23
Table 5.2 Data Format of the Device Package
Ethernet Header: 42 bytes
Name
S/N
Information
Offset
Length
（
byte
）
Ethernet II
MAC
0
Destination
0
6
1
Source
6
6
Ethernet
Packet Type
2
Type
12
2
Internet
Protocol
3
Version, Header Length, Differentiated
Services, Field, Total Length,
Identification, Flags, Fragment Offset,
Time to Live, Protocol, Header,
Checksum, Source IP Address,
Destination IP Address
14
20
UDP Port
Number
4
Lidar Port (0x0940, represents 2368)
34
2
5
Computer Port (0x0941, represents 2369)
36
2
UDP Length
& Sum Check
6
Length (0x04BE, represents 1214 bytes)
38
2
7
Sum Check
40
2
Payload: 1206 bytes
Name
S/N
Information
Offset
Length
（
byte
）
Header
0
Device Package Identification Header
0
8
Data
1
Motor Speed
8
2
2
Ethernet Configuration
10
22
3
GPS Time
36
6
4
Lidar Rotation / Stationary
46
2
5
High temperature pause mark
48
1
6
Device Flow Packet Interval
50
2
7
Latitude and Longitude
212
22
Tail
8
Frame Tail
1204
2
Header is the device packet identification header, which is fixed as 0xA5, 0xFF, 0x00,
0x5A, 0x11,0x11,0x55, 0x55, and the first 4 bytes can be used as the packet inspection
sequence. The tail is fixed as 0x0F, 0xF0.
5.3 UCWP Protocol
The UCWP configures the Lidar's Ethernet, motor speed and other parameters, and the
data of the configuration package adopts the Big-Endian mode.
The configuration packet includes a 42-byte Ethernet header and a 1206-byte payload,
with a length of 1248 bytes. The payload is composed of an 8-byte Header, 1196-byte
