Hesai XT32M2X - Header and Body structure

3.1.2.2. Header
Field Bytes Description
Channel Num 1 Number of laser channels
Fixed: 0x20 (32)
Block Num 1 Number of block(s) per packet
Fixed: 0x06 (6)
First Block Return 1 Reserved
Dis Unit 1 Fixed: 0x05 (5 mm)
Return Num 1 Maximum number of returns per channel
0x03 (3)
UDP Sequence 1 [7:1] are reserved.
Bit Value
[0] UDP sequence 1 — YES (fixed) 0 — NO
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