livox
1.6 KiB
LiDAR UTC Time Synchronization
LiDAR UTC time synchronization demo shows how to synchronize time data (GPRMC/GNRMC) from serial port to Livox LiDAR.
1. Set Serial Port Name
Serial port name indicates where to read time data. Serial port name is set to : (1) COM3 on Windows; (2) /dev/ttyUSB0 on Linux by default. you can call SetPortName (std::string port_name) to set your synchronizer's serial port name.
2. Set Baud Rate
Baud rate is set to BR9600 (9600) by default，you can call SetBaudRate (BaudRate baudrate) to set baud rate：
| BaudRate |
|---|
| BR2400 |
| BR4800 |
| BR9600 |
| BR19200 |
| BR38400 |
| BR57600 |
| BR115200 |
| BR230400 |
| BR460800 |
| BR500000 |
| BR576000 |
| BR921600 |
| BR1152000 |
| BR1500000 |
| BR2000000 |
| BR2500000 |
| BR3000000 |
| BR3500000 |
| BR4000000 |
3. Set Parity
Parity is set to P_8N1(No parity) by default，you can call SetParity(Parity parity) to set parity :
| Parity |
|---|
| P_8N1 /* No parity (8N1) */ |
| P_7E1 /* Even parity (7E1)*/ |
| P_7O1 /* Odd parity (7O1) */ |
| P_7S1 /* Space parity is setup the same as no parity (7S1) */ |
Note
Livox-SDK release version <= 2.0.0 doesn't support to synchronize Mid40. It will be fix in next release.
Or you can refer to Mid40's UTC synchronization to resolve the problem temporarily.