Velodyne HD HDL-64E S2 Instruções de Operação descarregar pdf (Página 19)

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Data Packet Format

The HDL-32E outputs two UDP Ethernet packets — a data packet containing laser firing data located on Port 2368 and a positioning packet

which contains GPS and positioning data located on Port 8308. The packet at Port 2368 contains a header, a data payload of firing data and

atus data. Data packets are assembled with the collection of all firing data for twelve laser firing sequences. The laser distance and

intensity data is collected in the same staggered order (0, 16, 1, 17 . . . 14, 30, 15, 31) as the laser is firing. The data packet is then

combi

ned with status and header data in a UDP packet transmitted over Ethernet. The firing data is assembled into the packets in the firing

order, with multi-byte values transmitted least significant byte first.

The status data always contains a GPS 4 byte timestamp representing milliseconds from the top of the hour. In addition, the status data

contains two reserved bytes not used at this time.

1 2 ... 14 15 16 17 18 19 20 21 22 23 24 ... 27 28

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Velodyne HD HDL-64E S2 Instruções de Operação Página 19