GroupID,Index,Get,Set,GroupName,VarName,VarLen,VarType,Description,IntegrityCheck,Permission,DefaultValue,CurrentValue,Options,OptionDescription,FunctionModule,Must,Unit,Coefficient,SetCoefficient,SetIndex,TimerUpdate
0,Lidar Info,Lidar Info,,,,,,,,,,,,,,,,,,,
0,Network,Source,Destination,,,,,,,,,,,,,,,,,,
0,Lidar Function,Lidar Function,,,,,,,,,,,,,,,,,,,
0,Time Sync,Time Sync,,,,,,,,,,,,,,,,,,,
0,Operation Statistics,Availability,,,,,,,,,,,,,,,,,,,
0,Upgrade,Upgrade,,,,,,,,,,,,,,,,,,,
1,0,0x07,,,SN,18,string,Serial number,,0,xxxxxx,xxxxxx,,,1_1_1_1,1,,,,,
1,1,0x07,,,PN,32,string,Hesai Part Number,,0,xxxxxx,xxxxxx,,,1_1_2_1,,,,,,
1,2,0x07,,,Date of Manufacture,16,string,Date of manufacture in ASCII(yyyy-mm-dd),,0,xxxxxx,xxxxxx,,,,1,,,,,
1,3,0x07,,,MAC Address,6,MAC,"MAC address
Each byte corresponds to two hexadecimal digits.",,0,xx:xx:xx:xx:xx,xx:xx:xx:xx:xx,,,2_1_5_1,1,,,,,
1,4,0x07,,,Software Version,16,string,"Software version, in ASCII(xx.xx.xx)",,0,xxxxxx,xxxxxx,,,6_1_1_1|1_1_3_1,1,,,,,
1,5,0x07,,,Hardware Version,16,string,"Hardware version, in ASCII",,1,,,,,,1,,,,,
1,6,0x07,,,Firmware Version,16,HWVER,"Controller firmware version, in ASCII",,0,xxxxxx,xxxxxx,,,6_1_2_1|1_1_4_1,1,,,,,
1,7,0x07,,,SHA Value Of Controller Firmware,16,string,"SHA value of controller firmware
Only the first 4 bytes are used.
E.g., when the bytes stream in 00 11 22 33 44 55 66 77 88 99 AA BB CC DD EE FF, the 
SHA value of controller firmware will be 00112233",,1,,,,,,,,,,,
1,8,0x07,,,FPGA Parameters Version,16,string,FPGA parameters version,,1,,,,,,,,,,,
1,9,0x07,,,FPGA Configuration Version,16,string,FPGA configuration version,,1,,,,,,,,,,,
1,10,0x07,,,SHA value of FPGA Parameters,16,string,SHA value of FPGA parameters,,1,,,,,,,,,,,
1,11,0x07,,,SHA value of FPGA Configuration,16,string,SHA value of FPGA configuration,,1,,,,,,,,,,,
1,12,0x07,,,Angle Offset,2,uint16,Not Used,,,,,,,,,,,,,
1,13,0x07,,,Lidar Model,1,uint8,Product model (not yet supported),,0,xxxxxx,xxxxxx,,,,1,,,,,
1,14,0x07,,,Motor Type,1,uint8,Motor type (not yet supported),,,,,,,,,,,,,
1,15,0x07,,,Num of Channels,1,uint8,Number of channels,,1,128,,,,,,,,,,
1,16,0x07,,,Motor Correction Flag,1,uint8,"Motor corretion flag
0 — Motor correction not finished
1 — Motor correction finished",,1,,,,,,,,,,,
1,17,0x07,,,Encoder Disk Correction Flag,1,uint8,"Encoder disk correction flag
0——Encoder disk correction not finished
1——Encoder disk correction finished",,1,,,,,,,,,,,
1,18,0x07,,,Reserved,9,raw,Reserved,,,,,,,,,,,,,
2,0,0x08,0x21,,Source IPv4 Address,4,IP,IP address of the device,,1,192.168.1.201,xxx.xxx.xxx.xxx,,,2_1_1_1,1,,,,1,
2,1,0x08,0x21,,IPv4 Mask,4,IP,Subnet mask of the device,,1,255.255.255.0,xxx.xxx.xxx.xxx,,,2_1_2_1,1,,,,2,
2,2,0x08,0x21,,IPv4 Gateway,4,IP,Gateway of the device,,1,192.168.1.1,xxx.xxx.xxx.xxx,,,2_1_3_1,1,,,,3,
2,3,0x08,0x20,,Destination IPv4 Address,4,IP,Destination IP address of point cloud data packets,,1,255.255.255.255,xxx.xxx.xxx.xxx,,,2_2_1_1,1,,,,1,
2,4,0x08,0x20,,UDP Port,2,uint16,Destination UDP port of point could data packets ,,1,2368,xxxxxx,,,2_2_2_1,1,,,,2,
2,5,0x08,0x20,,Destination GPS UDP Address,2,uint16,"Destination UDP port of GPS data packets
Valid only when the ""Clock Source"" is ""GPS""",,0,10110,10110,,,,1,,,,3,
2,6,0x08,,,Spin Rate,2,uint16,Not used,,0,0,,0,Not used,,,RPM,1,,,
2,7,0x08,,,Sync Enable,1,uint8,"Status of sync angle (phase lock)
0 - Disable  1 - Enable",,1,0,,0|1,,,1,,,,1,
2,8,0x08,,,Sync Angle,2,uint16,Sync angle value,,1,0,xxx,0~359,,,1,°,0.01,,2,
2,9,0x08,,,Start Angle,2,uint16,Not used,,,,,,,,1,,,,,
2,10,0x08,,,End Angle,2,uint16,Not used,,,,,,,,1,,,,,
2,11,0x08,,,Clock Source,1,uint8,Not used,,0,Not used,Not used,1,,,1,,,,,
2,12,0x08,,,UDP Sequence,1,uint8,Not used,,1,Not used,Not used,,,,1,,,,,
2,13,0x08,,,Trigger Method,1,uint8,Not used,,0,Not used,Not used,,,,1,,,,,
2,14,0x08,,,Return Mode,1,uint8,"Return mode
1 — Strongest
3 — First
5 — First + Strongest",,0,2,2,0|1|2|3|4|5,"0 _ Last Return
1 _ Strongest Return
2 _ Last + Strongest Return
3 _ First Return
4 _ Last + First Return
5 _ First + Strongest Return",,1,,,,1,
2,15,0x08,,,Standby Mode,1,uint8,"Standy model
0—In Operation 
1—Standby",,0,0,0,0|1|2|3,"0 _ In Operation
1 _ Standby
2 _ Low Power
3 _ Debug",3_1_1_3,1,,,,1,
2,16,0x08,,,Motor Type Status,1,uint8,Not used,,2,Not used,Not used,,,,1,,,,1,
2,17,0x08,0x21,,VLAN,1,uint8,"Flag for VLAN tagging
0—VLAN Not in use
1—VLAN In use",,0,0,0,0|1,,2_1_100_2_4,1,,,,4,
2,18,0x08,0x21,,VLAN ID,2,uint16,VLAN ID,,1,0,0,1~4094,,2_1_4_2,1,,,,5,
2,19,0x08,,,Clock Data FMT,1,uint8,Not used,,,,,,,,1,,,,,
2,20,0x08,,,Noise Filtering,1,uint8,Not used,,,,,,,,1,,,,,
2,21,0x08,,,Reflectivity Mapping,1,uint8,Not used,,1,,,,,,1,,,,1,
2,22,0x08,,,Reserved,6,raw,Resrved,,0,,,,,,,,,,,
3,0,0x09,,,System Uptime ,4,DT,System uptime,,0,xxxxxx,xxxxxx,,,5_1_2_1,1,,,,,1
3,1,0x09,,,Motor Speed ,2,uint16,Real-time motor speed,,0,,,,,,1,RPM,,,,
3,2,0x09,,,int32[0],4,uint32,,,0,xxxxxx,xxxxxx,,,,1,°C,0.01,,,
3,3,0x09,,,int32[1],4,uint32,,,0,xxxxxx,xxxxxx,,,,1,°C,0.01,,,
3,4,0x09,,,int32[2],4,uint32,,,0,xxxxxx,xxxxxx,,,,1,°C,0.01,,,
3,5,0x09,,,int32[3],4,uint32,,,0,xxxxxx,xxxxxx,,,,1,°C,0.01,,,
3,6,0x09,,,Internal Temperature,4,uint32,,,0,Not used,Not used,,,,1,°C,0.01,,,
3,7,0x09,,,int32[5],4,uint32,,,0,xxxxxx,xxxxxx,,,,1,°C,0.01,,,
3,8,0x09,,,int32[6],4,uint32,,,0,xxxxxx,xxxxxx,,,,1,°C,0.01,,,
3,9,0x09,,,int32[7],4,uint32,,,0,xxxxxx,xxxxxx,,,,1,°C,0.01,,,
3,10,0x09,,,int32[8],4,uint32,,,0,xxxxxx,xxxxxx,,,,1,°C,0.01,,,
3,11,0x09,,,GPS PPS Lock,1,uint8,GPS PPS status(Not used),,,,,,,,1,,,,,
3,12,0x09,,,GPS GPRMC Status,1,uint8,GPS GPRMC status(Not used),,,,,,,,1,,,,,
3,13,0x09,,,Start-Up Times,4,uint32,System start-up times,,0,xxxxxx,xxxxxx,,,5_1_1_1,1,,,,,1
3,14,0x09,,,Total Operation Time ,4,DT,Total time in operation,,0,xxxxxx,xxxxxx,,,5_1_3_1,1,,,,,1
3,15,0x09,,,PTP Status,1,uint8,"PTP status
0 — free run
1 — tracking
2 — locked
3 — frozen",,0,0,0,0|8|24|40|9,"0 _ free run
24 _ tracking
40 _ tracking
8 _ locked
9 _ frozen",4_1_1_3,0,,,,,1
3,16,0x09,,,Internal Humidity ,4,uint32,Real-time relative humidity(Not used),,0,Not used,Not used,,,,1,%RH,0.1,,,
3,17,0x09,,,Reserved,1,raw,Reserved,,1,,,,,,,,,,,
9,0,,0x10,,Restart,,,Restart,,2,,,,,,1,,,,,
25,0,,0x83,,Attach File,,,This entry is used to specify the command to be used for the lidar upgrade,,,,,,,6_1_3_4,,,,,1,
26,0,0x00010070,,,Lidar Model,1,uint8,Lidar Model Code,,0,xxxxxx,unknown,,,,,,,,,
