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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 PTP Protocol)
· 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
GPS Destination
Port
10110 (default)
Port used for sending GPS Data packets
· When PTP is selected as the clock source:
Profile
1588v2 (default) / 802.1AS
IEEE timing and synchronization standard
PTP Network
Transport
UDP/IP (default) or L2
1588v2: users can select UDP/IP or L2
802.1AS: only supports L2 network
PTP Domain
Number
Integer from 0 to 127
Domain attribute of the local clock
· When using the 1588v2 profile:
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)
