User's Manual
Table Of Contents
- Contents
- Safety Notice
- 1 Introduction
- 2 Setup
- 3 Data Structure
- 4 Web Control
- 5 PandarView
- 6 Communication Protocol
- 7 Sensor Maintenance
- 8 Troubleshooting
- Appendix I Channel Distribution
- Appendix II Absolute Time and Laser Firing Time
- Appendix III PTP Protocol
- Appendix IV Certification Info
- Appendix V Support and Contact
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5. Clock Source and PTP Parameters
Clock Source
GPS / PTP
In PTP mode, LiDARs do not output GPS Data
Packets (see Appendix III)
· When GPS is selected as the clock source:
GPS Mode
GPRMC / GPGGA
Format of NMEA data received from the
external GPS module, see Section 3.2.2
Destination Port
10110 (default)
Port used for sending GPS Data packets
· When PTP is selected as the clock source:
Profile
1588v2 (default) or 802.1AS
IEEE timing and synchronization standard
PTP Network
Transport
UDP/IP (default) or L2
UDP/IP: using PTPv2 (IEEE 1588-2008)
L2: using gPTP (IEEE 802.1 AS)
PTP Domain
Number
Integer from 0 to 127
Domain attribute of the local clock
PTP
logAnnounceIn-
terval
-2 to 3 log seconds
Time interval between Announce
messages (default: 1)
PTP
logSyncInterval
-7 to 3 log seconds
Time interval between Sync messages
(default: 1)
PTP
logMinDelayReq-
Interval
-7 to 3 log seconds
Minimum permitted mean time between
Delay_Req messages (default: 0)