LSLIDAR CH128X1 - 5.2 DIFOP Protocol

26
Timestamp
4
Timestamp (μs)
Factory
Vendor
Information
1
0x80 represents the CH128X1 Lidar
Echo
Information
1
0x1 represents single echo Lidar
0x2 represents dual echo Lidar
1) When there is a GPS device inputting PPS signal to the Lidar, the timestamp
is generated according to the PPS time as the cycle time, and the range of the
timestamp is 0-999999 (μs);
2) When there is an external synchronization device inputting PPS signal, the
timestamp is generated according to the external synchronization PPS time as
the cycle time, and the range of the timestamp is 0-999999 (μs);
3) When there is no synchronization device inputting PPS signal, the Lidar
generates timestamp with a period of 1 hour. The range of the timestamp is 0-
3599_999_999 (μs).
5.2 DIFOP Protocol
The device package outputs read-only parameters and status information such
as version number, Ethernet configuration, motor speed and operating status,
and fault diagnosis. The data of the device package adopts Big-Endian mode.
The device package includes a 42-byte Ethernet header and a 1206-byte
payload, with a length of 1248 bytes. The payload is composed of an 8-byte
frame header, 1196-byte data and a 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, represents 2368)
34
2
5
Computer Port (0x0941, represents
2369)
36
2