RoboSense Ruby Plus User Manual page 32

Field Offset Length(bytes)
Header ID 0
Reserved 4
Return Mode 7
Reserved 8
Timestamp 10
Reserved 20
LiDAR Type 31
Reserved 32
Note:
The defined timestamp is used to record the system time with a resolution of 1 us.
For specific details, refer to Appendix C.13 in the product manual for time
definition.
Table 13 Return Mode and Return Number Correspondence
Mode
Single Return
Dual Return
4.4.2.2 Data Block Interval
The data block is the measurement part of the MSOP packet and consists of 1164
bytes. It contains 3 Data blocks, each 388 bytes long, representing a complete set of
ranging data.
Within each Data Block, there is a space of 100 bytes, including a 2-byte flag
represented by 0xffee, a 1-byte Return ID (Ret_id) indicating the return sequence, and
a 2-byte Azimuth value representing the horizontal rotation angle. Each azimuth value
corresponds to 128 channel data, which includes one complete set of 128 channels.
Table 12 MSOP Header Data Table
Header (80 bytes)
4 bits used for data packet header detection, 4 bytes
4
defined as 0x55, 0xAA, 0x05, 0x5A.
3 /
1 0x01: Single Return, 0x03: Dual Return
2 /
Stores the timestamp with a resolution of 1 µs. Details in
10
Appendix C.12 in the product manual.
11 /
1 Used to indicate the LiDAR series. 0x05: Ruby Plus
48 /
Definition
Return Mode
1
3
Ruby Plus User Guide
Description
Return Number
d1
d1, d2; d1, d2...
31