Force time / ptp sync during runtime

Software
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1

Hey,

I am looking for a way to manually force a re-sync of the ptp clock to the master.

We are building a mobile robot that on startup powers up all systems at the same time, which leads to the situation where the ptp clients are trying to sync their clocks before the master clock is ready. Once the grandmaster clock is active, the Ouster (firmware v3.1) does not try to synchronize anymore. It is in SLAVE state and the master_offset is -1757424355126452000. I need to manually pull the power cable and restart the sensor.

The http call to /system/restart does not trigger a restart of the clock either.

Are there any options to force a sync during runtime? Thanks!

Maik

2

I went with a workaround for now by switching the used ptp profile back and forth:

curl -i -X PUT http://192.168.7.100/api/v1/time/ptp/profile -H "Content-Type: application/json" --data-raw '"gptp"'
sleep 5
curl -i -X PUT http://192.168.7.100/api/v1/time/ptp/profile -H "Content-Type: application/json" --data-raw '"default"'

This is ugly, but it works. If you have a better idea, I am still open for ideas!