GroupID,Index,Get,Set,GroupName,VarName,VarLen,VarType,Description,IntegrityCheck,Permission,DefaultValue,CurrentValue,Options,OptionDescription,Must,Unit,Coefficient,SetCoefficient,FunctionModule,SetIndex,TimerUpdate
0,Lidar Info,Lidar Info,,,,,,,,,,,,,,,,,,,
0,Network,Source,Destination,,,,,,,,,,,,,,,,,,
0,Lidar Function,Lidar Function,IMU Config,,,,,,,,,,,,,,,,,,
0,Time Sync,Time Sync,,,,,,,,,,,,,,,,,,,
0,Operation Statistics,Climate,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,,,1,,,,2_1_5_1,,
1,4,0x07,,,Software Version,16,string,"Software version, in ASCII(xx.xx.xx)",,0,xxxxxx,xxxxxx,,,1,,,,6_1_1_1|1_1_3_1,,
1,5,0x07,,,Hardware Version,16,string,"Hardware version, in ASCII",,0,,,,,1,,,,,,
1,6,0x07,,,Firmware Version,16,string,"Controller firmware version, in ASCII",,0,xxxxxx,xxxxxx,,,1,,,,6_1_2_1|1_1_4_1,,
1,7,0x07,,,Sensor Version,16,string,,,0,xxxxxx,xxxxxx,,,,,,,6_1_3_1|1_1_5_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,,,Model Code,1,uint8,Product model (not yet supported),,0,,,,,,,,,,,
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,,,Reserved,9,raw,Reserved,,,,,,,,,,,,,
2,0,0x08,0x21,,Source IPv4 Address,4,IP,IP address of the device,,1,xxx.xxx.xxx.xxx,xxx.xxx.xxx.xxx,,,1,,,,2_1_1_1,1,
2,1,0x08,0x21,,IPv4 Mask,4,IP,Subnet mask of the device,,1,xxx.xxx.xxx.xxx,xxx.xxx.xxx.xxx,,,1,,,,2_1_2_1,2,
2,2,0x08,0x21,,IPv4 Gateway,4,IP,Gateway of the device,,1,xxx.xxx.xxx.xxx,xxx.xxx.xxx.xxx,,,1,,,,2_1_3_1,3,
2,3,0x08,0x20,,Destination IPv4 Address,4,IP,Destination IP address of point cloud data packets,,1,xxx.xxx.xxx.xxx,xxx.xxx.xxx.xxx,,,1,,,,2_2_1_1,1,
2,4,0x08,0x20,,UDP Port,2,uint16,Destination UDP port of point could data packets ,,1,xxxxxx,xxxxxx,,,1,,,,2_2_2_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,
2,6,0x08,0x17,,Spin Rate,2,uint16,Spin rate of the motor,,1,600,,600|1200,"600 _ 600 rpm
1200 _ 1200 rpm",,RPM,1,,3_1_5_3,1,
2,7,0x08,0x18,,Sync Enable,1,uint8,"Status of sync angle (phase lock)
0 - Disable  1 - Enable",,1,0,0,0|1,,1,,,,3_1_100_2_2,1,
2,8,0x08,0x18,,Sync Angle,2,uint16,Sync angle value,,1,0,0,0~359,,1,°,0.01,0.01,3_1_2_2,2,
2,9,0x08,,,Start Angle,2,uint16,Not used,,,,,,,1,,,,,,
2,10,0x08,,,Stop Angle,2,uint16,Not used,,,,,,,1,,,,,,
2,11,0x08,0x1F,,Clock Source,1,uint8,"Clock source
1—PTP",,1,1,1,0|1,"0 _ GNSS
1 _ PTP",1,,,,4_1_2_3,1,
2,12,0x08,,,UDP Sequence,1,uint8,"UDP sequence number
0 – UDP sequence OFF
1 – UDP sequence ON(default)",,1,1,1,,,1,,,,,,
2,13,0x08,0x1B,,Trigger Method,1,uint8,"Trigger method
0 — Angle based 
1—Time based",,1,0,0,0|1|2,"0 _ Angle-based
1 _ Time-based
2 _ Non-repeating Angle Based",1,,,,3_1_3_3,1,
2,14,0x08,0x1E,,Return Mode,1,uint8,"Return mode
0 — Last
1 — Strongest
2 — Last + Strongest
3 — First
4 - Last and First Return
5 - First and Strongest Return",,1,2,2,0|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,,,,3_1_1_3,1,
2,15,0x08,0x1C,,Standby Mode,1,uint8,"Standy model
0—In Operation 
1—Standby",,1,0,0,0|1,"0 _ In Operation
1 _ Standby",1,,,,3_1_4_3,1,
2,16,0x08,,,Rotation Direction,1,uint8,"Motor type and status
0x0*—cannot reverse the rotation direction
0x1*—supports reversing the rotation direction
0x*0—currently rotating clockwise
0x*1—currently rotating counterclockwise",,0,0,0,,,1,,,,,1,
2,17,0x08,0x21,,VLAN,1,uint8,"Flag for VLAN tagging
0—VLAN Not in use
1—VLAN In use",,1,0,0,0|1,,1,,,,2_1_100_2_4,4,
2,18,0x08,0x21,,VLAN ID,2,uint16,VLAN ID,,1,0,0,1~4094,,1,,,,2_1_4_2,5,
2,19,0x08,,,GPS NMEA Sentence ,1,uint8,GPS NAME sentence(Not used),,,,,,,1,,,,,,
2,20,0x08,,,Noise Filtering,1,uint8,Noise Filtering(Not used),,,,,,,1,,,,,,
2,21,0x08,,,Reflectivity Mapping,1,uint8,Reflectivity mapping(Not used),,0,0,,,,1,,,,,1,
2,22,0x08,,,Reserved,6,raw,Resrved,,0,,,,,,,,,,,
3,0,0x09,,,System Uptime ,4,DT,System uptime,,0,xxxxxx,xxxxxx,,,1,,1,,5_2_2_1,,1
3,1,0x09,,,Motor Speed ,2,uint16,Real-time motor speed,,0,xxxxxx,xxxxxx,,,1,RPM,1,,,,
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,xxxxxx,xxxxxx,,,1,°C,0.01,,5_1_1_1,,1
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 NMEA Status,1,uint8,GPS NMEA status(Not used),,,,,,,1,,,,,,
3,13,0x09,,,Start-Up Times,4,uint32,System start-up times,,0,xxxxxx,xxxxxx,,,1,,,,5_2_1_1,,1
3,14,0x09,,,Total Operation Time ,4,DT,Total time in operation,,0,xxxxxx,xxxxxx,,,1,,1,,5_2_3_1,,1
3,15,0x09,,,PTP Status,1,uint8,"PTP status
0 — free run
1 — tracking
2 — locked
3 — frozen",,0,0,0,0|1|2|3,"0 _ free run
1 _ tracking
2 _ locked
3 _ frozen",0,,,,4_1_1_3,,1
3,16,0x09,,,Reserved,5,raw,Reserved,,1,,,,,,,,,,,
4,0,0x0000012F,0x0000012E,,Acceleration,1,uint8,,,1,2,2,1|2|3|4,"1 _ +- 2 g
2 _ +- 4 g
3 _ +- 8 g
4 _ +- 16 g",,,,,3_2_1_3,1,
4,1,0x0000012F,0x0000012E,,Angular Velocity,1,uint8,,,1,2,2,1|2|3,"1 _ +- 125 dps
2 _ +- 1000 dps
3 _ +- 2000 dps",,,,,3_2_2_3,2,
4,2,0x0000012F,0x0000012E,,Refresh Rate,1,uint8,,,1,1,1,1|2,"1 _ 200 HZ
2 _ 500 HZ",,,,,3_2_3_3,3,
5,0,0x00000122,0x00000121,,Point Cloud Ultra Precise,1,uint8,,,1,0,0,0|1|2|3,"0 _ default
1 _ weak
2 _ strong
3 _ disable",,,,,3_1_6_3,1,
5,1,0x00000122,0x00000121,,Point Cloud Filter,1,uint8,,,1,0,0,0|1|2,"0 _ disable
1 _ default
2 _ strong",,,,,3_1_7_3,2,
8,0,0x3A,0x39,,PTP Lock Time Offset (us),1,uint8,User-specified upper limit of the absolute offset for PTP lock status,,1,100,100,1~1000,,,,,,4_1_4_1,1,
7,0,0x26,0x24,,PTP Profile,1,uint8,"IEEE timing and synchronization standard
2 — 802.1AS Automotive
3 — 802.1AS AUTOSAR",,1,0,0,0|1,"0 _ 1588v2
1 _ 802.1AS",,,,,4_1_3_3,1,
7,1,0x26,0x24,,PTP Domain Number,1,uint8,Domain attribute of the local clock,,1,0,0,0~127,,,,,,4_1_5_1,2,
7,2,0x26,0x24,,Reserved0,3,uint8,,,,,,,,,,,,,3,
7,3,0x26,0x24,,LogMinDelayReq,1,uint8,,,1,0,0,-7~3,,,,,,4_1_6_1,4,
7,4,0x26,0x24,,Reserved1,1,uint8,,,,,,,,,,,,,5,
9,0,,0x10,,Restart,,,Restart,,2,,,,,1,,,,,,
23,0,,0x83,,Attach File,,,This item is used to specify the command to be used for the lidar upgrade,,,,,,,,,,,6_1_4_4,1,
