
uint16 1/10400
rotation
uint16
uint32[3][8] 10 micrometers Array of distance measurements per laser (8)
uint8[3][8]
uint8[8]
M8 Sensor User Guide, QPN 96-00001 Rev K
Notes
Defines the start of a packet.
Size of entire message (6632).
When used with a GPS receiver, data packages include
a GPS synchronization timestamp. In the absence of a
GPS receiver, the timestamp refers to a local second
counter with reference to the sensor starting time.
Nanosecond part of timestamp.
Value 00 is Packet Data.
Notes
Array of 50 firings, see the last half of this table.
When used with a GPS receiver, data packages include
a GPS synchronization timestamp. In the absence of a
GPS receiver, the timestamp refers to a local second
counter with reference to the sensor starting time.
Nanosecond part of timestamp.
NO_ERROR = 0
VERSIONS_MISMATCH_ERROR = (1U << 0)
FIRMWARE_WATCHDOG_VIOLATION = (1U << 1)
[0, 10399] Refer to Figure 23.
per return (3); 0 indicates an invalid point.
Array of intensity measurements per laser (8)
per return (3); 255 indicates saturation.
Array of status per laser (8); always 0.
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