Fov Setting（Fov_Set; Top Board Firmware Version (Top_Frm); Motor Phase Offset (Mot_Phase) - RoboSense LiDAR RS-Ruby Plus User Manual

B.3 FOV Setting（FOV_SET）
Byte No. byte1
Function FOV_START
Register Description:
Set the azimuth range that the sensor can output valid data, the values of FOV_START and
FOV_END could be any integer between 0 to 36000, corresponding 0~360°, the data storage
adopts the big endian ordering. For example: byte1 = 0x5d，byte2 = 0xc0，byte3 = 0x1f，byte4 =
0x40, so:
FOV_START = 93*256+192=24000
FOV_END = 31*256+64=8000
Which indicates that the azimuth range for valid data output is from 240.00° to 80.00° in
clockwise direction.
Note: In all above calculations, bytes have been converted from hexadecimal to decimal.
B.4 Motor Phase Offset (MOT_PHASE)
Byte No. byte1
Function MOT_PHASE
Register description:
This register can be used together with the PPS pulse of GPS to adjust the phase offset of the
motor at the top of seconds. The value can be set from 0 to 360 corresponding 0 to 360°. The
data storage adopts the big endian ordering. For example: the byte1=0x01、byte2=0x0e, so the
motor phase should be 1*256+14 = 270.
Note: In all above calculations, bytes have been converted from hexadecimal to decimal.
B.5 Top Board Firmware Version (TOP_FRM)
Byte No. byte1
Function
Register description：
This register corresponds to the top board firmware version:
Register value: 00 02 05 07 00
Top board firmware version: 02050700
FOV_SET (4 bytes in total)
byte2 byte3
FOV_END
MOT_PHASE(2 bytes in total)
byte2
FOV_SET (4 bytes in total)
byte2 byte3
TOP_FRM
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RS-Ruby Plus User Manual
byte4
byte4 byte5