Neato XV-11: Difference between revisions
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== LIDAR Sensor == | ==LIDAR Sensor== | ||
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The angle of the data is not aligned with the natural axis of the device. It seems that the first sample of the first packet is in fact looking at a -10° angle, not 0°. Needs confirmation. | The angle of the data is not aligned with the natural axis of the device. It seems that the first sample of the first packet is in fact looking at a -10° angle, not 0°. Needs confirmation. | ||
===Data format for firmware V2.4 === | |||
(recent production units) | |||
A full revolution will yield 90 packets, containing 4 consecutive readings each. | A full revolution will yield 90 packets, containing 4 consecutive readings each. | ||
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*speed is a two-byte information, little-endian. It represents the speed, in 64th of RPM (aka value in RPM represented in fixed point, with 6 bits used for the decimal part). | *speed is a two-byte information, little-endian. It represents the speed, in 64th of RPM (aka value in RPM represented in fixed point, with 6 bits used for the decimal part). | ||
*Data 0 to Data 3 are the 4 readings. Each one is 4 bytes long, and organized as follows : | *Data 0 to Data 3 are the 4 readings. Each one is 4 bytes long, and organized as follows : | ||
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byte 0 : Distance 7:0 | byte 0 : Distance 7:0 | ||
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Byte 2 and 3 are the LSB and MSB of the strength indication. This value can get very high when facing a retroreflector. | Byte 2 and 3 are the LSB and MSB of the strength indication. This value can get very high when facing a retroreflector. | ||
* checksum is a two-byte checksum of the packet. | *checksum is a two-byte checksum of the packet. | ||
The algorithm is as follows, provided that `data` is the list of the 20 first bytes, in the same order they arrived in. | The algorithm is as follows, provided that `data` is the list of the 20 first bytes, in the same order they arrived in. | ||
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return int( checksum ) | return int( checksum ) | ||
===Data format for firmware 2.1 === | |||
(Sparkfun scans, pre-production units) | |||
The periodicity of the data is 1446 bytes. | The periodicity of the data is 1446 bytes. | ||