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3.1.2 UDP Data
All the multi-byte values are unsigned and in little endian format.
Ranging Data
Table 3.2 Point Could UDP Data – Ranging Data
Ranging Data: 1240 bytes (10 blocks)
Block 1 Block 2 Block 3 … Block 10
0xFFEE 0xFFEE 0xFFEE … 0xFFEE
Azimuth 1 Azimuth 2 Azimuth 3 … Azimuth 10
Channel 1 Channel 1 Channel 1 … Channel 1
Channel 2 Channel 2 Channel 2 … Channel 2
… … … … …
Channel 40 Channel 40 Channel 40 … Channel 40
Table 3.3 Point Cloud UDP Data - Block Definition
Each block in the Ranging Data: 124 bytes
0xFFEE 2 bytes Header, meaningless, 0xFF first
Azimuth 2 bytes Current reference angle of the rotor
Azimuth[15:0]: lower byte Azimuth_L[7:0], upper byte Azimuth_H[15:8]
Azimuth Angle = [Azimuth_H, Azimuth_L] / 100° = Azimuth / 100°
Channel XX 3 bytes 2-byte distance data Distance[15:0]: lower byte Distance_L[7:0], upper byte Distance_H[15:8]
Distance Value = [Distance_H, Distance_L] * 4 mm = Distance * 4
Maximum Distance Value = (2 ^ 16 – 1) * 4 mm = 262.14 m
1-byte reflectivity data Reflectivity, in percentage (0 to 255%)
NOTE
Under the Dual Return mode, the ranging data from each firing is stored in two adjacent blocks: the odd number block is the last return, and the
even number block is the strongest return. If the last and strongest returns coincide, the second strongest return will be placed in the even number block.
The azimuth changes every two blocks.