wiring method

[AhmedAyman3030]

I just want to confirm — is this the latest recommended wiring method?

If not, could you please share the most recent and stable wiring setup that ensures proper connections?

[JanuszBedkowski]

Yes, should work

[michalpelka]

Here is pinout:
https://github.com/JanuszBedkowski/mandeye_controller/blob/main/doc/wiring/wiring.md#wiring-connection-to-raspberry-pi

[AhmedAyman3030]

Hi, is it possible to connect two Livox Mid-360 LiDARs to Mandeye Controller at the same time? The Raspberry Pi is connected to both LiDARs on the same LAN via Ethernet. If yes, how should they be configured?

[michalpelka]

Yes, it should work. You need to hower hook up time sync.
You have three option:

• use fake_pss service that produces PPS + NMEA stream on RPI gpio
• use PTP (https://github.com/JanuszBedkowski/mandeye_controller/blob/main/doc/appendix_ptp.md), but I do not know if it will work with ethernet switch
• Use external hardware to sync : https://github.com/michalpelka/esp2822_NMEA_sim

[AhmedAyman3030]

is there any wiring diagram available for this setup (connect two Livox Mid-360)

[cavetronic]

Page 9 of Livox manual contains the plug pinout. As You can see there is a pin 8 which is a PPS input (pulse per second - synchro) and pin 10 which is a GPS input (fake NMEA).

Depending of the RPI board You have, You need to use the proper hardware_config header file, eg. this but with a modification that fits your hardware.

So in above example file, the PPS output for lidar 1 is GPIO 3 and for lidar 2 is GPIO 2. Connect them to pin 8 of proper livox plug.

if(led == LED::LIDAR_SYNC_1)
	{
		return 3;
	}
	if(led == LED::LIDAR_SYNC_2)
	{
		return 2;
	}

Than You also need to deploy the fake NMEA output on proper serial ports. This is done by fake_pps.cpp service that You have to start as described in post installation section and Setup synchronization service for Livox.
Please take note about the configuration of serial ports outputs.

The pin 10 of livox plug have to be connected to proper serial port TxD output, which is /dev/ttyAMA1 for livox 1 and /dev/ttyAMA3 for livox 2. To see what is the TxD output for AMA1 and AMA3, use the gpio pin functions command:

raspi-gpio funcs