Velodyne DIGITAL DRIVE - REV G Instrucciones de operaciones descargar pdf (Pagina 37)

APPENDIX G: ETHERNET TRAN

T TIMING TABLE

and

’

HDL-64E Ethernet Timing Table Overview

The Ethernet

iming

able shows how much time elapses

between

the

actual

capturing

point’s

data

event

and when that point

event output from the sensor. By registering the event of the Ethernet data capture, you can calculate back in time the exact time at which any particula

distance point was captured. The formula is as follows:

ctual Event

imestamp = (Data Packet

Event

Output

imestamp)

—

(

iming

able

Event

imestamp)

The upper block and lower block collect distance points

simultaneously

with

each

block

issuing

single

laser

pulses at a time. That is,

each

upper

bloc

laser fires in sequence and in unison to a corresponding laser from the lower block.

For example, laser 32 fires simultaneously with laser 0,

laser

fires

with

laser

and

The sensor has an equal number of upper and lower

block

returns.

This

why

when

interpreting

the

delay table each sequential

pair

data

blocks

represents the upper and lower block respectively, and each upper and lower block pair of data blocks in the Ethernet packet has the same delay value.

Ethernet packets are assembled until the entire 1200 bytes

have

been

collected,

representing

six

upper

block

sequences and six lower

block

sequences.

[

]

1 2 ... 32 33 34 35 36 37 38 39 40 41 42 43

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Velodyne DIGITAL DRIVE - REV G Instrucciones de operaciones Pagina 37

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