Hesai Pandar128, User Manual

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Header
Header: 6 bytes
Field Bytes Description
Laser Num 1 0x80 (128 channels)
Block Num 1 0x02 (2 blocks per packet)
First Block Return 1 The first block in this data packet
0x00 - Single Return
0x01 - Return 1 in a Dual Return mode, i.e., Last Return in 0x39 or 0x3B mode, or First Return in 0x3C mode
Dis Unit 1 0x04 (4 mm)
Return Num 1 Number of returns that each channel generates
0x01 - one return 0x02 - two returns
Flags 1 [7:5] is reserved
[4:0] shows whether this data packet contains the following information
[4] confidence
[3] digital signature
[2] functional safety
[1] IMU
[0] UDP sequence
1 - YES 0 - NO
1 - YES 0 - NO
1 - YES 0 - NO
1 - YES 0 - NO
1 - YES 0 - NO