LeiShen Intelligent System LiDAR C128 Series, Operation Instruction Manual, Page: 62 / 89

LeiShen Intelligent System CO., LTD.
LeiShen Intelligent System CO., LTD.
62
compatibility information, network configuration information, calibration information, motor running configuration, operating status, and fault
diagnosis information to the “output only" protocol of the user, and the user can read the DIFOP to interpret the various parameters of the
currently used device.
Data in the device information stream is in a Big Endian mode.
The data format structure of a complete DIFOP Packet includes a sync header, a subframe, and a frame tail. Each packet has a total of
1248bytes: including 42bytes UDP packet overhead, 8byte sync Header, 1196byte Data, and 2byte Tail. The basic structure of the packet is
shown in the following table.
Table 7 DIFOP Packet data format and structure
Segment S/N Information Offset Length (byte)
Header 0 DIFOP
identification
header
0 8
Data
1 Motor speed 8 2
2 Ethernet 10 26
3 Time 36 10