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j5Y通訊協議英文版0410

發表時間:2020-04-10 10:56作者:imt



Point cloud output protocol


1、Scope of application

This agreement is applicable to the AGV lidar project with serial port output, repetition rate 4K and below.

2、Communication parameters

      Baud rate: 230400bps

      Check bit: None;

      Data bit: 8bits

      Stop bit: 1bits

      Data format: Hex

3、Lidar output point cloud data format:The frame format of the output point cloud data is hex, and the transmission data is sent once in a circle. The format of data frame is as follows:


Note:

1. Output data: the low level is in the front and the high level is in the back.

2. Check sum: the sum result of all data from the frame header, only the lower 8 bits.

3. Current anti-collision area: the external selected anti-collision area.

Through program configuration, two different output contents can be set for "output data".


Note:

1. The output data adopts small end sequence, with the format of low order first and high order last.

2. The angle unit of output is 0.01 °, which is 100 times larger than 1 °, in which the high data is in the front and the low data is in the back. For example, 100.00 ° is represented as 0x2710 (0d10000). When transmitting, first transmit 0x10, then transmit 0x27.


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