User Manual LR-16F
OMEN-16F-202012
11
Note: The port number of the information package cannot be changed, the local and
target ports are both 9866
7.2.2.
Definition of header
Offset
Length
Description
0
14
Ethernet II include
Destination MAC
：
(6 Byte)
Sourse MAC
：
(6 Byte)
Type: (2 Byte)
14
20
Internet Protocol include
Version & Header Length :(1 Byte)
Differentiated Services Field: (1 Byte)
Total Length:(2 Byte)
Identification: (2 Byte)
Flags: (1 Byte)
Fragment Offse: (1 Byte)
Time to Live: (1 Byte)
Protocol: (1 Byte)
Header Checksum: (2 Byte)
Destination IP: (4 Byte)
Sourse IP: (4 Byte)
34
8
User Datagram Protocol include
Sourse Port
：
(2 Byte)
Destination Port: (2 Byte)
Data Length:(2 Byte)
Checksum: (2 Byte)
Table 6 Definition of header
7.2.3.
Definition of Lidar Info
Length
Description
0
6
Factory code
6
12
18
12
Serial number
30
4
Sourse IP
34
2
Sourse data Port
36
4
Destination IP
40
2
Destination data Port
42
6
Sourse MAC
48
2
Motor speed
50
1
[7] GPS connection flag, 0: connected, 1: not connected
[6] Upper circuit error flag 0: normal, 1: error
[5:0]Reserved
