Ouster OS1-64 ptp setup

原创已于 2025-02-06 20:10:23 修改 · 611 阅读

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于 2022-04-21 14:36:58 首次发布

本文介绍了如何在Linux系统上检查硬件支持，启用Precision Time Protocol (PTP) 服务，并通过网络命令配置Ouster Lidar的时间戳模式和IP地址，以确保精确的时间同步。

Predependence:

sudo apt install linuxptp ethtool netcat-traditional

Check hardware support:

rover@agx:~$ sudo ethtool -T eth0
[sudo] password for rover: 
Time stamping parameters for eth0:
Capabilities:
	hardware-transmit     (SOF_TIMESTAMPING_TX_HARDWARE)
	software-transmit     (SOF_TIMESTAMPING_TX_SOFTWARE)
	hardware-receive      (SOF_TIMESTAMPING_RX_HARDWARE)
	software-receive      (SOF_TIMESTAMPING_RX_SOFTWARE)
	software-system-clock (SOF_TIMESTAMPING_SOFTWARE)
	hardware-raw-clock    (SOF_TIMESTAMPING_RAW_HARDWARE)
PTP Hardware Clock: 0
Hardware Transmit Timestamp Modes:
	off                   (HWTSTAMP_TX_OFF)
	on                    (HWTSTAMP_TX_ON)
Hardware Receive Filter Modes:
	none                  (HWTSTAMP_FILTER_NONE)
	ptpv1-l4-sync         (HWTSTAMP_FILTER_PTP_V1_L4_SYNC)
	ptpv1-l4-delay-req    (HWTSTAMP_FILTER_PTP_V1_L4_DELAY_REQ)
	ptpv2-l4-sync         (HWTSTAMP_FILTER_PTP_V2_L4_SYNC)
	ptpv2-l4-delay-req    (HWTSTAMP_FILTER_PTP_V2_L4_DELAY_REQ)
	ptpv2-l2-sync         (HWTSTAMP_FILTER_PTP_V2_L2_SYNC)
	ptpv2-l2-delay-req    (HWTSTAMP_FILTER_PTP_V2_L2_DELAY_REQ)
	ptpv2-event           (HWTSTAMP_FILTER_PTP_V2_EVENT)

Look under Capabilities for hardware support.

rover@agx:~$ sudo systemctl status ptp4l
● ptp4l.service - Precision Time Protocol (PTP) service
   Loaded: loaded (/lib/systemd/system/ptp4l.service; enabled; vendor preset: en
   Active: active (running) since Thu 2022-04-21 11:13:39 CST; 3h 8min ago
     Docs: man:ptp4l
 Main PID: 19972 (ptp4l)
    Tasks: 1 (limit: 4915)
   CGroup: /system.slice/ptp4l.service
           └─19972 /usr/sbin/ptp4l -f /etc/linuxptp/ptp4l.conf -i eth0

4月 21 13:39:11 agx ptp4l[19972]: [12082.563] port 1: LISTENING to FAULTY on FAU
4月 21 13:39:13 agx ptp4l[19972]: [12084.568] port 1: link up
4月 21 13:39:13 agx ptp4l[19972]: [12084.569] port 1: FAULTY to LISTENING on FAU
4月 21 13:39:18 agx ptp4l[19972]: [12088.947] port 1: link down
4月 21 13:39:18 agx ptp4l[19972]: [12088.947] port 1: LISTENING to FAULTY on FAU
4月 21 13:39:20 agx ptp4l[19972]: [12091.888] port 1: link up
4月 21 13:39:20 agx ptp4l[19972]: [12091.889] port 1: FAULTY to LISTENING on FAU
4月 21 13:39:31 agx ptp4l[19972]: [12098.802] port 1: LISTENING to MASTER on ANN
4月 21 13:39:31 agx ptp4l[19972]: [12098.802] selected best master clock 48b02d.
4月 21 13:39:31 agx ptp4l[19972]: [12098.802] assuming the grand master role

Look for "assuming the grand master role".

Set up ouster PTP mode

rover@agx:~$ sudo update-alternatives --config nc
There are 2 choices for the alternative nc (providing /bin/nc).

  Selection    Path                 Priority   Status
------------------------------------------------------------
  0            /bin/nc.openbsd       50        auto mode
  1            /bin/nc.openbsd       50        manual mode
* 2            /bin/nc.traditional   10        manual mode

Select "nc.traditional".

To find the ip address and port of the ouster lidar:

rover@agx:~$ avahi-browse -lr _roger._tcp
+   eth0 IPv6 Ouster Sensor 122130000067                    _roger._tcp          local
+   eth0 IPv4 Ouster Sensor 122130000067                    _roger._tcp          local
=   eth0 IPv6 Ouster Sensor 122130000067                    _roger._tcp          local
   hostname = [os-122130000067.local]
   address = [fe80::be0f:a7ff:fe00:331d]
   port = [7501]
   txt = ["fw=ousteros-image-prod-aries-v2.1.2+20210727223313.patch-v2.1.2" "sn=122130000067" "pn=840-102145-D"]
=   eth0 IPv4 Ouster Sensor 122130000067                    _roger._tcp          local
   hostname = [os-122130000067.local]
   address = [169.254.102.121]
   port = [7501]
   txt = ["fw=ousteros-image-prod-aries-v2.1.2+20210727223313.patch-v2.1.2" "sn=122130000067" "pn=840-102145-D"]

To set up the ptp mode for the lidar:

rover@agx:~$ nc 169.254.102.121 7501
get_time_info    
{"timestamp": {"time": 1142.70730076, "mode": "TIME_FROM_INTERNAL_OSC", "time_options": {"ptp_1588": 1650520700, "sync_pulse_in": 0, "internal_osc": 1142}}, "sync_pulse_in": {"locked": 0, "polarity": "ACTIVE_HIGH", "diagnostics": {"last_period_nsec": 0, "count": 0, "count_unfiltered": 1}}, "multipurpose_io": {"mode": "OFF", "sync_pulse_out": {"polarity": "ACTIVE_HIGH", "frequency_hz": 1, "angle_deg": 360, "pulse_width_ms": 10}, "nmea": {"locked": 0, "polarity": "ACTIVE_HIGH", "ignore_valid_char": 0, "baud_rate": "BAUD_9600", "leap_seconds": 0, "diagnostics": {"decoding": {"utc_decoded_count": 0, "date_decoded_count": 0, "not_valid_count": 0, "last_read_message": ""}, "io_checks": {"start_char_count": 0, "char_count": 0, "bit_count": 1, "bit_count_unfiltered": 0}}}}}

set_config_param timestamp_mode TIME_FROM_PTP_1588
set_config_param

reinitialize
reinitialize

save_config_params
save_config_params

get_time_info
{"timestamp": {"time": 1650520777.925929, "mode": "TIME_FROM_PTP_1588", "time_options": {"ptp_1588": 1650520777, "sync_pulse_in": 0, "internal_osc": 1220}}, "sync_pulse_in": {"locked": 0, "polarity": "ACTIVE_HIGH", "diagnostics": {"last_period_nsec": 0, "count": 0, "count_unfiltered": 1}}, "multipurpose_io": {"mode": "OFF", "sync_pulse_out": {"polarity": "ACTIVE_HIGH", "frequency_hz": 1, "angle_deg": 360, "pulse_width_ms": 10}, "nmea": {"locked": 0, "polarity": "ACTIVE_HIGH", "ignore_valid_char": 0, "baud_rate": "BAUD_9600", "leap_seconds": 0, "diagnostics": {"decoding": {"utc_decoded_count": 0, "date_decoded_count": 0, "not_valid_count": 0, "last_read_message": ""}, "io_checks": {"start_char_count": 0, "char_count": 0, "bit_count": 1, "bit_count_unfiltered": 0}}}}}

To confirm the setting:

rover@agx:~$ http http://169.254.102.121/api/v1/system/time/ptp
HTTP/1.1 200 OK
content-length: 1316
content-type: application/json

{
    "current_data_set": {
        "mean_path_delay": 18274.0,
        "offset_from_master": -120738.0,
        "steps_removed": 1
    },
    "parent_data_set": {
        "gm_clock_accuracy": 254,
        "gm_clock_class": 248,
        "gm_offset_scaled_log_variance": 65535,
        "grandmaster_identity": "48b02d.fffe.4d9dc9",
        "grandmaster_priority1": 128,
        "grandmaster_priority2": 128,
        "observed_parent_clock_phase_change_rate": 2147483647,
        "observed_parent_offset_scaled_log_variance": 65535,
        "parent_port_identity": "48b02d.fffe.4d9dc9-1",
        "parent_stats": 0
    },
    "port_data_set": {
        "announce_receipt_timeout": 3,
        "delay_mechanism": 1,
        "log_announce_interval": 1,
        "log_min_delay_req_interval": 0,
        "log_min_pdelay_req_interval": 0,
        "log_sync_interval": 0,
        "peer_mean_path_delay": 0,
        "port_identity": "bc0fa7.fffe.00331d-1",
        "port_state": "SLAVE",
        "version_number": 2
    },
    "profile": "default",
    "time_properties_data_set": {
        "current_utc_offset": 36,
        "current_utc_offset_valid": 0,
        "frequency_traceable": 0,
        "leap59": 0,
        "leap61": 0,
        "ptp_timescale": 1,
        "time_source": 160,
        "time_traceable": 0
    },
    "time_status_np": {
        "cumulative_scaled_rate_offset": 0.0,
        "gm_identity": "48b02d.fffe.4d9dc9",
        "gm_present": true,
        "gm_time_base_indicator": 0,
        "ingress_time": 1650520841230826941,
        "last_gm_phase_change": "0x0000'0000000000000000.0000",
        "master_offset": -120738,
        "scaled_last_gm_phase_change": 0
    }
}