LeiShen Intelligent System LiDAR C128 Series, Инструкция по эксплуатации, Страница: 64 / 89

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Tail 13 Tail 1204 2
Note: The Header (DIFOP identification header) in the table is 0xA5, 0xFF, 0x00, 0x5A, 0x11, 0x11, 0x55, 0x55, where the first 4 bytes
can be used as the check sequence of the packet, namely 0xA5, 0xFF, 0x00, 0x5A.
Tail content is 0x0F, 0xF0.
For the definition of Motor speed , refer to 3.1 Definition; for Ethernet definition, refer to 3.2 Definition; for Time definition, refer to 3.3
Definition; for Serial number definition, refer to 3.4 Definition; for Firmware version definition, refer to 3.5 Definition; for Radar
rotation/stop definition, refer to 3.6 Definition; for the definition of Device information stream packet interval , refer to 3.7 Definition; for the
definition of Compatible with Velodyne mode, refer to 3.8 Definition; for the definition of Longitude and latitude , refer to 3.9 Definition.
5.3 User Configuration Write Protocol (UCWP)
User Configuration Write Protocol, UCWP for short. I/O type: host writes UCWP to device. Function realization: users can reconfigure the
device's Ethernet, time, motor and other parameters according to requirements ( the user should not set the local IP and destination IP to the
same IP when setting the radar IP, otherwise the radar will not work properly ).
The data format structure of a complete UCWP Packet includes a sync header, a subframe, and a frame tail. Each packet has a total of
1248bytes: including 2bytes UDP packet overhead, 8byte sync Header, 1238byte Data, and 2byte Tail. It should be noted that after the user
configuration is successfully written, the motor speed will be changed immediately after the user configuration package is successfully
sent. The rest of the configuration information needs to be powered off to validate the configuration. Otherwise, the radar will continue
operation in the previous configuration. Configuration of data written to the protocol is in a Big Endian mode.