Tail: 26 bytes
Table V.2 Point Cloud Data UDP Packet-Tail
Reserved
2 bytes
reserved data, meaningless
Reserved
Tail changes to 26 bytes, adding 4 bytes UDP sequence number.
5 bytes
reserved data, meaningless
High Temperature
Shutdown Flag
1 byte
0x01 means high temperature; 0x00 means normal operation
· during normal operation, shutdown flag keeps being 0x00
· if high temperature is detected and system needs to be shut down, the shutdown flag will be set to 0x01, and the
system will be shut down after 60 seconds. The flag keeps being 0x01 during the 60 seconds and shutdown period
· after the high temperature shutdown, the LiDAR temperature will decrease. When the system is not in high
temperature status, the shutdown flag will be reset to 0x00 and the system can return to normal operation
Motor Speed
2 bytes
speed_2_bytes [15:0] = speed (RPM)
GPS Timestamp
4 bytes
the packing time of this data packet, the unit is 1 μs, value range 0 μs-1000000 μs (1 s)
Return Mode Information
1 byte
the strongest return (0x37), the last return (0x38), dual return (0x39)
Factory Information
1 byte
0x42 (or 0x43)
UTC
6 bytes
year, month, date, hour, minute, second, decimal digit
UDP Sequence
4 bytes
added when UDP sequence feature is ON
label the sequence number for UDP packet
when LiDAR is sending point cloud data packet, the sequence number will label from 1 to 0xFFFFFFFF, the sequence
is stored in Little Endian format
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