SET_SYNC_CHANNEL_NUMBER

ID: 170

When operating multiple sonars together, it is usually important for them to ping simultaneously so that they do not interfere with each other. This can be accomplished using this SET_SYNC_CHANNEL_NUMBER command to assign a channel number and a number of channels. Channel number 0 is the "master," so one of the channels must be assigned number 0 and the others should be assigned sequentially 1, 2, 3 etc.

The devices synchronize their pinging via UDP messages. The master device sends a UDP broadcast message on port 51201, so all the devices must be on the same subnet. The "slave" devices acknowledge their readiness with a UDP message back to the specific master. This usually achieves synchronization within less than 100 uSec.

NOTE: This functionality is currently only implemented on Omniscan, but the intention is to add support for other Ethernet capable sonars.

Data Type	Name	Description
u8	channel_number	channel number assigned to this device
u8	number_of_channels	number of sonars to be synchronized

Response is ACK. See SYNC_CHANNEL_NUMBER if you need to query a device for it's assigned sync channel number.