LSLIDAR C32 - Data Package Parameter Description

25
second echo data; Block (3, 4) is the two echo data of the next set of 32 point
cloud data, ..., and so on. Only one azimuth angle is returned for each parity data
block pair. See the picture below:
Figure 5.2 Data Format of the Dual Echo Mode
5.1.2 Data Package Parameter Description
Ethernet Header
The Ethernet header has a total of 42 bytes, as shown in the table below.
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