To address the issues of high construction costs and low measurement accuracy in lidar systems, a lidar communication and ranging integrated solution based on differential pulse position modulation （DPPM） is proposed. This scheme uses different pulse slot positions in DPPM to represent communication and ranging frame information. The receiver can demodulate the communication signals based on the pulse slot positions and achieve ranging using a time-of-flight ranging module. Additionally, to address the issue of low signal-to-noise ratio （SNR） in echo signals, a pulse accumulation algorithm is used to frame the echo signals and improve their SNR. Finally, the integrated communication and ranging system is built by field programmable gate array （FPGA） and tested. The experimental results show that the system can not only achieve a range of 300 cm with an average ranging error of ±2.04 cm, but also achieve a communication rate of 5 Mb/s.