A
G
E
H
D
L
-
64
E
S2
and
S2.1
U
s
e
r
’
s
Ma nua
l
Lasers are numbered sequentially starting with 0 for the
first
lower
block
laser
to
31
for
the
last
lower
block
laser; and 32 for the
first
upper
block
lase
to 63 for the last upper block laser. For example, laser 32 fires simultaneously with laser 0, laser 33 fires with laser 1, and so on.
The sensor has an equal number of upper and lower
block
returns.
Hence,
when
interpreting
the
delay
table, each sequential pair
of
data
block
represents the upper and lower block respectively. Each upper and lower block data pair in the Ethernet packet has the same delay value.
The first firing of a laser pair occurs 419.3 ps after the
issuance
of
the
fire
command.
Six
firings
of
each
block takes 139 ps and
then
the
collected
data is transmitted. It takes 100 μs to transmit the entire 1248 byte Ethernet packet. This is equal to 12.48 Bytes/ps and
0.080128
μs/Byte. See Appendix E for more information.
timing table, shown in
ppendix G, shows how much
time
elapses
between
the
actual
capturing
of
a
distance point and when
that
point
is
output
from the device. By registering the event of the Ethernet data capture, you can calculate back in time the exact time at which any particular distanc
point was captured.
F
R
M
A
R
E
P
A
E
From time to time
elodyne issues firmware updates.
o
update
the
sensor’s
firmware:
1. Obtain the update file from
elodyne.
2. Connect the wiring harness RS-232 cable to a standard Windows compatible PC or laptop serial port.
3. Power up the sensor.
4. Execute the update file; the screen below appears.
Figur
e
5.
HDL
software
up
ate
screen
capture.
5. Select the appropriate COM port.
6. Click Update.
7. The firmware is uploaded and check summed before it is applied to the flash memory inside the sensor. If the checksum is corrupted, no
update occurs. This protects the sensor in the event of power or data loss during the update.
• If the update is successful, the sensor begins to spin down for a few seconds and then powers back up with the new firmware
running.
• If the update is not successful, try the update several times before seeking assistance from Velodyne.
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