RoboSense RS-LiDAR-M1, User Manual, Page: 22 / 54

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RS-LiDAR-M1 User Guide
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gPTP command:
$sudo ptp4l -i enp4s0 -m - H -2 -f gptp-master.cfg
PTP Hardware Clock should be 1(hardware supported). Special note: Devices without
hardware support can use -S instead of -H for gPTP synchronization simulation, and its
synchronization accuracy cannot be guaranteed. And gptp-master.cfg is the gPTP master
clock configuration file.
Create a new gptp-master.cfg file on the host, copy the following content in this file, and
save the file:
# 802.1AS example configuration containing those attributes which
# differ from the defaults. See the file, default.cfg, for the
# complete list of available options.
[global]
domainNumber
0
logSyncInterval -3
syncReceiptTimeout 3
neighborPropDelayThresh 800
path_trace_enabled 1
follow_up_info 1
transportSpecific 0x1
ptp_dst_mac
01:80:C2:00:00:0E
#p2p_dst_mac 01:1B:19:00:00:00
network_transport L2
delay_mechanism
P2P
masterOnly 1
BMCA noop
asCapable true
inhibit_announce 1
inhibit_delay_req 1
4.3 GPS Time Synchronization
In case that users would like to synchronize RS-LiDAR-M1 with GPS module, it is
necessary for gPTP Grand Master to receive GPS timing service at first. Please consult
gPTP Grand Master device provider for the specific connectors and GPS timing service
guidance. Robosense will not provide technical support except for special cases.