Livox HAP - IMU Data and Timestamp Synchronization; IMU Data Content; Timestamp Synchronization Protocol

LIVOX HAP
User Manual
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Calculate the transmission delay by following the steps above:
link_delay =[(t4 - t1 ) - (t3 - t2)] / 2
Master
t1
t1
t2 t2
Slave
Timestamps
known by
slave
Sync
Followup(T1)
link_delay
IMU Data
The IMU Data mainly contains the acceleration in X, Y, and Z directions, the angular velocity
around X, Y, and Z axes, and the timestamp when the data is generated. The HAP (TX) pushes
IMU data at a frequency of 200 Hz.
Timestamp
The HAP (TX) only supports the Generic Precision Time Protocol (gPTP) based on IEEE 802.1AS
standard, where the domain controller works as the master, and the HAP (TX) as the slave:
Requester
PathDelayReq
PathDelayResq(t2)
PathDelayRespFollowup(t3)
t1
t4
t2
t3
Responder
link_delay link_delay