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Getting Started

The SentiBoard is an expandable sensor synchronization and integration platform at the core of the SentiSystems payloads. The SentiBoard can read and synchronize multiple concurrent data streams and accurately generate triggers. The SentiBoard can interface sensors over UART, RS232, RS422, SPI and CAN. The sensor data is packaged in a standardized format and delivered to other network nodes over Ethernet.

SentiBoard 2.0

Tip

The SentiBoard can be simultaniously powered through any of the available USB connections and the 2-pin molex connector. Make sure the SentiBoard 2.0 has sufficient power to also drive the connected sensors.

Note

Once the SentiBoard 2.0 is powered it will boot into a state where it awaits a functioning Ethernet connection. Hence, make sure to also connect an Ethernet cable either directly to another computer or to a switch

Default Mode and IP Address

Booting the SentiBoard, it will adhere to the Best Master Clock Algorithm, and if deemed optimal, take on the role as a PTP GrandMaster.

The SentiBoard is preconfigured to send all data (sensor data, status messages and debug messages) to specific endpoint/IP address.

Default settings:

  • IP Address: 192.168.77.100
  • Netmask: 255.255.255.0
  • PTP Profile: Default 1588v2 End-to-End, 1-Step
  • All output is sent directly to IP Address: 192.168.77.78
    1. UDP Port 3000: Sensor Data (Protobuf)
    2. UDP Port 3001: Status Data (ASCII)
    3. UDP Port 3002: Debug Data (ASCII)

Alternative Mode

By holding the WAKE button while powering the board (or pressing the RESET button), the SentiBoard will not provide the role of GrandMaster, but rather look for a GrandMaster in the network sending announce messages.

SentiBoard 2.0 Wake Button

Default settings in this mode:

  • IP Address: 192.168.77.68
  • Netmask: 255.255.255.0
  • PTP Profile: Default 1588v2 End-to-End, 1-Step
  • All output is sent directly to IP Address: 192.168.77.78
    1. UDP Port 4000: Sensor Data (Protobuf)
    2. UDP Port 4001: Status Data (ASCII)
    3. UDP Port 4002: Debug Data (ASCII)

Viewing PTP Statistics

The following Python script can be used to receive the PTP statistics (State, Offset, Path Delay and Drift) of the SentiBoard. This assumes the computer running the Python script has IP 192.168.77.78.

import socket

UDP_IP = "192.168.77.78"
UDP_PORT = 3001

sock = socket.socket(socket.AF_INET, # Internet
                     socket.SOCK_DGRAM) # UDP
sock.bind((UDP_IP, UDP_PORT))

while True:
    data, addr = sock.recvfrom(1024) # buffer size is 1024 bytes
    print(data)