Difop - RoboSense RS-Ruby Lite User Manual

Figure 6: MSOP Packet of RS-Ruby Lite in Single Return Mode.

5.2 DIFOP

Device Info Output Protocol, abbreviation: DIFOP
I/O Type: output from device, input to PC
Default port number: 7788
DIFOP is a protocol that reports and outputs device information including the device serial
number (S/N), firmware version, internet setting, calibration data, electrical machine setting
and operation status, fault detection information. The UDP packet of DIFOP is sent to PC
from LiDAR in a confirm time interval. It is a viewer for users to get comprehensive details
about the device.
Each DIFOP packet is 1248 byte long, and comprises an 8-byte Header, a 1238-byte data
field, and a 2-byte Tail.
No.
Header 0
1
Data
2
Table 7: Data Format of DIFOP Packet.
Information
DIFOP header
Motor rotation speed
Source IP Address (LiDAR IP)
Destination IP Address
LiDAR MAC Address
11
RS-Ruby Lite Users' Manual
Header:0x55,0xaa,0x05,0x5a
Data block 0
distance byte: 0x08, 0x4b; Atten byte
Channel 1 data calculation
combine the byte: 0x084b;
get distance: 0x084b;
convert to decimal :2123;
multiply by :0.5cm;
result :10.615m;
Data block 1
second azimuth :0x5939
Azimuth 2 calculation
get azimuth :0x59 & 0x39
combine the byte :0x5939
convert to decimal :22841
divide by :100
result :228.41°
Offset Length(byte)
0
8
10
14
18
:0x08
get atten :0x08
combine the byte :0x08
convert to decimal :8
result :8
8
2
4
4
6