Hesai XT32M2X User Manual

3.2. GPS Data Packet
When GPS is selected as the clock source, a GPS Data Packet is triggered every second.
When PTP is selected as the clock source, the lidar does not output GPS Data Packet.

To select the clock source, refer to Section 4.2.3 Time settings.
All the multi-byte values are unsigned and in little-endian format.
3.2.1. Ethernet header
Default IP address:
Source IP 192.168.1.201
Destination IP 255.255.255.255
GPS Data packet: Ethernet header
Field Bytes Description
Ethernet II MAC 12 Destination MAC: xx:xx:xx:xx:xx:xx (FF:FF:FF:FF:FF:FF for broadcast)
Source MAC: xx:xx:xx:xx:xx:xx
Ethernet Data Packet Type 2 0x08, 0x00
Internet Protocol 20 Protocol parameters
UDP Port Number 4 UDP source port (0x2710, representing 10000)
Destination port (0x277E, representing 10110)
UDP Length 2 8 bytes more than GPS UDP data; see Figure 16. Data structure
UDP Checksum 2 Checksum of the Ethernet Header
-44-

Hesai XT32M2X Specifications

General

Brand	Hesai
Model	XT32M2X
Category	Radar
Language	English