LSLIDAR C32 - Ucwp Protocol

29
24
Threshold Adjustment Value
100
1
25
Input Voltage Value
101
2
26
Input Current Value
103
2
27
Length of Work
105
4
28
Reserved
109
1095
Tail
29
Frame Tail
1204
2
Header is the device packet identification header, which is fixed as 0xA5, 0xFF,
0x00, 0x5A, 0x11,0x11,0x55, 0x55, and the first 4 bytes can be used as the
packet inspection sequence. Tail is fixed at 0x0F, 0xF0.
5.3 UCWP Protocol
The UCWP configures the lidar's Ethernet, PPS alignment angle, motor speed
and other parameters, and the data of the configuration package adopts the Big-
Endian mode.
The configuration packet includes a 42-byte Ethernet header and a 1206-byte
payload, with a length of 1248 bytes. The payload is composed of 8-byte Header,
1196-byte Data, and 2-byte Tail.
Note: It is recommended to configure the lidar through the Windows Client.
Please not package or configure the lidar parameters by yourself. The
configurations take effect immediately.
Figure 5.3 Data Format of the Configuration 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 (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
Payload: 1206 bytes
Name
S/N
Information
Offset
Length
(byte)
Header
0
Configuration Package Identification
Header
0
8