Velodyne HDL-64E S3 User Manual

HDL-64E S3
High Definition LiDAR Sensor
Page 31
Velodyne LiDAR, Inc.
©
2019
63-HDL64ES3 REV K
4 GPS Timestamp
1 Status Type
1 Status Value
Ethernet Packet
Lidar Data Payload
12 Blocks Firing Data
(6 Lower Blocks + 6 Upper Blocks)
Firing Data
32
Lasers
Status
Appendix E: Data Packet Format
The sensor outputs UDP Ethernet packets. Each packet contains a header, a data payload of firing data
and status data. Data packets are assembled with the collection of all firing data for six upper block
sequences and six lower block sequences. The upper block laser distance and intensity data is collected
first followed by the lower block laser data. The data packet is then combined with status and header data
in a UDP packet transmitted over Ethernet.
The status data always contains a GPS 4-byte timestamp representing microseconds from the top of the
hour. In addition, the status data contains one type of data. The other status data rotates through a
sequence of different pieces of information. See datagrams on the following pages.
Data Packet Overview
42 Ethernet Header
Upper = 0xEEFF Lower = 0xDDFF
2 Laser Block ID
2 Rotational Position
1200
Integer 0 – 35999 ( ÷ 100 = degrees from 0)
1248
1206
100
2 mm increments (0 = no return within 150 m)
2 Distance Information
96
1 Intensity
Integer 0 – 255 (255 = most intense return)
Timestamp Bytes in reverse order (µsec)
6

Velodyne HDL-64E S3 Specifications

General

Brand	Velodyne
Model	HDL-64E S3
Category	Accessories
Language	English