For Reduced Return; Table 6. Variable Definitions For M8 Packet; Table 7. Variable Definitions For The Packet Data - quanergy M8 User Manual

For Reduced Return

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 7)
ACKET ATA

Table 7. Variable Definitions for the Packet Data

Field
Status
Return ID
Reserved
M8 Firing Data
M8 F D 0 04
IRING ATA X
Position
Reserved
Returns Distances
Returns Intensities

Table 6. Variable Definitions for M8 Packet

Type Unit/Value
uint32 Ox75bd7e97
uint32 bytes
uint32 seconds
uint32 nanoseconds
uint8 0
uint8 1
uint8 0
uint8 0x04
Type Unit/Value
uint16
uint8
uint8 0
M8 Firing Data
0x04[50]
uint16 1/10400
rotation
uint16 0
uint32[8] 10 micrometers Array of distance measurements per laser (8).
uint8[8]
M8 Sensor User Guide, QPN 96-00001 Rev K
Notes
Defines the start of a packet.
Size of entire message (2224).
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 04 is Packet Data.
Notes
NO_ERROR = 0
VERSIONS_MISMATCH_ERROR = (1U << 0)
FIRMWARE_WATCHDOG_VIOLATION = (1U << 1)
0, 1, or 2
Array of 50 firings, see the last half of this table.
[0, 10399] Refer to Figure 23.
0 indicates an invalid point. This can be one of three
returns as indicated by Return ID.
Array of intensity measurements per laser (8).
255 indicates saturation.
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