chore(hesai): enable PTP lock threshold setting for XT series sensors

[mojomex]

PR Type

• Improvement

Related Links

• TIER IV INTERNAL LINK -- inquiry

Description

The new datasheets for the XT series also contain the SET/GET_PTP_LOCK_OFFSET command, enable it for those sensors.

Review Procedure

Test whether there is a PTC error thrown when using XT32 on its newest firmware.

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• Commits are properly organized and messages are according to the guideline
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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 6 lines in your changes missing coverage. Please review.

Project coverage is 28.58%. Comparing base (44e6c88) to head (e014f74).
Report is 8 commits behind head on main.

Files with missing lines	Patch %	Lines
.../nebula_hesai_hw_interfaces/hesai_hw_interface.cpp	0.00%	6 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #265      +/-   ##
==========================================
- Coverage   28.89%   28.58%   -0.32%     
==========================================
  Files         105      105              
  Lines        9465     9355     -110     
  Branches     3115     2582     -533     
==========================================
- Hits         2735     2674      -61     
+ Misses       6240     6208      -32     
+ Partials      490      473      -17     

Flag	Coverage Δ
differential	28.58% <0.00%> (?)
total	?

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[drwnz]

LGTM - I haven't tested on a real sensor with old firmware what happens when set_ptp_lock_offset fails. Looks like it throws an error but should continue without issue, so approving this 👍

[mojomex]

🟢 Evaluation

🟢 Works with sw_ver: 1.0.10, hw_ver: 1.0.0, control_fw_ver: 1.2.7, sensor_fw_ver: 1.5.7 on an XT32 from the end of 2022. Confirmed with Web UI.

The PTC API spec says the feature has been added in 04/2021 for sw_ver >= 0.1.25 and sw_ver >= 1.0.6 for XT16 and sw_ver >= 2.1.7 for XT32M.

Since these firmwares are ancient, it is safe to assume this feature is supported by all production-grade sensors. (If it is not supported, an exception is thrown and Nebula exits.)