Hesai QT128C2X, User Manual

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Functional Safety: 17 bytes
Field Bytes Description
FS Version 1 Version number of the functional safety module (currently 0x01)
Lidar State 1 [7:5] is the lidar's current state:
d-0 (b-000) Init
d-1 (b-001) Normal
d-2 (b-010) Report Fault
d-3 (b-011) Pre-Performance Degradation
d-4 (b-100) Performance Degradation
d-5 (b-101) Pre-Shutdown
d-6 (b-110) Shutdown
d-7 (b-111) Standby
Fault Code Type [4:3] is the type of the fault code in this data packet
b-01: current fault
b-10: past fault
Rolling Counter [2:0] indicates whether the fault reporting system gets stuck
Starting from 0, the rolling counter increments by 1 every time the fault message is updated
Normally, the fault message is updated every 5 ms
Total Fault Code Num 1 [7:4] counts the total number of fault codes in this queue
Fault Code ID [3:0] is the sequence number of the fault code in this queue, starting from 1
Outgoing Fault Code 2 Fault code sent by this data packet
Reserved 8 -
CRC 2 4 CRC-32/MPEG-2 checksum of Functional Safety (from the Lidar State field to the Reserved field)
The lidar states and fault codes are described in the Safety Manual. Please contact Hesai technical support for more information.