User's Manual

14
3.1 Point Cloud Data Packet
3.1.1 Ethernet Header
Each LiDAR has a unique MAC address.
The source IP is 192.168.1.201 by default. The destination IP address is 0xFF FF FF FF and in broadcast form.
Ethernet Header: 42 bytes
Ethernet II MAC 12 bytes Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF)
Source: (xx:xx:xx:xx:xx:xx)
Ethernet Data Packet Type 2 bytes 0x08, 0x00
Internet Protocol 20 bytes Shown in Figure 3.2
UDP Port Number 4 bytes UDP source port (0x2710, representing 10000)
Destination port (0x0940, representing 2368)
UDP Length 2 bytes 0x04b2 when UDP sequence is OFF, representing 1202 bytes (8 bytes more than the size of the Point Cloud
UDP Data, shown in Figure 3.1)
0x04b6 when UDP sequence is ON, representing 1206 bytes
UDP Checksum 2 bytes -
Table 3.1 Point Cloud Data Packet – Ethernet Header
Figure 3.2 Point Cloud Ethernet Header – Internet Protocol