Fov Setting (Fov Set) - RoboSense RS-Ruby Lite User Manual

B.3 FOV Setting (FOV SET)
Byte No. byte1
Function FOV_START
Register Description:
Set the horizontal angle range of the device for outputting valid data, FOV_START and
FOV_END adjustment range 0~36000, corresponding angle 0~360°, the data storage format
adopts big endian format. For example: byte1=0x5d, byte2=0xc0, byte3=0x1f, byte4=0x40, so:
FOV_START = 93*256+192=24000
FOV_END = 31*256+64=8000
Indicates that the valid data output has a horizontal angle ranging from 240.00°to 80.00°.
Note: In all above calculation, bytes have been transformed to decimal.
B.4 Motor Phase Offset (MOT_PHASE)
Byte No. byte1
Function MOT_PHASE
B.5 Top Board Firmware (TOP_FRM)
Byte No. byte1
Function
Register description:
If our top board firmware revision is 02050700, then TOP_FRM will output 00 02 05 07 00.
B.6 Bottom Board Firmware (BOT_FRM)
Byte No. byte1
Function
Register description:
If our top board firmware revision is 02040A00, then BOT_FRM will output 02 04 0A 00.
B.7 Software Version (SOF_FRM)
Byte No. byte1
Function
Register description:
If our top board firmware revision is 20053019, then BOT_FRM will output 00 20 05 30 19.
FOV Setting ( 4bytes in total)
byte2 byte3
FOV_END
Motor Phase Offset ( 2bytes in total)
byte2
Top Board Firmware ( 5bytes in total)
byte2 byte3
TOP_FRM
Bottom Board Firmware ( 5bytes in total)
byte2 Byte3
BOT_FRM
Software Version ( 5 bytes in total)
byte2 Byte3
SOF_FRM
31
RS-Ruby Lite Users' Manual
byte4
byte4 byte5
Byte4 Byte5
Byte4 Byte5