LeiShen Intelligent System LiDAR C128 Series, Operation Instruction Manual, Page: 48 / 89

LeiShen Intelligent System CO., LTD.
LeiShen Intelligent System CO., LTD.
48
Figure 2 ARP message content
The communication protocols between radar and computer are mainly divided into four categories. See Table 2 below for a list.

Main data Stream Output Protocol, which encapsulates the distance, angle, reflectivity and other information scanned by the radar into a package and outputs to
the computer;

Device Information Output Protocol, which monitors various configuration information of the device in current status;

With User Configuration Write Protocol, users can modify some configuration parameters of the device according to their needs.
Table 2 List of device protocols
(Protocol/packet) name Abbreviation Function Type Packet
size
Packet interval
Main data Stream
Output Protocol
MSOP Scan data output UDP 1248byte About 0.6ms
Device Information
Output Protocol
DIFOP
Device
information
UDP 1248byte About 100ms