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intensity value, and timestamp of the point cloud. The data of the package
adopts Big-Endian mode.
The data package includes a 42-byte Ethernet header and a 1206-byte payload,
with a total length of 1248 bytes.
Single echo mode: The payload consists of 1197 bytes of point cloud data and
9 bytes of additional information (including 3 bytes of UTC time of hour, minute
and second, 4 bytes of Timestamp and 2 bytes of Factory).
Dual echo mode: The payload consists of 1199 bytes of point cloud data and 7
bytes of additional information (including 1 bytes of UTC time of second, 4 bytes
of Timestamp and 2 bytes of Factory).
5.1.1 Format
The CH128X1 Lidar supports single echo mode which measures the most recent
echo value and dual echo mode which measures the most recent and second
recent echo values.
Single Echo Mode
Each MSOP data packet contains 1206 bytes of data. Each packet of data
contains 171 points, that is, 171*7=1197 bytes, and the frame tail is 9 bytes
(including 3 bytes of UTC Time of hour, minute and second, 4 bytes of
Timestamp and 2 bytes of Factory). See the figure below:
Note: The Lidar displays the point cloud image by frame. In the MSOP data
package, if the data of the first point is FF AA BB CC DD EE 11, then it is the
start mark of the point cloud frame (the Lidar scans to the far right at this time).
The start mark can be anywhere in a packet of data, not necessarily the packet
header. This point is not displayed as point cloud data, but is only a judgment
mark for the beginning of an image frame.
Dual Echo Mode
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