-22-
■ Header
Header: 6 bytes
Field
Bytes
Description
Laser Num
1
0x20 (32 channels)
Block Num
1
0x08 (8 blocks per packet)
First Block Return
1
The first block in this data packet
0x00 - Single Return
0x01 - Last Return in Dual Return mode
Dis Unit
1
0x04 (4 mm)
Return Number
1
Number of returns that each channel generates
0x01 - one return 0x02 - two returns
UDP Seq
1
[7:1] is reserved
Least significant bit [0] shows whether this packet includes a UDP sequence number field
0 - UDP sequence OFF 1 - UDP sequence ON
NOTE Always 0x01 for the PandarXT series
