The HMS(health management system) codes in the communication protocols are the diagnostic codes of Mid360, which push periodically by the lidar. They are used to notify some special situations or help users check equipment failures. .. _Composition format: Composition format ~~~~~~~~~~~~~~~~~~~~~~ A complete HMS code is a 4 bytes(uint32) code. It consists of an abnormal ID and abnormal level, which is shown below: +---------------+---------+----------------+ | Byte[3:2] | Byte[1] | Byte[0] | +===============+=========+================+ | Abnormal ID | RSVD | Abnormal level | +---------------+---------+----------------+ In addition, an abnormal level is a value that is not equal to 0, the value is bigger, and the problem is more serious. As is shown below: +---------+----------------+--------------------------------------------------------------------------------------------+ | value | level | description | +=========+================+============================================================================================+ | 0x01 | Info | Notification during normal work | +---------+----------------+--------------------------------------------------------------------------------------------+ | 0x02 | Warning | There might be problems, which will influence the normal work | +---------+----------------+--------------------------------------------------------------------------------------------+ | 0x03 | Error | Device work in abnormal situation, please check the problem in time | +---------+----------------+--------------------------------------------------------------------------------------------+ | 0x04 | fatal | Serious abnormal happened, it might not be recovered, lidar will stop working now | +---------+----------------+--------------------------------------------------------------------------------------------+ Parsing example ~~~~~~~~~~~~~~~~~~~~~~ For example, an HMS code: 0x01020002, refer to :ref:`Composition format`, the abnormal ID is 0x0102, and the abnormal level is 0x02(warning)。 Refer to below HMS code table, the code represents “environment temperature is slightly high”, the abnormal level is warning, suggested action is “Please check the environment temperature and losing heat measures”。 Diagnostic codes table ~~~~~~~~~~~~~~~~~~~~~~ ================== ================== ============================================================================= ================================================================================ abnormal ID abnormal level abnormal description suggested solution ------------------ ------------------ ----------------------------------------------------------------------------- -------------------------------------------------------------------------------- 0x0102 warning Environment temperature is slightly high Please check the environment temperature and losing heat measures 0x0103 warning Environment temperature is relatively high Please check the environment temperature and losing heat measures 0x0104 warning The window is dirty, which will influence the reliability of the point cloud Please clean the window 0x0105 warning An error occurred during device upgrade process Please restart the upgrade process 0x0111 fatal Abnormal temperature of internal components of the device Please check the environment temperature and losing heat measures 0x0112 fatal Abnormal temperature of internal components of the device Please check the environment temperature and losing heat measures 0x0113 fatal IMU stopped working Please try to restart the device to restore 0x0114 error Environment temperature is high Please check the environment temperature and losing heat measures 0x0115 fatal Environment temperature beyond the limit, the device has stopped working Please check the environment temperature and losing heat measures 0x0116 fatal Abnormal external voltage Please check the external voltage 0x0117 fatal Abnormal lidar parameters Please try to restart the device to restore 0x0118 fatal Internal components of the device are damaged The device is not working properly, please contact the maintenance personnel 0x0201 warning Scan module is heating Please wait for the scan module heating 0x0210-0x0219 error Scan module is abnormal, the system is trying to recover Please wait, if it lasts too long, please try restarting the device to restore 0x0210-0x0219 fatal Scan module is abnormal Please try to restart the device to restore 0x0401 warning Communication link was linked down, now it is recovered Please check the communication link 0x0402 warning PTP time synchronization stop or time gap is too big Please check the PTP time source 0x0403 warning The version of PTP is 1588-v2.1, device don't support this version Please replace 1588-v2.1 version with 1588.2.0 version 0x0404 warning PPS time synchronization abnormal Please check the PPS and GPS signal 0x0405 warning There was an exception in time synchronization Please check the exception reason 0x0406 warning Time synchronization accuracy is low Please check the time source 0x0407 warning PPS time synchronization fails because of loss of GPS signal Please check the GPS signal 0x0408 warning PPS time synchronization fails because of loss of PPS signal Please check the PPS signal 0x0409 warning GPS signal is abnormal Please check the GPS time source 0x040A warning The PTP and GPTP signals exist at the same time Please check the network topology, use PTP or GPTP alone to synchronize ================== ================== ============================================================================= ================================================================================