Hesai PandarXT-32, Руководство пользователя

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■ Absolute Packing Time When Using PTP
To use PTP as the clock source, connect a third-party PTP master device to get the absolute time.
If a PTP clock source is selected, the LiDAR will not transmit GPS Data Packets, but only Point Cloud Data Packets with 4-byte μs timestamps
and 6-byte Date & Time fields. The sum of the μs timestamp and the Date & Time is the absolute time of this data packet.
NOTE
· The PTP master device is a third-party product and is not included with the LiDAR.
· The LiDAR's clock follows the PTP master device according to the PTP protocol.
· The timestamps and Date & Time fields in Point Cloud Data Packets strictly follow the PTP master device. Certain PTP master devices may
have a specified offset from the Date & Time output by the LiDAR. Please verify the configuration and calibration of your PTP master device.
· The LiDAR works as a PTP slave device and the PTP protocol is Plug&Play. No additional setup is required.
· If a PTP clock source is selected but no PTP master device is available, the LiDAR will count the time from an invalid past time. If a PTP clock
source is supplied and later stopped, the LiDAR will continue to count the time with an internal clock.
· The calculation of laser firing time remains the same whether PTP is used or not, as detailed in Appendix II.