User's Manual
Table Of Contents
- Contents
- Safety Notice
- 1 Introduction
- 2 Setup
- 3 Data Structure
- 4 Web Control
- 5 PandarView
- 6 Communication Protocol
- 7 Sensor Maintenance
- 8 Troubleshooting
- Appendix I Channel Distribution
- Appendix II Absolute Time and Laser Firing Time
- Appendix III PTP Protocol
- Appendix IV Certification Info
- Appendix V Support and Contact
20
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Header
Header: 6 bytes
Field
Bytes
Description
Laser Num
1
0x20 (32 channels)
Block Num
1
0x08 (8 blocks per packet)
Echo Count
1
The first block in this data packet
0x00 - Single Return
0x01 - Last Return in Dual Return mode
0x02 - Strongest Return in Dual Return mode
Dis Unit
1
0x04 (4 mm)
Echo Num
1
Number of returns (i.e. echoes) that each channel generates
0x01 - one return 0x02 - two returns
UDP Seq
1
[7:1] is reserved
Least significant bit [0] shows whether this packet includes a UDP sequence number field
0 - UDP sequence OFF 1 - UDP sequence ON
NOTE Always 0x01 for the PandarXT series