A lidar for generating a cyclically optimal Pulse Position Modulated (PPM) waveform includes: a memory for storing a list of prime numbers; a processor for obtaining a list of prime numbers up to a predetermined maximum code length; selecting a largest prime number p* that is less than or equal to a ratio of a timing system bandwidth to the predetermined pulse repetition frequency (PRF), from the list of the prime numbers; constructing a list of pulse indices, m=0: p*−1 for the cyclically optimal PPM waveform; calculating a list of pulse modulations, dJs=mod(m2, p*)−(p*−1)/2, wherein dJs are modulation values; calculating a list of nominal pulse timings T, as T=m×ceil(TPRI/Δj), where Δj is a predetermined modulation resolution, and TPRI is the reciprocal of the PRF; calculating pulse timings t0 of the cyclically optimal PPM waveform as t0=Δj×(T+dJs); and generating the cyclically optimal PPM waveform from the pulse timings t0.