24
Data, and a 2-byte Tail.
Note
: It is recommended to configure the Lidar through the Windows point cloud
display software, and you are forbidden to package and configure the Lidar parameters
by themselves.
Table 5.3 Data Format of the Configuration 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 (0x0941, represent 2369)
34
2
5
Computer Port (0x0940, represent 2368)
36
2
UDP Length
& Sum Check
6
Length (0x04BE, represent 1214 bytes)
38
2
7
Sum Check
40
2
Payload: 1206 bytes
Name
S/N
Information
Offset Length
（
byte
）
Header
0
Configuration Package Identification
Header
0
8
Data
1
Motor Speed
8
2
2
Ethernet Configuration
10
22
3
Lidar Rotation / Stationary
46
2
4
Configuration Flow Packet Interval
50
2
Tail
5
Frame Tail
1204
2
Header is the configuration packet identification header, which is fixed as 0xAA, 0x00,
0xFF, 0x11,0x22, 0x22, 0xAA, 0xAA, and the first 4 bytes are used as the packet
inspection sequence. The Tail of the frame is fixed as 0x0F, 0xF0.
5.3.1 Configuration Parameters and Status Description
Here below are the configuration parameters and status descriptions of specific Lidar
information.
Motor Speed