GroupID,Index,Get,Set,GetCmdPayload,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,Availability,Mechanical,Electrical,,,,,,,,,,,,,,,,,
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,HWVER,"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""",,1,10110,10110,,,1,,,,,3,
2,6,0x08,0x17,,,Spin Rate,2,uint16,Spin rate of the motor,,1,200,,150|200|300|400|500,"150 _ 150 rpm
200 _ 200 rpm
300 _ 300 rpm
400 _ 400 rpm
500 _ 500 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,,1,0,0,25~154,,1,°,0.01,1,3_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,,,,Trigger Method,1,uint8,"Trigger method
0 — Angle based 
1—Time based",,0,0,0,0|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",,1,2,2,0|1|2,"0 _ Last Return
1 _ Strongest Return
2 _ Last + 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_5_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",,1,0,0,0|1,"0 _ Clockwise
1 _ Counterclockwise",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,,,,,,
2,21,0x08,0x1D,,,Reflectivity Mapping,1,uint8,Reflectivity mapping(Not used),,1,0,,0|1,"0 _ Linear Mapping
1 _ Nonlinear Mapping",1,,,,3_1_6_3,1,
2,22,0x08,0x8C,,,Fault Message Destination Port,2,uint16,,,1,2368,2368,1~65535,,,,,,2_2_3_1,1,
2,23,0x08,,,,Reserved,4,raw,Resrved,,0,,,,,,,,,,,
2,24,,0x8C,,,Reserved,10,raw,,,,,,,,,,,,,2,
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,,5_3_1_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,"0 _ Unlocked
1 _ Locked",0,,,,4_1_1_3,,1
3,16,0x09,,,,Reserved,5,raw,Reserved,,1,,,,,,,,,,,
4,0,0x00000070,,,,Model Code,1,uint8,,,0,200,200,200,200 _ AT360,,,,,1_1_5_3,,
5,0,0x27,,,,Input Current,4,uint32,,,0,xxxxxx,xxxxxx,,,,mA,0.01,,5_4_1_1,,1
5,1,0x27,,,,Input Voltage,4,uint32,,,0,xxxxxx,xxxxxx,,,,V,0.01,,5_4_2_1,,1
5,2,0x27,,,,Input Power,4,uint32,,,0,xxxxxx,xxxxxx,,,,W,0.01,,5_4_3_1,,1
5,3,0x27,,,,reserved,52,raw,,,0,,,,,,,,,,,
6,0,0x000000AF,,,,PTP Lock Time Offset (ns),8,int64,User-specified upper limit of the absolute offset for PTP lock status,,0,xx,xx,,,,,,,4_1_3_1,,
7,0,0x26,0x24,,,PTP Config Enable,1,uint8,"PTP 协议配置使用状态
0 — Disable  1 — Enable ",,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)",,,,,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,,,,,,4_1_4_1,3,
7,3,0x26,0x24,,,PTP Network Transport,1,uint8,Network transport protocol,,1,1,1,1,"1 _ L2",,,,,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",,,,,,5,
8,0,0x00000022,,0xFF,,App Log,,,,,,,,,,,,,,0_0_0_6,,
9,0,,0x10,,,Restart,,,Restart,,1,,,,,1,,,,,1,
10,0,0x8D,,,,Work Mode,1,uint8,,,0,1,1,0|1|2|3|4,"0 _ Energy Saving
1 _ Standard
2 _ Standby
3 _ High Temp Shutdown
4 _ Shutdown",,,,,1_1_6_3,,
10,1,0x8D,,,,Fault Code,1,uint8,,,0,0,0,,,,,,,1_1_7_1,,
11,0,0x45,0x46,,,Ethernet Mode,1,uint8,,,1,0,0,0|1,"0 _ Slave
1 _ Master",,,,,3_1_7_3,1,
21,0,0x87,,,,Upgrade Log,,,,,,,,,,,,,,0_0_0_6,,
22,0,0x30,,,,Freeze Frames,,,,,,,,,,,,,,0_0_0_6,,
23,0,,0x83,,,Attach File,,,This item is used to specify the command to be used for the lidar upgrade,,,,,,,,,,,6_1_3_4,1,
