User's Manual

3.1.1 Point Cloud Data Packet – Ethernet Header
Here is an example of point cloud data packet ethernet header definition:
IP Address
Each Pandar20A/B has a unique MAC address.
The destination IP address is 0xFF and in broadcast form.
The default source IP address is 192.168.1.201.
Taking “Internet Protocol
(20 bytes)” as an example, it is described as Figure 3.2.
Ethernet Header: 42 bytes
Table 3.1 Point Cloud Data Packet Ethernet Header Definition
Ethernet II MAC
Ethernet Data Packet Type
Internet Protocol
UDP Port Number
UDP Length and Checksum
12 bytes
2 bytes
20 bytes
4 bytes
4 bytes
Destination: Broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF), Source: (xx:xx:xx:xx:xx:xx)
0x08, 0x00
Version, Header Length, Differentiated Services, Field, Total Length, Identification, Flags, Fragment Offset,
Time to Live, Protocol, Header Checksum, Source IP Address, Destination IP Address
UDP source port (0x2710, represents 10000), destination port (0x0940, represents 2368)
Length 2 bytes (0x04fe, represents 1278 bytes), checksum 2 bytes
Figure 3.2 Point Cloud Data Ethernet Header Internet Protocol Illustration
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