velodyne_rawdata::raw_packet Struct Reference

Raw Velodyne packet. More...

#include <rawdata.h>

Public Attributes
raw_block_t	blocks [BLOCKS_PER_PACKET]
uint16_t	revolution
uint8_t	status [PACKET_STATUS_SIZE]

Detailed Description

Raw Velodyne packet.

revolution is described in the device manual as incrementing (mod 65536) for each physical turn of the device. Our device seems to alternate between two different values every third packet. One value increases, the other decreases.

Todo:

figure out if revolution is only present for one of the two types of status fields

status has either a temperature encoding or the microcode level

Definition at line 124 of file rawdata.h.

Member Data Documentation

raw_block_t velodyne_rawdata::raw_packet::blocks[BLOCKS_PER_PACKET]

Definition at line 126 of file rawdata.h.

uint16_t velodyne_rawdata::raw_packet::revolution

Definition at line 127 of file rawdata.h.

uint8_t velodyne_rawdata::raw_packet::status[PACKET_STATUS_SIZE]

Definition at line 128 of file rawdata.h.

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The documentation for this struct was generated from the following file:

• rawdata.h