LSLIDAR CH128X1 - Data Package Parameter Description

22
Each MSOP data packet contains 1206 bytes of data. Each packet of data
contains 109 points, that is, 109*11=1199 bytes, and the frame tail is 7 bytes
(including 1 byte of UTC time of 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 22 33 44 55,
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.
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