diff --git a/core/common/ydlidar_help.h b/core/common/ydlidar_help.h
index 0b5b09a..c1f8e29 100644
--- a/core/common/ydlidar_help.h
+++ b/core/common/ydlidar_help.h
@@ -813,7 +813,6 @@ inline bool isSerialNumbValid(const LaserDebug &info) {
 inline void parsePackageNode(const node_info &node, LaserDebug &info) {
   switch (node.index) {
     case 0://scan frequency
-
       break;
 
     case 1://W3F3CusHardVer_W4F0CusSoftVer;
@@ -825,48 +824,42 @@ inline void parsePackageNode(const node_info &node, LaserDebug &info) {
       break;
 
     case 3://W3F4HardwareVer_W4F0FirewareMajor
-      info.W3F4HardwareVer_W4F0FirewareMajor = node.debugInfo;
-
+      //健康信息
+      info.W7F0Health = node.debugInfo;
       break;
 
     case 4://W7F0FirewareMinor
-      info.W7F0FirewareMinor = node.debugInfo;
-
+      info.W3F4HardwareVer_W4F0FirewareMajor = node.debugInfo;
       break;
-
     case 5://W3F4BoradHardVer_W4F0Moth
-      info.W3F4BoradHardVer_W4F0Moth = node.debugInfo;
-
+      info.W7F0FirewareMinor = node.debugInfo;
       break;
 
     case 6://W2F5Output2K4K5K_W5F0Date
-      info.W2F5Output2K4K5K_W5F0Date = node.debugInfo;
       break;
-
     case 7://W1F6GNoise_W1F5SNoise_W1F4MotorCtl_W4F0SnYear
-      info.W1F6GNoise_W1F5SNoise_W1F4MotorCtl_W4F0SnYear =
-        node.debugInfo;
       break;
-
     case 8://W7F0SnNumH
-      info.W7F0SnNumH = node.debugInfo;
       break;
 
     case 9://W7F0SnNumL
-      info.W7F0SnNumL = node.debugInfo;
-
+      info.W1F6GNoise_W1F5SNoise_W1F4MotorCtl_W4F0SnYear =
+        node.debugInfo;
       break;
-
     case 10://W7F0Health
-      info.W7F0Health = node.debugInfo;
-
+      info.W3F4BoradHardVer_W4F0Moth = node.debugInfo;
       break;
-
     case 11://W3F4CusHardVer_W4F0CusSoftVer
-      info.W3F4CusHardVer_W4F0CusSoftVer = node.debugInfo;
+      info.W2F5Output2K4K5K_W5F0Date = node.debugInfo;
+      // info.W3F4CusHardVer_W4F0CusSoftVer = node.debugInfo;
+      break;
 
     case 12://W7F0LaserCurrent
-      info.W7F0LaserCurrent = node.debugInfo;
+      // info.W7F0LaserCurrent = node.debugInfo;
+      info.W7F0SnNumH = node.debugInfo;
+      break;
+    case 13:
+      info.W7F0SnNumL = node.debugInfo;
       break;
 
     default:
@@ -891,18 +884,19 @@ inline void parsePackageNode(const node_info &node, LaserDebug &info) {
 inline bool ParseLaserDebugInfo(const LaserDebug &info, device_info &value) {
   bool ret = false;
   uint8_t CustomVerMajor = (static_cast<uint8_t>
-                            (info.W3F4CusMajor_W4F0CusMinor) >> 4);
+                            (info.W3F4HardwareVer_W4F0FirewareMajor & 0x0F));
   uint8_t CustomVerMinor = static_cast<uint8_t>
-                           (info.W3F4CusMajor_W4F0CusMinor) & 0x0F;
+                           (info.W7F0FirewareMinor);
   uint8_t lidarmodel = (static_cast<uint8_t>(info.W4F3Model_W3F0DebugInfTranVer)
                         >> 3);
   uint8_t hardwareVer = static_cast<uint8_t>
                         (info.W3F4HardwareVer_W4F0FirewareMajor) >> 4;
-  uint8_t Moth = static_cast<uint8_t>(info.W3F4BoradHardVer_W4F0Moth) & 0x0F;
 
-  uint8_t Date = static_cast<uint8_t>(info.W2F5Output2K4K5K_W5F0Date) & 0x1F;
   uint8_t Year = static_cast<uint8_t>
-                 (info.W1F6GNoise_W1F5SNoise_W1F4MotorCtl_W4F0SnYear) & 0x0F;
+                 (info.W1F6GNoise_W1F5SNoise_W1F4MotorCtl_W4F0SnYear >> 2);
+  uint8_t Moth = static_cast<uint8_t>(info.W3F4BoradHardVer_W4F0Moth >> 3);
+  uint8_t Date = static_cast<uint8_t>(info.W2F5Output2K4K5K_W5F0Date >> 2);
+
   uint16_t Number = ((static_cast<uint8_t>(info.W7F0SnNumH) << 7) |
                      static_cast<uint8_t>(info.W7F0SnNumL));
 
@@ -912,7 +906,7 @@ inline bool ParseLaserDebugInfo(const LaserDebug &info, device_info &value) {
       value.firmware_version = (CustomVerMajor << 8 | CustomVerMinor);
       value.hardware_version = hardwareVer;
       value.model = lidarmodel;
-      uint32_t year = Year + 2015;
+      uint32_t year = Year + 2020;
       sprintf(reinterpret_cast<char *>(value.serialnum), "%04d", year);
       sprintf(reinterpret_cast<char *>(value.serialnum + 4), "%02d", Moth);
       sprintf(reinterpret_cast<char *>(value.serialnum + 6), "%02d", Date);
@@ -936,8 +930,10 @@ inline bool ParseLaserDebugInfo(const LaserDebug &info, device_info &value) {
  * @param baudrate  LiDAR serial baudrate or network port
  * @return true if Device information is valid, otherwise false
  */
-inline bool printfVersionInfo(const device_info &info, const std::string &port,
-                              int baudrate) {
+inline bool printfVersionInfo(const device_info &info,
+                              const std::string &port,
+                              int baudrate)
+{
   if (info.firmware_version == 0 &&
       info.hardware_version == 0) {
     return false;
diff --git a/samples/etlidar_test.cpp b/samples/et_test.cpp
similarity index 100%
rename from samples/etlidar_test.cpp
rename to samples/et_test.cpp
diff --git a/samples/ydlidar_test.cpp b/samples/tri_test.cpp
similarity index 96%
rename from samples/ydlidar_test.cpp
rename to samples/tri_test.cpp
index 8e94871..87f9274 100644
--- a/samples/ydlidar_test.cpp
+++ b/samples/tri_test.cpp
@@ -182,9 +182,6 @@ int main(int argc, char *argv[]) {
     return 0;
   }
 
-
-
-
   CYdLidar laser;
   //////////////////////string property/////////////////
   /// lidar port
@@ -227,7 +224,7 @@ int main(int argc, char *argv[]) {
   /// one-way communication
   laser.setlidaropt(LidarPropSingleChannel, &isSingleChannel, sizeof(bool));
   /// intensity
-  b_optvalue = false;
+  b_optvalue = true;
   laser.setlidaropt(LidarPropIntenstiy, &b_optvalue, sizeof(bool));
   /// Motor DTR
   b_optvalue = true;
diff --git a/src/CYdLidar.cpp b/src/CYdLidar.cpp
index c797635..df9c2fb 100644
--- a/src/CYdLidar.cpp
+++ b/src/CYdLidar.cpp
@@ -755,7 +755,7 @@ bool CYdLidar::doProcessSimple(LaserScan &outscan)
       outscan.points.resize(all_node_count);
     }
 
-    // parsing version
+    //解析V2协议雷达扫描数据中ct信息中的设备信息
     handleVersionInfoByPackage(debug);
     // resample sample rate
     resample(scanfrequency, count, tim_scan_end, tim_scan_start);
@@ -925,6 +925,7 @@ void CYdLidar::handleVersionInfoByPackage(const LaserDebug &debug)
   }
 
   device_info info;
+  memset(&info, 0, sizeof(device_info));
 
   if (ParseLaserDebugInfo(debug, info))
   {
@@ -1410,19 +1411,20 @@ bool CYdLidar::getDeviceInfo()
 
   bool ret = false;
   device_info devinfo;
-  result_t op_result = lidarPtr->getDeviceInfo(devinfo,
-                                               DriverInterface::DEFAULT_TIMEOUT / 2);
+  memset(&devinfo, 0, sizeof(device_info));
 
+  result_t op_result = lidarPtr->getDeviceInfo(devinfo,
+    DriverInterface::DEFAULT_TIMEOUT / 2);
   if (!IS_OK(op_result))
   {
-    fprintf(stderr, "get Device Information Error\n");
+    fprintf(stderr, "[YDLIDAR INFO] Fail to get device information\n");
     return false;
   }
 
   if (!isSupportLidar(devinfo.model))
   {
     printf("[YDLIDAR INFO] Current SDK does not support current lidar models[%s]\n",
-           lidarModelToString(devinfo.model).c_str());
+      lidarModelToString(devinfo.model).c_str());
     return false;
   }
 
@@ -1533,8 +1535,9 @@ void CYdLidar::handleSingleChannelDevice()
   }
 
   device_info devinfo;
-  result_t op_result = lidarPtr->getDeviceInfo(devinfo);
+  memset(&devinfo, 0, sizeof(device_info));
 
+  result_t op_result = lidarPtr->getDeviceInfo(devinfo);
   if (!IS_OK(op_result))
   {
     return;
@@ -1852,10 +1855,7 @@ bool CYdLidar::checkStatus()
 {
   getDeviceHealth();
 
-  if (!getDeviceInfo())
-  {
-    return false;
-  }
+  getDeviceInfo();
 
   return true;
 }
diff --git a/src/YDlidarDriver.cpp b/src/YDlidarDriver.cpp
index b1ad5d5..759bceb 100644
--- a/src/YDlidarDriver.cpp
+++ b/src/YDlidarDriver.cpp
@@ -1571,16 +1571,19 @@ result_t YDlidarDriver::getDeviceInfo(device_info &info, uint32_t timeout) {
     return RESULT_FAIL;
   }
 
-  if (m_SingleChannel) {
-    if (get_device_info_success) {
+  if (m_SingleChannel) 
+  {
+    if (get_device_info_success)
+    {
       info = this->info_;
       return RESULT_OK;
     }
-    //未获取到设备信息时，返回一个无效的设备信息
-    info.model = YDLIDAR_S2;
-    info.firmware_version = 0;
-    info.hardware_version = 0;
-    return RESULT_OK;
+    else
+    {
+      //未获取到设备信息时，返回一个无效的设备信息
+      info.model = YDLIDAR_S2;
+      return RESULT_OK;
+    }
   }
 
 //  disableDataGrabbing();