LSLIDAR C32 - Configuration Parameters and Status Description

30
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
Reserved
48
1156
Tail
9
Frame Tail
1204
2
Header is the configuration packet identification header, which is fixed as 0xAA,
0x00, 0xFF, 0x11,0x22, 0x22, 0xAA, 0xAA, and the first 4 bytes are used as the
packet inspection sequence. The Tail of the frame is fixed at 0x0F, 0xF0.
5.3.1 Configuration Parameters and Status Description
Here below are the configuration parameters and status description of specific
lidar information.
Motor Speed
Motor Speed (2 bytes)
S/N
Byte1
Byte2
Function
Speed: 5Hz/10Hz/20Hz
The motor rotates clockwise. Three speeds can be set: when it is set to 0x04B0,
the speed is 1200 rpm, 20 Hz; when it is set to 0x0258, the speed is 600 rpm,
10 Hz; when it is set to 0x012C, the speed is 300 rpm, 5 Hz. Other setting data
is not supported.
Ethernet Configuration
The length of the source IP address “IP_SRC” is 4 bytes and the length of the
destination IP address “IP_DEST” is 4 bytes. Each lidar has a fixed MAC address
“MAC_ADDR”, which cannot be configured by users. Port1 is the UDP data port
number and port2 is the UDP device port number. 4 bytes reserved.
Ethernet Configuration (22 bytes)
S/N
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
Function
IP_SRC
IP_DEST
S/N
Byte9
Byte10
Byte11
Byte12
Byte13
Byte14
Byte15
Byte16
Function
MAC_ADDR (Read Only)
Data Port: Port1
S/N
Byte17
Byte18
Byte19
Byte20
Byte21
Byte22
Function
Device Port: Port2
Reserved
Lidar Rotation & Stationary
Lidar Rotation & Stationary (2 bytes)
S/N
Byte1
Byte2
Function
0: Rotation；1: Stationary