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,,,,,,,,,,,,,,,,,,,
0,Time Sync,Time Sync,,,,,,,,,,,,,,,,,,,
0,Operation Statistics,Climate,Electrical,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",,1,,,,,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,,,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,,,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,,,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,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,,1,200,,200|400,"200 _ 200 rpm
400 _ 400 rpm",,RPM,1,,3_1_2_3,1,
2,7,0x08,0x18,,Sync Enable,1,uint8,"Status of sync angle (phase lock)
0 - Disable  1 - Enable",,1,0,,0|1,,1,,,,3_1_100_2_3,1,
2,8,0x08,0x18,,Sync Angle,2,uint16,Sync angle value,,1,0,0,0~359,,1,°,0.01,,3_1_3_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,,,Clock Source,1,uint8,"Clock source
1—PTP",,0,1,1,1,,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,"0 _ Angle-based
1 _ Time-based",1,,,,3_1_4_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_6_3,1,
2,16,0x08,0x2A,,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",,1,0,0,0|1,"0 _ Clockwise
1 _ Counterclockwise",1,,,,3_1_7_3,1,
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,,,,,,
2,21,0x08,0x1D,,Reflectivity Mapping,1,uint8,Reflectivity mapping(Not used),,1,0,,0|1,"0 _ Linear Mapping
1 _ Nonlinear Mapping",1,,,,3_1_5_3,1,
2,22,0x08,0x8C,,Fault Message Destination Port,2,uint16,Fault Message Destination Port,,1,xxxxxx,xxxxxx,0~65535,,1,,,,2_2_3_1,1,
2,23,0x08,,,Reserved,4,raw,Resrved,,0,,,,,,,,,,,
2,24,,0x8C,,Reserved,10,raw,Resrved,,,,,,,,,,,,2,
3,0,0x09,,,System Uptime ,4,DT,System uptime,,0,xxxxxx,xxxxxx,,,1,,1,,5_3_2_1,,1
3,1,0x09,,,Motor Speed ,2,uint16,Real-time motor speed,,0,,,,,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_3_1_1,,1
3,14,0x09,,,Total Operation Time ,4,DT,Total time in operation,,0,xxxxxx,xxxxxx,,,1,,1,,5_3_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,,,,,,,,,,,
4,0,0x00000072,,,Master Offset,8,int64,Offset between master and slave,,1,,,,,1,ns,1,,,,
4,1,0x00000072,,,Mean Offset,8,int64,The average value of the offset time between master and slave,,1,,,,,1,ns,1,,,,
4,2,0x00000072,,,PTP State,4,uint32,"0—""NONE""
1—""INITIALIZING""
2—""FAULTY""
3—""DISABLED""
8—""UNCALLBRATED""
9—""SLAVE""",,1,,,,,1,,,,,,
4,3,0x00000072,,,Elapsed Millisec,4,uint32,Time elapsed since the last handshake between master/slave,,1,,,,,1,ms,1,,,,
5,0,0x00000073,,,Port Identity,10,uint8[],"Port identity  Including 
8-bytes clock identity(unsigned char) 
2-byte port number(unsigned short)",,1,,,,,1,,,,,,
5,1,0x00000073,,,Port State,1,uint8,Same as ptp_state in the PTP STATUS message,,1,,,,,1,,,,,,
5,2,0x00000073,,,LogMinDelayReqInterval,1,uint8,"Minimum permitted mean time interval between Delay_Req messages Specified as a power of two in seconds  
Default: 0 (representing 1 second)",,1,,,,,1,,,,,,
5,3,0x00000073,,,PeerMeanPathDelay,8,int64,"Peer means path delay value
Units: ns",,1,,,,,1,ns,1,,,,
5,4,0x00000073,,,LogAnnounceInterval,1,int8,Not used,,,,,,,1,,,,,,
5,5,0x00000073,,,AnnounceReceiptTimeout,1,uint8,Not used,,,,,,,1,,,,,,
5,6,0x00000073,,,LogSyncInterval,1,int8,Not used,,,,,,,1,,,,,,
5,7,0x00000073,,,Delay Mechanism,1,uint8,"Delay mechanism , Possible values: 
0—Auto
2—E2E
3—P2P",,,,,,,1,,,,,,
5,8,0x00000073,,,LogMinPdelayReqInterval,1,int8,Minimum permitted mean time interval between Pdelay_Req messages  Specified as a power of two in seconds,,,,,,,1,,,,,,
5,9,0x00000073,,,Version Number,1,uint8,PTP version number,,,,,,,1,,,,,,
6,0,0x00000074,,,Master Offset ,8,int64,Time difference between master and slave at the last handshake,,,,,,,1,ns,1,,,,
6,1,0x00000074,,,Ingress Time,8,int64,Hardware ingress timestamp of the last sync message received by the slave,,,,,,,1,,,,,,
6,2,0x00000074,,,CumulativeScaledRateOffset,4,int32,"Equal to (rateRatio–1.0)*(2^41), truncated to the next smaller signed integer",,,,,,,1,,,,,,
6,3,0x00000074,,,ScaledLastGmPhaseChange,4,int32,Fractional frequency offset of the current grandmaster relative to the previousgrandmaster,,,,,,,,1,,,,,
6,4,0x00000074,,,GmTimeBaseIndicator,2,uint16,The timeBaseIndicator of the ClockSource entity for the current grandmaster,,,,,,,1,,,,,,
6,5,0x00000074,,,LastGmPhaseChange.nanoseconds_msb,2,uint16,Time of the current grandmaster minus the time of the previous grandmaster(Higher two bytes),,,,,,,1,,,,,,
6,6,0x00000074,,,LastGmPhaseChange.nanoseconds_lsb,8,int64,Time of the current grandmaster minus the time of the previous grandmaster(Lower eight bytes),,,,,,,1,,,,,,
6,7,0x00000074,,,LastGmPhaseChange.fractional_nanoseconds,2,uint16,Time of the current grandmaster minus the time of the previous grandmaster(Fractional part ofthe nanoseconds),,,,,,,1,,,,,,
6,8,0x00000074,,,GmPresent,4,int32,Whether grandmaster is present,,,,,,,1,,,,,,
6,9,0x00000074,,,GmIdentity,8,uint8[],Grandmaster identity when gmPresent is 1,,,,,,,1,,,,,,
7,0,0x26,0x24,,PTP Config Enable,1,uint8,"Status of PTP configurations
0 — Disable
1 — Enable ",,0,1,1,,,1,,,,,1,
7,1,0x26,0x24,,PTP Profile,1,uint8,"IEEE timing and synchronization standard
2 — 802.1AS Automotive
3 — 802.1AS AUTOSAR",,1,3,3,2|3,"2 _ 802.1AS (Automotive)
3 _ 802.1AS (AUTOSAR)",1,,,,4_1_2_3,2,
7,2,0x26,0x24,,PTP Domain Number,1,uint8,Domain attribute of the local clock,,1,0,0,0~127,,1,,,,4_1_4_1,3,
7,3,0x26,0x24,,PTP Network Transport,1,uint8,"Network transport protocol
1—L2",,1,1,1,1,1 _ L2,1,,,,4_1_5_3,4,
7,4,0x26,0x24,,Switch Type,1,uint8,"Switch type (if applicable)
0 — Non-TSN
1 — TSN",,1,1,1,0|1,"0 _ Non-TSN
1 _ TSN",1,,,,4_1_6_3,5,
8,0,0x3A,0x39,,PTP Lock Time Offset (us),2,uint16,User-specified upper limit of the absolute offset for PTP lock status,,1,1,1,,,1,,,,4_1_3_1,1,
9,0,,0x10,,Restart,,,Restart,,2,,,,,1,,,,,,
10,0,,0x31,Set Freeze Frame Info Clear,Clear Freeze,,,Set freeze frame info clear,,2,,,,,,,,,,1,
12,0,0x27,,,Input Current,4,uint32,Lidar input current(Unit: 0.01 mA),,0,xxxxxx,xxxxxx,,,1,mA,0.01,,5_2_1_1,,1
12,1,0x27,,,Input Voltage,4,uint32,Lidar input voltage(Unit: 0.01 V),,0,xxxxxx,xxxxxx,,,1,V,0.01,,5_2_2_1,,1
12,2,0x27,,,Input Power,4,uint32,Lidar input power(Unit: 0.01 W),,0,xxxxxx,xxxxxx,,,1,W,0.01,,5_2_3_1,,1
12,3,0x27,,,Reserved,52,raw,Reserved ,,,,,,,,,,,,,
13,0,,0x44,Clear Log Files,,,,Clear log files,,2,,,,,,,,,,1,
14,0,0x45,0x46,,Ethernet Communication Mode,1,int8,"Ethernet Communication Mode
0—Master
1—Slave",,0,,,0|1,,,,,,,1,
15,0,0x35,0x34,,Reserved,1,raw,Reserved,,0,,,,,,,,,,1,
15,1,0x35,0x34,,Diag Mode,1,uint8,"Diagnostic mode
0—Disable
1—Enale(default)",,0,1,,0|1,,,,,,,2,
16,0,0x8D,,,Work Mode,1,uint8,"Lidar work mode
0—Energy-Saving
1—Standard
2—Standby
3—High-Temp-Shutdown
4—Shutdown",,1,,,,,,,,,,,
16,1,0x8D,,,Fault Code,1,uint8,"Fault code
bit[3:0]
0—No Energy-Saving fault
1—Energy-Saving fault exists
bit[4]:
0—No High-Temp-Shutdown fault
1—High-Temp-Shutdown fault exists
bit[7:5]
0—No Other-Shutdown fault
Not 0—Other-Shutdown fault exists",,1,,,,,,,,,,,
17,0,0xA4,,,EOL Status,1,uint8,0—Exit EOL node(default),,1,,,,,,,,,,,
18,0,,0x00000004,,Standby Mode,1,uint8,"Standby mode
0—In Operation
1—Standby",,1,,,0|1,,,,,,,1,
19,0,0x0000004E,,,Customer Identification,16,uint8[],"Customer ID
When no customer ID is available, the return Code will be 0x07",,1,,,,,,,,,,,
20,0,0x00000055,,,Lidar Position,1,uint8,"Lidar position
0—Front 
1—Front right",,1,,,0|1,,,,,,,,
21,0,0x00000079,,,Variable ID File Version,2,uint16,Variable ID File Version,,1,,,,,,,,,,,
21,3,0x00000079,,,Reserved ,2,uint8[],Reserved ,,1,,,,,,,,,,,
22,0,0x00010070,,,Lidar Model,1,uint8,Lidar Model Code,,0,xxxxxx,unknown,,,,,,,,,
23,0,,0x0001000D,,Attach File,,,This item is used to specify the command to be used for the lidar upgrade,,,,,,,,,,,6_1_3_4,1,
24,0,0xAB,,Sleep,,,,Set Lidar Sleep,,2,,,,,,,,,,,
25,0,0x38,,,Operation Log,,,This item is used to specify the command to be used to get lidar log files,,,,,,,,,,,,,
26,0,0x30,,,Freeze Frames,,,,,,,,,,,,,,0_0_0_6,,
