GroupID,Index,Get,Set,GroupName,VarName,VarLen,VarType,Description,IntegrityCheck,Permission,DefaultValue,CurrentValue,Options,OptionDescription,SetCoefficient,FunctionModule,Must,Unit,Coefficient,SetIndex,TimerUpdate
0,Lidar Info,Lidar Info,,,,,,,,,,,,,,,,,,,
0,Network,Source,Destination,,,,,,,,,,,,,,,,,,
0,Lidar Function,Lidar Function,Azimuth FOV,,,,,,,,,,,,,,,,,,
0,Time Sync,Time Sync,,,,,,,,,,,,,,,,,,,
0,Operation Statistics,Climate,Electrical,Availability,,,,,,,,,,,,,,,,,
0,Upgrade,Upgrade,,,,,,,,,,,,,,,,,,,
1,0,0x07,,,SN,18,string,Serial number of the device,,0,xxxxxx,xxxxxx,,,,1_1_1_1,1,,,,
1,1,0x07,,,Date of Manufacture,16,string,Date of manufacture,,0,,,,,,,1,,,,
1,2,0x07,,,MAC Address,6,MAC,MAC address of the device,,0,xx:xx:xx:xx:xx,xx:xx:xx:xx:xx,,,,2_1_5_1,1,,,,
1,3,0x07,,,Software Version,16,string,Software version,,0,xxxxxx,xxxxxx,,,,6_1_1_1|1_1_3_1,1,,,,
1,4,0x07,,,Hardware Version,16,string,Hardware version,,1,,,,,,,1,,,,
1,5,0x07,,,Control Firmware Version,16,string,Controller firmware version,,0,xxxxxx,xxxxxx,,,,6_1_2_1|1_1_4_1,1,,,,
1,6,0x07,,,Sensor Firmware Version,16,string,Sensor firmware version,,0,xxxxxx,xxxxxx,,,,6_1_3_1|1_1_5_1,1,,,,
1,7,0x07,,,Zero Angle,2,uint16,Zero angle offset,,1,,,,,,,1,,,,
1,8,0x07,,,Lidar Model,1,uint8,Product Model,,0,xxxxxx,xxxxxx,,,,,1,,,,
1,9,0x07,,,Rotate Direction1,1,uint8,0 - unidirectional 1 - bidirectional,,1,,,,,,,1,,,,
1,10,0x07,,,Num of Channels,1,uint8,Number of channels,,1,128,128,,,,,1,,,,
1,11,0x07,,,PN,32,string,Part Number,,0,xxxxxx,xxxxxx,,,,1_1_2_1,1,,,,
1,12,0x07,0x6E,,Customer PN Enable,1,uint8,"Whether to display Customer Part Number
0 — Disabled
1 — Enabled",,0,0,0,,,,,1,,,1,
1,13,0x07,0x6E,,Customer PN,20,string,Customer Part Number,,0,None,None,,,,,1,,,2,
1,14,0x07,,,DUNS,9,string,DUNS number,,1,544407417,544407417,,,,,0,,,,
1,15,0x07,0xD9,,VPPS,14,string,VPPS number,,0,80.01.06.10.02,80.01.06.10.02,,,,,0,,,1,
1,16,0x07,,,Boot Version,16,string,Boot version,,1,V1.0.0,V1.0.0,,,,,0,,,,
1,17,0x07,,,Cruise PN,8,string,Cruise Part Number,,0,1036730,1036730,,,,,0,,,,
1,18,0x07,,,GMSWPN,8,string,GM Software Part Number,,0,86506320,86506320,,,,,0,,,,
1,19,0x07,,,GMHWPN,8,string,GM Hardware Part Number,,0,86506319,86506319,,,,,0,,,,
1,20,0x07,,,Reserved,3,,Reserved,,,,,,,,,,,,,
2,0,0x08,0x21,,Source IPv4 Address,4,IP,IP address of the device,,1,xxx.xxx.xxx.xxx,xxx.xxx.xxx.xxx,,,,2_1_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,,,,2_1_2_1,1,,,2,
2,2,0x08,0x21,,IPv4 Gateway,4,IP,Gateway of the device,,1,xxx.xxx.xxx.xxx,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,xxx.xxx.xxx.xxx,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,xxxxxx,xxxxxx,,,,2_2_2_1,1,,,2,
2,5,0x08,0x20,,GPS UDP Port,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
Unit :RPM",,1,600,600,600|1200,"600 _ 600 rpm
1200 _ 1200 rpm",,3_1_2_3,1,,,1,
2,7,0x08,0x18,,Sync Enable,1,uint8,"Status of sync angle (phase lock)
0 - Disable  1 - Enable",,1,0,0,0|1,,,3_1_100_2_4,1,,,1,
2,8,0x08,0x18,,Sync Angle,2,uint16,Current sync angle between the LiDARlidar's 0° position and the PPS signal(设置时单位为1°，获取时单位为0.01°),,1,0,0,0~359,,,3_1_4_2,1,°,0.01,2,
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,"To configure the clock source
1 - gPTP",,0,1,1,1,,,,1,,,1,
2,12,0x08,,,UDP Sequence,1,uint8,"Whether the point cloud data will include a UDP sequence number field
0 – UDP sequence OFF 1 – UDP sequence ON",,1,1,1,,,,,1,,,,
2,13,0x08,0x1B,,Trigger Method,1,uint8,0 - angle based  1 - time based,,1,0,0,0|1,"0 _ Angle-based
1 _ Time-based",,3_1_5_3,1,,,1,
2,14,0x08,0x1E,,Return Mode,1,uint8,"Return mode
0 — Last
1 — Strongest
2 — Last + Strongest (Dual)
3 — First
4 — Last + First
5 — First + Strongest",,1,2,2,0|1|2|3|4|5,"0 _ Last Return
1 _ Strongest Return
2 _ Last and Strongest Return
3 _ First Return
4 _ Last and First Return
5 _ First and Strongest Return",,3_1_1_3,1,,,1,
2,15,0x08,0x1C,,Standby Mode,1,uint8,0 - in operation  1 - standby,,1,0,0,0|1,"0 _ In Operation
1 _ Standby",,3_1_10_3,1,,,1,
2,16,0x08,0x2A,,Rotation Direction,1,uint8,"0x0* - cannot reverse the rotation direction
0x1* - supports reversing the rotation direction
0x*0 - currently rotating clockwise
0x*1 - currently rotating counterclockwise",,1,16,16,16|17,"16 _ Clockwise
17 _ Counterclockwise",,3_1_11_3,1,,,1,
2,17,0x08,0x21,,VLAN Flag,1,uint8,"VLAN ID 是否生效
0 - VLAN not in use 1 - VLAN in use",,1,0,0,0|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,
2,19,0x08,0x12,,GPS NMEA Sentence ,1,uint8,"GPS解析类型
0 - GPRMC  1 - GPGGA",,0,0,0,0|1,,,,1,,,1,
2,20,0x08,0x1A,,Noise Filtering,1,uint8,"噪音过滤开关
0 - OFF 1 - ON",,1,0,0,0|1,"0 _ OFF
1 _ ON",,,1,,,1,
2,21,0x08,0x1D,,Reflectivity Mapping,1,uint8,"反射率映射方式
0 - Linear Mapping  1 - Non-linear Mapping#1  2 - Nonlinear Mapping#2",,1,0,0,0|1|2,"0 _ Linear Mapping
1 _ Nonlinear Mapping 1
2 _ Nonlinear Mapping 2",,3_1_9_3,1,,,1,
2,22,0x08,,,Reserved,6,,Resrved,,,,,,,,,,,,,
3,0,0x09,,,System Uptime ,4,DT,System uptime(uint:second),,0,xxxxxx,xxxxxx,,,,5_3_2_1,1,,1,,1
3,1,0x09,,,Motor Speed ,2,uint16,Real-time motor speed(unit:RPM),,,,,,,,,1,,,,
3,2,0x09,,,Internal Temperature,32,int32,"温度值：单位0.01°C
int32[0]: MB 板 NTC1 温度
int32[1]: MB 板 NTC2 温度
int32[2]: TX 板 NTC1 温度
int32[3]: TX 板 NTC2 温度
int32[4]: RX 板 NTC1 温度
int32[5]: RX 板 NTC2 温度
int32[6]: TMB 板 NTC1 温度
int32[7]: TMB 板 NTC2 温度",,0,xxxxxx,xxxxxx,,,,5_1_1_1,1,°C,0.01,,1
3,3,0x09,,,GPS PPS Lock,1,uint8,"GPS PPS status
1 — Locked  0 — Unlocked",,,,,,,,,1,,,,
3,4,0x09,,,GPS NMEA Status,1,uint8,"GPS NMEA status
1 — Locked  0 — Unlocked",,,,,,,,,1,,,,
3,5,0x09,,,Start-Up Times,4,uint32,System start-up times,,0,xxxxxx,xxxxxx,,,,5_3_1_1,1,,,,1
3,6,0x09,,,Total Operation Time ,4,DT,Total time in operation,,0,xxxxxx,xxxxxx,,,,5_3_3_1,1,,1,,1
3,7,0x09,,,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
3,8,0x09,,,Humidity ,4,int32,"Real-time relative humidity
Unit: 0.1%",,0,xxxxxx,xxxxxx,,,,5_1_2_1,1,%RH,0.1,,1
3,9,0x09,,,Reserved,1,,Reserved,,,,,,,,,,,,,
4,0,0x06,,,Master Offset,8,int64,"Offset between master and slave, in units of ns",,,,,,,,,1,,,,
4,1,0x06,,,PTP State,4,int32,"""NONE"", /*0*/
""INITIALIZING"", /*1*/
""FAULTY"", /*2*/
""DISABLED"", /*3*/
""LISTENING"", /*4*/
""PRE_MASTER"", /*5*/",,,,,,,,,1,,,,
4,2,0x06,,,Elapsed Millisec,4,uint32,"Time elapsed since the last handshake between master/slave, in milliseconds",,,,,,,,,1,,,,
5,0,0x06,,,Port Identity,10,uint8[],Port identity  Including 8-bytes clock identity(unsigned char) and 2-byte port number(unsigned short),,,,,,,,,1,,,,
5,1,0x06,,,Port State,1,uint8,Same as ptp_state in the PTP STATUS message,,,,,,,,,1,,,,
5,2,0x06,,,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,,,,
5,3,0x06,,,PeerMeanPathDelay,8,int64,"Peer means path delay value, in units of ns",,,,,,,,,1,,,,
5,4,0x06,,,LogAnnounceInterval,1,int8,Not used,,,,,,,,,1,,,,
5,5,0x06,,,AnnounceReceiptTimeout,1,uint8,Not used,,,,,,,,,1,,,,
5,6,0x06,,,LogSyncInterval,1,int8,Not used,,,,,,,,,1,,,,
5,7,0x06,,,Delay Mechanism,1,uint8,"Delay mechanism   Possible values: 1 - E2E, 2 -  P2P, and 0 - Auto",,,,,,,,,1,,,,
5,8,0x06,,,LogMinPdelayReqInterval,1,int8,Minimum permitted mean time interval between Pdelay_Req messages  Specified as a power of two in seconds,,,,,,,,,1,,,,
5,9,0x06,,,Version Number,1,uint8,PTP version number,,,,,,,,,1,,,,
6,0,0x06,,,Master Offset ,8,int64,Time difference between master and slave at the last handshake(Unit:ns),,,,,,,,,1,,,,
6,1,0x06,,,Ingress Time,8,int64,Hardware ingress timestamp of the last sync message received by the slave,,,,,,,,,1,,,,
6,2,0x06,,,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,,,,
6,3,0x06,,,ScaledLastGmPhaseChange,4,int32,Fractional frequency offset of the current grandmaster relative to the previousgrandmaster,,,,,,,,,,1,,,
6,4,0x06,,,GmTimeBaseIndicator,2,uint16,The timeBaseIndicator of the ClockSource entity for the current grandmaster,,,,,,,,,1,,,,
6,5,0x06,,,LastGmPhaseChange.nanoseconds_msb,2,uint16,Time of the current grandmaster minus the time of the previous grandmaster(Higher two bytes),,,,,,,,,1,,,,
6,6,0x06,,,LastGmPhaseChange.nanoseconds_lsb,8,int64,Time of the current grandmaster minus the time of the previous grandmaster(Lower eight bytes),,,,,,,,,1,,,,
6,7,0x06,,,LastGmPhaseChange.fractional_nanoseconds,2,uint16,Time of the current grandmaster minus the time of the previous grandmaster(Fractional part ofthe nanoseconds),,,,,,,,,1,,,,
6,8,0x06,,,GmPresent,4,int32,Whether grandmaster is present,,,,,,,,,1,,,,
6,9,0x06,,,GmIdentity,8,uint8[],Grandmaster identity when gmPresent is 1,,,,,,,,,1,,,,
7,0,0x26,,,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_3,1,,,1,
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,,,2,
7,3,0x26,0x24,,PTP Network Transport,1,uint8,Network transport protocol,,1,1,1,1,"0 _ UDP/IP
1 _ L2",,4_1_5_3,1,,,3,
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,,,4,
8,0,0x3A,0x39,,PTP Lock Time Offset (us),1,uint8,User-specified upper limit of the absolute offset for PTP lock status,,1,1,1,0~100,,,4_1_3_1,1,,,1,
9,0,,0x10,,Restart,,,软重启雷达,,,,,,,,,1,,,,
10,0,,0x25,,Reset,,,重置参数并软重启雷达,,,,,,,,,1,,,,
11,0,0x23,0x22,,Fov Mode,1,uint8,,,1,0,0,0|3,"0 _ For All Channels
3 _ Multi-Section FOV",,3_2_1_5,,,,1,
11,1,0x23,0x22,,Fov Number,1,uint8,,,1,1,1,1|2|3|4|5,"0 _ 0
1 _ 1
2 _ 2
3 _ 3
4 _ 4
5 _ 5",,,0,,,2,
11,2,0x23,0x22,,Angle Ranges,20,uint8,"The Start Angle (2 bytes) and End Angle (2 bytes) for each continuous angle range
Format: [Start angle, End angle] * 5 ",,0,0,0,,,,,0,,,3,
12,0,0x27,,,Input Current,4,uint32,Lidar input current(Unit: 0.01 mA),,0,xxxxxx,xxxxxx,,,,5_2_1_1,1,mA,0.01,1,1
12,1,0x27,,,Input Voltage,4,uint32,Lidar input voltage(Unit: 0.01 V),,0,xxxxxx,xxxxxx,,,,5_2_2_1,1,V,0.01,2,1
12,2,0x27,,,Input Power,4,uint32,Lidar input power(Unit: 0.01 W),,0,xxxxxx,xxxxxx,,,,5_2_3_1,1,W,0.01,3,1
12,3,0x27,,,Phase Offset,4,uint32,LiDAR's phase_offset,,1,xxxxxx,xxxxxx,,,,,0,,,4,
12,4,0x27,,,Reserved,48,raw,Reserved ,,,,,,,,,,,,5,
13,0,0x28,0x29,,Horizontal Resolution Mode,1,uint8,"Horizontal resolution mode
0 — Standard  1 — High Resolution",,1,1,1,0|1,"0 _ Standard
1 _ High Resolution",,3_1_3_3,1,,,1,
14,0,,,,Rotation Direction,1,int8,"Rotate direction
0 — Clockwise 1 — Counterclockwise",,2,0,0,0|1,,,,0,,,,
15,0,0x2C,0x2B,,Operational Mode,1,int8,"Operational mode
0 — Dynamic 1 — Constant",,1,,,0|1,"0 _ Dynamic
1 _ Constant",,,1,,,1,
16,0,,0x2D,,Point Cloud Signature Enable,1,int8,"设置是否进行点云签名
0 — signature not attached to point data
1 — signature attached to point data",,,,,0|1,,,,1,,,1,
17,0,,0x2E,,Client Random Number,32,int32,开始点云签名，签名的随机数，由用户生成,,2,,,,,,,1,,,1,
18,0,0x2E,,,Lidar Random Number,32,int32,开始点云签名，雷达的随机签名值,,1,,,,,,,1,,,,
19,0,,0x2F,,终止点云签名,1,int8,"0 -- signature not attached to point data
1 -- signature attached to point data",,,,,,,,,1,,,1,
20,0,,0x50,,Shared Secret Key,8~32,string,The secret key for point cloud signature,,,,,,,,,1,,,1,
21,0,,0x31,,清除冻结帧信息,,,清除冻结帧信息,,,,,,,,,1,,,1,
22,0,0x33,0x32,,Interstitial Points Filtering,1,uint8,"LiDAR interstitial points fitering
0 — Off  1 — On",,1,0,0,0|1,"0 _ OFF
1 _ ON",,,1,,,1,
23,0,,0x41,,清除功能安全信息,,,清除功能安全信息,,,,,,,,,1,,,1,
24,0,,0x44,,清除 log 日志,,,清除 log 日志,,,,,,,,,1,,,1,
25,0,0x45,0x46,,Ethernet Communication Mode,1,int8,"Ethernet Mode
0 --Master  1 -- Slave",,0,,,0|1,,,,1,,,1,
26,0,0x48,0x47,,Retro Multi-Reflection Filtering,1,uint8,"LiDAR retro multi-reflection filtering
0 --Off  1 --On",,1,0,0,0|1,"0 _ OFF
1 _ ON",,,1,,,1,
27,0,0x59,0x58,,Blockage Detection,1,int8,"设置脏污检测使能
0—OFF  1—ON",,1,0,0,0|1,"0 _ OFF
1 _ ON",,3_1_7_3,1,,,1,
28,0,0x5B,,,Number of SET Commands,4,int32,Total number of SET commands,,1,,,,,,,1,,,,
28,1,0x5B,,,Number of Successful SET Commands,4,int32,Number of successful SET commands,,1,,,,,,,1,,,,
28,2,0x5B,,,Number of Failed SET Commands,4,int32,Number of failed SET commands,,1,,,,,,,1,,,,
28,3,0x5B,,,Number of GET Commands,4,int32,Total number of GET commands,,1,,,,,,,1,,,,
28,4,0x5B,,,Number of Successful GET Commands,4,int32,Number of successful GET commands,,1,,,,,,,1,,,,
28,5,0x5B,,,Number of Failed GET Commands,4,int32,Number of failed GET commands,,1,,,,,,,1,,,,
29,0,0x73,0x72,,Customer MAC Enable,1,string,"Customer MAC address
“0” — Disabled  “1” — Enabled",,0,,,,,,,1,,,1,
29,1,0x73,0x72,,Customer MAC Address,17,string,Customer MAC in hexadecimal,,1,xx:xx:xx:xx:xx,xx:xx:xx:xx:xx,,,,2_1_6_1,1,,,2,
30,0,0x84,,,Upgrade Status,1,uint8,"0 -- Preparing for upgrading
1 -- Upgrading
2 -- Recovering",,,,,,,,,1,,,,
30,1,0x84,,,Sensor Firmware Upgrade Percentage,1,uint8,"Percentage of completion for upgrading sensor firmware
Range: 0 to 100",,,,,,,,,1,,,,
30,2,0x84,,,Sensor Firmware Upgrade Status,1,uint8,"0 -- Waiting to start
1 -- Starting to upgrade
2 -- Upgraded succeeded
3 -- Upgraded failed",,,,,,,,,1,,,,
30,3,0x84,,,Controller Firmware Upgrade Percentage,1,uint8,"Percentage of completion for upgrading controller firmware
Range: 0 to 100",,,,,,,,,1,,,,
30,4,0x84,,,Controller Firmware Upgrade Status,1,uint8,"0 -- Waiting to start
1 -- Starting to upgrade
2 -- Upgraded succeeded
3 -- Upgraded failed",,,,,,,,,1,,,,
30,5,0x84,,,Controller Software Upgrade Percentage,1,uint8,"Percentage of completion for upgrading controller software
Range: 0 to 100",,,,,,,,,1,,,,
30,6,0x84,,,Controller Software Upgrade Status,1,uint8,"0 -- Waiting to start
1 -- Starting to upgrade
2 -- Upgraded succeeded
3 -- Upgraded failed",,,,,,,,,1,,,,
30,7,0x84,,,Top-Board Parameters Upgrade Percentage,1,uint8,"Percentage of completion for upgrading top-board parameters
Range: 0 to 100",,,,,,,,,1,,,,
30,8,0x84,,,Top-Board Parameters Upgrade Status,1,uint8,"0 -- Waiting to start
1 -- Starting to upgrade
2 -- Upgraded succeeded
3 -- Upgraded failed",,,,,0|1|2,,,,1,,,,
31,0,0xD8,0xDA,,EMPN,8,string,GM Part Number,,0,86506318,86506318,,,,,0,,,1,
32,1,0xDB,,,TRACE,16,string,GM Traceability Number,,0,1.11E+15,1.11E+15,,,,,0,,,,
33,0,0x00010070,,,Lidar Model,1,uint8,Lidar Model Code,,0,xxxxxx,unknown,,,,,,,,,
34,0,,0x83,,Attach File,,,This entry is used to specify the command to be used for the lidar upgrade,,,,,,,,6_1_4_4,,,,1,
35,0,0x38,,,Operation Log,,,This item is used to specify the command to be used to get lidar log files,,,,,,,,,,,,,
36,0,0xF2,0xF1,,Blooming Filtering,1,uint8,0 – 模式1 降低分段阈值滤噪 1 – 模式2 关闭分段阈值滤噪,,1,1,1,0|1,"0 _ ON 
1 _ OFF",,3_1_6_3,1,,,1,
37,0,0x00000036,0x00000035,,Noise Annotation,1,uint8,,,1,0,0,0|2,"0 _ No Extra
2 _ Weight Factor",,3_1_8_3,,,,1,
38,0,0x30,,,Freeze Frames,,,,,,,,,,,0_0_0_6,,,,,
