LSLIDAR CH128X1 - 6.3 gPTP Synchronization; 6.4 Lidar Internal Timing

28
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
UDP Length
& Sum Check
6
Length (0x04BE, represent 1214
bytes)
38
2
7
Sum Check
40
2
Payload: 1206 bytes-
Name
S/N
Information
Offset
Length
（byte）
Header
0
Configuration Package Identification
Header
0
8
Data
1
Motor Speed
8
2
2
Ethernet Configuration
10
22
3
Lidar Rotation / Stationary
40
2
4
Configuration Flow Packet Interval
42
2
Tail
7
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 as 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: 5 Hz/10 Hz/20 Hz
The motor rotates clockwise. Three speeds can be set: when it is set to 0x04B0,
the speed is 1200rpm; when it is set to 0x0258, the speed is 600rpm; when it is
set to 0x012C, the speed is 300rpm. 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 also 4 bytes. Each Lidar has a fixed MAC
address “MAC_ADDR” (6 bytes in length), which cannot be configured. Port1 is