Msop Data Package; Tail - RoboSense RS-Ruby User Manual

5.1.2.2 Channel Data
Channel data is 3 bytes. The higher 2 bytes of them are used to save the distance
information. The lower one byte stands for reflectivity.
Distance(2 byte)
Distance1[15:8]
Distance is 2 bytes, resolution: 0.5 cm.
For instance, in figure 6, the explanation of Channel data is as follow:
Get the higher 2 bytes(HEX): 0x08 (Distance 1), 0x4b (Distance 2).
Combine to a 16-bit unsigned integer (HEX):0x084b
Convert the value to decimal (DEC):2123
According to the resolution 0.5 cm, change to meter: 2123 * 0.005 = 10.615 m
Hence, the distance between sensor and measurement object is 10.615 m.
Reflectivity is a relative value, please find the concrete definition in "chapter 9 Reflectivity",
Reflectivity could show energy of the light return from measuring object in the real
circumstance. Through analytic of reflectivity, the object of different materials can be
distinguished.

5.1.3 Tail

The 4-byte Tail is reserved to identification.

5.1.4 MSOP Data Package

The following figure shows the format of MSOP data packet and relevant parsing
processes.
Table 6. The Format of Channel Data.
Channel data n(3 byte)
Distance2[7:0]
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RS-Ruby Users' Manual
Reflectivity(1 byte)
Reflectivity [7:0]