Hesai PandarQT - Command Details: Calibration & PTP Diagnostics

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6.2.2 PTC_COMMAND_PTP_DIAGNOSTICS
Command message payload
1-byte PTP Query Type
PTP Query Type
Value
PTP STATUS
0x1
PTP TLV PORT_DATA_SET
0x2
PTP TLV TIME_STATUS_NP
0x3
PTP TLV GRANDMASTER_SETTINGS_NP
0x4
Feedback message payload
a. PTP STATUS
Field
Length
Description
master_offset
8 bytes
Offset between master and slave, in units of ns
ptp_state
4 bytes
"NONE", /*0*/
"INITIALIZING", /*1*/
"FAULTY", /*2*/
"DISABLED", /*3*/
"LISTENING", /*4*/
"PRE_MASTER"/*5*/
"MASTER", /*6*/
"PASSIVE", /*7*/
"UNCALIBRATED", /*8*/
"SLAVE", /*9*/
"GRAND_MASTER", /*10*/
elapsed_millisec
4 bytes
Time elapsed since the last handshake between master/slave, in milliseconds