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,,,,,,,,,,,,,,,,,,,
22,0,0x06,,,Master Offset,8,int64,"Offset between master and slave, Unit: ns",,,,,,,,1,,,,,
22,1,0x06,,,Mean Offset,8,int64,"The average value of the offset time between master and slave, Unit: ns",,,,,,,,1,,,,,
22,2,0x06,,,PTP State,4,uint32,,,1,,,,,,1,,,,,
22,3,0x06,,,Elapsed Millisec,4,uint32,"Time elapsed since the last handshake between master/slave, in milliseconds",,,,,,,,1,,,,,
23,0,0x06,,,Port Identity,10,uint8[],Port identity  Including 8-bytes clock identity(unsigned char) and 2-byte port number(unsigned short),,,,,,,,1,,,,,
23,1,0x06,,,Port State,1,uint8,Same as ptp_state in the PTP STATUS message,,,,,,,,1,,,,,
23,2,0x06,,,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,,,,,
23,3,0x06,,,PeerMeanPathDelay,8,int64,"Peer means path delay value, in units of ns",,,,,,,,1,,,,,
23,4,0x06,,,LogAnnounceInterval,1,int8,Not used,,,,,,,,1,,,,,
23,5,0x06,,,AnnounceReceiptTimeout,1,uint8,Not used,,,,,,,,1,,,,,
23,6,0x06,,,LogSyncInterval,1,int8,Not used,,,,,,,,1,,,,,
23,7,0x06,,,Delay Mechanism,1,uint8,"Delay mechanism   Possible values: 1 - E2E, 2 -  P2P, and 0 - Auto",,,,,,,,1,,,,,
23,8,0x06,,,LogMinPdelayReqInterval,1,int8,Minimum permitted mean time interval between Pdelay_Req messages  Specified as a power of two in seconds,,,,,,,,1,,,,,
23,9,0x06,,,Version Number,1,uint8,PTP version number,,,,,,,,1,,,,,
24,0,0x06,,,Master Offset ,8,int64,Time difference between master and slave at the last handshake(Unit:ns),,,,,,,,1,,,,,
24,1,0x06,,,Ingress Time,8,int64,Hardware ingress timestamp of the last sync message received by the slave,,,,,,,,1,,,,,
24,2,0x06,,,CumulativeScaledRateOffset,4,int32,"Equal to (rateRatio–1.0)*(2^41), truncated to the next smaller signed integer.rateRatio is the ratio of the frequency of the grandMaster to the frequency of theLocalClock entity in the time-aware system that sends the message;",,,,,,,,1,,,,,
24,3,0x06,,,ScaledLastGmPhaseChange,4,int32,Fractional frequency offset of the current grandmaster relative to the previousgrandmaster,,,,,,,,,1,,,,
24,4,0x06,,,GmTimeBaseIndicator,2,uint16,The timeBaseIndicator of the ClockSource entity for the current grandmaster,,,,,,,,1,,,,,
24,5,0x06,,,LastGmPhaseChange.nanoseconds_msb,2,uint16,Time of the current grandmaster minus the time of the previous grandmaster(Higher two bytes),,,,,,,,1,,,,,
24,6,0x06,,,LastGmPhaseChange.nanoseconds_lsb,8,int64,Time of the current grandmaster minus the time of the previous grandmaster(Lower eight bytes),,,,,,,,1,,,,,
24,7,0x06,,,LastGmPhaseChange.fractional_nanoseconds,2,uint16,Time of the current grandmaster minus the time of the previous grandmaster(Fractional part ofthe nanoseconds),,,,,,,,1,,,,,
24,8,0x06,,,GmPresent,4,int32,Whether grandmaster is present,,,,,,,,1,,,,,
24,9,0x06,,,GmIdentity,8,uint8[],Grandmaster identity when gmPresent is 1,,,,,,,,1,,,,,
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,string,"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,,,
2,7,0x08,0x18,,Sync Enable,1,uint8,"Status of sync angle (phase lock)
0 - Disable  1 - Enable",,0,0,,0|1,,3_1_100_2_2,1,,,,1,
2,8,0x08,0x18,,Sync Angle,2,uint16,Sync angle value,,1,0,xxx,0~359,,3_1_2_2,1,°,1,,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,,,,,
2,14,0x08,0x1E,,Return Mode,1,uint8,"Return mode
1 — Strongest
3 — First
5 — First + Strongest",,1,1,1,1|3|5,"1 _ Strongest Return
3 _ First Return
5 _ First + Strongest Return",3_1_1_3,1,,,,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",3_1_3_3,1,,,,1,
2,16,0x08,0x2A,,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,,,,,
2,21,0x08,0x1D,,Reflectivity Mapping,1,uint8,Not used,,1,,,,,,1,,,,1,
2,22,0x08,0x8C,,Fault Message Destination Port,2,uint16,Fault Message Destination Port,,1,xxxxxx,xxxxxx,0~65535,,2_2_3_1,1,,,,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,,,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|1|2|3,"0 _ free run
1 _ tracking
2 _ locked
3 _ 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,,,,,,,,,,,
7,0,0x26,0x24,,PTP Config Enable,1,uint8,"Status of PTP configurations
0 — Disable
1 — Enable ",,1,1,1,0|1,"0 _ Disable
1 _ Enable",4_1_2_3,1,,,,1,
7,1,0x26,0x24,,PTP Profile,1,uint8,"IEEE timing and synchronization standard
2 — 802.1AS Automotive
3 — 802.1AS AUTOSAR",,2,3,3,2|3,"2 _ 802.1AS (Automotive)
3 _ 802.1AS (AUTOSAR)",4_1_3_3,1,,,,2,
7,2,0x26,0x24,,PTP Domain Number,1,uint8,Domain attribute of the local clock,,1,0,0,0~127,,4_1_4_1,1,,,,3,
7,3,0x26,0x24,,PTP Network Transport,1,uint8,"Network transport protocol
1—L2",,1,1,1,1,1 _ L2,4_1_5_3,1,,,,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",4_1_6_3,1,,,,5,
8,0,0x3A,0x39,,PTP Lock Time Offset,2,uint16,User-specified upper limit of the absolute offset for PTP lock status,,1,1,1,0~100,,4_1_7_1,1,us,1,,1,
9,0,,0x10,,Restart,,,Restart,,2,,,,,,1,,,,,
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,,,,,,,,,,,
18,0,0xAB,,Sleep,,,,Set Lidar Sleep,,2,,,,,,,,,,,
19,0,0x38,,,Operation Log,,,This item is used to specify the command to be used to get lidar log files,,,,,,,,,,,,,
25,0,,0x0000000D,,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,,,,,,,,,
27,0,0x30,,,Freeze Frames,,,,,,,,,,0_0_0_6,,,,,,
