LSLIDAR CH128X1 - 5.3 UCWP Protocol; 6.2 External Synchronization

27
UDP Length
& Sum Check
6
Length (0x04BE, represents 1214
bytes)
38
2
7
Sum Check
40
2
Payload: 1206 bytes
Name
S/N
Information
Offset
Length
（byte）
Header
0
Device Package Identification Header
0
8
Data
1
Motor Speed
8
2
2
Ethernet Configuration
10
22
3
Lidar Rotation / Stationary
40
2
4
Device Flow Packet Interval
42
2
5
GPS Time
52
6
6
Latitude and Longitude
58
22
Tail
7
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. The tail is fixed as 0x0F, 0xF0.
5.3 UCWP Protocol
The UCWP configures the Lidar's Ethernet, 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 an 8-byte
Header, 1196-byte Data, and a 2-byte Tail.
Note: It is recommended that you configure the Lidar through the Windows
point cloud display software. Please do not pack and configure the Lidar
parameters by yourself.
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