LSLIDAR C32 - Page 33

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header, 1196-byte data and 2-byte frame tail.
Figure 5.2 Data Format of the Device 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 (0x0940, represent 2368)
34
2
5
Computer Port (0x0941, represent
2369)
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
Device Package Identification Header
0
8
Data
1
Motor Speed
8
2
2
Ethernet Configuration 1
10
22
3
Ethernet Configuration 2
32
8
4
Lidar Rotation / Stationary
40
2
5
Reserved
42
2
6
Clock Source Selection
44
2
7
PPS Alignment Horizontal Angle Value
46
2
8
Monitor PPS Alignment Angle Error
48
2
9
Reserved
50
2
10
UTC Time
52
6
11
Latitude and Longitude
58
22
12
APD Board Temperature
80
2
13
LD Board Temperature
82
2
14
APD High Voltage
84
2
15
LD Emitting High Voltage
86
2
16
No. 3 Plate Temperature
88
2
17
No. 3 Plate Humidity
90
2
18
GPS Status
92
1
19
PPS Status
93
1
20
High Temperature Suspension
94
2
21
Cover Dirty Count
96
1
22
Cover Dirty Alarm Message
97
1
23
Cover Dirty Energy Value
98
2