Cygbot CygLiDAR D1 Руководство пользователя - Страница 9
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6. Serial Communication
Run 2D Mode Request (0x01)
0x5A 0x77 0xFF 0x02 0x00
Request Packet
0x5A 0x77 0xFF 0xF3 0x00
Response Packet
Light source
FOV
Resolution
Range
Data Type
Switch to 2D Mode in order to receive 2D datasets from the device.
Sequence of 2D datasets is 0.75 º resolution from -60º to +60º.
Run 3D Mode Request (0x08)
0x5A 0x77 0xFF 0x02 0x00
Request Packet
0x5A 0x77 0xFF 0x41 0x38
Response Packet
Light source
Resolution
Horizontal FOV :
Vertical FOV
Range
Data Type
Switch to 3D Mode in order to receive 3D datasets from the device.
0x01
0x01
: Laser, LED
: 120º
: 0.75º
: 200 ~ 8,000mm
: 16 bit
0x08
0x08
: LED
: 160 x 60
120°
:
65°
: 50 ~ 2,000mm
: 12 bit
0x00 0x03
LSB
MSB
...
-60º
-60º
Error code list
16000 : Limit for valid data
16001 : Low Amplitude
16002 : ADC Overflow
16003 : Saturation
16004 : Bad Pixel
0x00 0x0A
3D Data format
Error code list
4080 : Limit for valid data
4081 : Low amplitude
4082 : ADC Overflow
4083 : Saturation
9
LSB
MSB
Check
+60º
+60º
Sum
Check
Sum
Ver 0.2.2