User's Manual

10
3.2.2 UDP Data
◼ Pre-Header
Pre-Header: 6 bytes
Field
Bytes
Description
0xEE
1
SOP (start of packet)
0xFF
1
SOP (start of packet)
Protocol Version Major
1
Major version number of the protocol: to distinguish between product models
0x01 for Pandar128
Protocol Version Minor
1
Minorversionnumberoftheprotocol:foreachproduct model,toindicatethecurrentprotocolversion
Currently 0x03 for Pandar128
Reserved
2
-
◼ Header
Header: 6 bytes
Field
Bytes
Description
Laser Num
1
0x80 (128 channels)
Block Num
1
0x02 (2 blocks per packet)
Echo Count
1
The type of return of the first block in this data packet
0x00 – in the Single Return mode
0x01 – last return in the Dual Return mode
0x02 – strongest return in the Dual Return mode
Dis Unit
1
0x04 (4 mm)
Echo Num
1
The number of returns (i.e. echoes) that each channel generates
0x01 – Single Return 0x02 – Dual Return
UDP Seq
1
Whether the packet includes a UDP sequence number field
0x00 – UDP sequence OFF (default) 0x01 – UDP sequenceON