michalpelka/readme.md

Create PTP server

Install software

sudo apt-get update && sudo apt-get install linuxptp

Create config

sudo vim /etc/linuxptp/gm-l2.conf

and add content:

[global]
serverOnly            1         
time_stamping         hardware
network_transport     L2    
delay_mechanism       E2E
domainNumber          0
twoStepFlag           1
summary_interval      1
logAnnounceInterval   1
logSyncInterval       0
summary_interval      1
[eth0]

Create service for PTP

sudo vim /etc/systemd/system/[email protected]

Add content:

[Unit]
Description=linuxptp Grandmaster (ptp4l) on eth0
Wants=network-online.target
After=network-online.target sys-subsystem-net-devices-eth0.device
Requires=sys-subsystem-net-devices-eth0.device

[Service]
Type=simple
User=root
ExecStartPre=/sbin/ip link show dev eth0
ExecStart=/usr/sbin/ptp4l -f /etc/linuxptp/gm-l2.conf -i eth0 -m
Restart=always
RestartSec=2

[Install]
WantedBy=multi-user.target

Service for updating time in /dev/ptp

sudo vim /etc/systemd/system/phc2sys-gm-eth0.service

Content:

[Unit]
Description=phc2sys (CLOCK_REALTIME -> /dev/ptp0) on eth0
After=ptp4l-gm-eth0.service
Requires=ptp4l-gm-eth0.service

[Service]
Type=simple
User=root
ExecStart=/usr/sbin/phc2sys -s CLOCK_REALTIME -c /dev/ptp0 -O 0 -w -m
Restart=always
RestartSec=2

[Install]
WantedBy=multi-user.target

Start it

sudo systemctl daemon-reload
sudo systemctl enable --now ptp4l-gm-eth0.service
sudo systemctl enable --now phc2sys-gm-eth0.service

Log

journalctl -u ptp4l-gm-eth0 -n 50 -e | tail
journalctl -u phc2sys-gm-eth0 -n 50 -e | tail

Setup Lidar

Set Clock source to PTP and choose network transport "L2".

Test

Setup Xsense

sudo adduser mandeye dialout