HDL-64E S2 manual_Rev C_2011 - Velodyne Lidar

A P P E N DI X B : H D L - 32 E S A M P L E D ATA PA C K E T SHDL-32E User’s ManuaIData Packet FormatThe HDL-32E outputs two UDP Ethernet packets — a data packet containing laser firing data located on Port 2368 and a positioning packetwhich contains GPS and positioning data located on Port 8308. The packet at Port 2368 contains a header, a data payload of firing data andstatus data. Data packets are assembled with the collection of all firing data for twelve laser firing sequences. The laser distance andintensity 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 thencombined with status and header data in a UDP packet transmitted over Ethernet. The firing data is assembled into the packets in the firingorder, 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 datacontains two reserved bytes not used at this time.[ 16 ]