GPS Sync / GPS Spoof Sync
The XT32M2X can synchronize to an external time source through the use of a 1 PPS signal together with timestamp data sent to the XT32M2X over a RS-232 serial line.
In order to do this with the SentiBoard, you need to
Configure a 1 PPS trigger
- Connect the SentiBoard to your computer, be sure to have done the SentiBoard Installation, and connect a terminal to the SentiBoard's config port
- Configure one of the available triggers, e.g
- Set the following config:
Period: 1%yields a pulse width of
10ms(recommended to be
Enterto exit the
Enterto permanently store the config changes.
Enterto restart the SentiBoard and apply the new settings.
Wire the trigger and GPS data signals
- If trigger
oc1was used, wire the
SPI_2port's trigger and ground pin to the XT32M2X according to the XT32M2X's wiring scheme:
SPI_2trigger pin should attach to the GPS PPS pin (1) of the LiDAR. SentiBoard and XT32M2X should be connected to the same
- Attach a USB-to-RS232 adapter (or use an RS-232 port directly) on the host computer, connected to the LiDAR's
GPS DATApin (2).
Spoof a GPS Time Message
- Connect the SentiBoard to your host computer running
SentiUtils, and receive
SentiTriggermessages from the SentiBoard (e.g in ROS).
- When receiving a SentiTrigger message via
SentiUtils, construct an NMEA GPRMC string using the SentiTrigger's UTC header fields as timestamp.
- Send the NMEA GPRMC string generated from the SentiTrigger packet to the LiDAR over the host's RS-232 connection.
- Verify that the XT32M2X has a
Lockon both the
GPS (1PPS)and the
NMEA (GPRMC)through the LiDAR's Web interface (default:
The XT32M2X supports PTP time synchronization and is a good fit to use with SentiBoard 2.0