Header - RoboSense RS-Ruby User Manual

80 byte
Data block 0

Header

0xFE
80 byte
(11~20
Ret_id
byte is
timestamp)
Azimuth 1
l data 1
channel data 0
channel data 1
channel data ...
channel data 127
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.
Header
4bytes 3bytes
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.
MSOP Packet(1248 byte)
3*388byte= 1164byte
data packet
Data block 1
0xFE
Ret_id
Azimuth 2
l data 1
channel data 0
channel data 1
channel data ...
channel data 127
Table 4. Format of Header.
Header(80bytes)
Resv Wave_Mode
1bytes
RS-Ruby Users' Manual
Data block 2
0xFE
Ret_id
Azimuth 3
l data 1
channel data 0
channel data 1
channel data ...
channel data 127
Temp
2bytes 10bytes
8
4byte
Tail
4byte
(parity)
Time Resv
60bytes