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3.1.2 UDP Data

All the multi-byte values are unsigned and in little endian format.

Header

Header: 8 bytes

0xEEFF 2 bytes SOP (start of packet), 0xEE first

Laser N 1 byte 0x40 (64 channels)

Block N 1 byte 0x6 (6 blocks per packet)

Reserved 1 byte -

Dis Unit 1 byte 4 mm

Reserved 1 byte -

Table 3.4 Point Could UDP Data – Header

Body

Body: 1164 bytes (6 blocks)

Block 1

Block 2

Block 3

…

Block 6

Azimuth 1 Azimuth 2 Azimuth 3 … Azimuth 6

Channel 1 Channel 1 Channel 1 … Channel 1

Channel 2 Channel 2 Channel 2 … Channel 1

… … … … …

Channel 64 Channel 64 Channel 64 … Channel 64

Table 3.5 Point Could UDP Data – Body

Block size = 64 * Size of Channel XX + Size of Azimuth

NOTE Under the Dual Return mode, the ranging data from each firing is stored in two adjacent blocks: the odd number block is the last return, and the

even number block is the strongest return. If the last and strongest returns coincide, the second strongest return will be placed in the even number block.

The azimuth changes every two blocks.