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Define Sensor Memory IP Source and Destination Addresses
The
•Source: 192.168.3.043
•Destination: 192.168.3.255
To change either of the above IP addresses, issue a serial command of the case sensitive format #HDLIPAssssssssssssdddddddddddd$ where,
•ssssssssssss is the source
•dddddddddddd is the destination
Use all 12 digits to set an IP address. Use 0 (zeros) where a digit would be absent. For example, 192168003043 is the correct syntax for IP address 192.168.3.43.
The unit must be power cycled to adopt the new IP addresses.
Upload Calibration Data
Sensors use the db.xml file exclusively for calibration data. The calibration data found in db.xml can be uploaded and saved to the unit’s flash memory by following the steps outlined below.
1.Locate the files HDLCAL.bat, loadcal.exe, and db.xml on the CD and copy them to the same directory on your PC connected to the sensor.
2.Edit HDLCAL.bat to ensure the copy command lists the right COM port for
3.Run HDLCAL.bat and ensure successful completion.
4.The sensor received and saved the calibration data.
To verify successful load of the calibration data, ensure the date and time of the upload have been updated. Refer to Appendix E for where in the data packets this data can be located.
External GPS Time Synchronization
The sensor can synchronize its data with precision
Calculating the exact firing time requires a GPS receiver generating a sync pulse and the $GPRMC NMEA record over a dedicated
GPS Receiver Option 1: Velodyne Supplied GPS Receiver
Velodyne provides an optional
GPS Receiver Option 2: Customer Supplied GPS Receiver
You can supply and configure your own GPS device. If using your own GPS device:
•Issue a
•Configure an available
•Issue the sync pulse and NMEA record sequentially.
•The sync pulse length is not critical (typical lengths are between 20ms and 200ms)
•Start the $GPRMC record between 50ms and 500ms after the end of the sync pulse.
•Configure the $GPRMC record either in the hhmmss or hhmmss.s format.
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