How to synchronize the pegaus with an external device

Please provide the following info (check/uncheck the boxes after creating this topic):
Software Version
DRIVE OS Linux 5.2.6
DRIVE OS Linux 5.2.6 and DriveWorks 4.0
DRIVE OS Linux 5.2.0
DRIVE OS Linux 5.2.0 and DriveWorks 3.5
NVIDIA DRIVE™ Software 10.0 (Linux)
NVIDIA DRIVE™ Software 9.0 (Linux)
other DRIVE OS version

Target Operating System

Hardware Platform
NVIDIA DRIVE™ AGX Xavier DevKit (E3550)
NVIDIA DRIVE™ AGX Pegasus DevKit (E3550)

SDK Manager Version

Host Machine Version
native Ubuntu 18.04


we want to synchronize the Pegasus with an external device (Pegasus being the slave and the external device being the master).

So far we know, that the Pegasus uses PTP synchronization.

However, we are not sure how to setup the PTP synchronization on the Pegasus.

We are aware of the documentation Ethernet 100M/1G Networking ( , but we still need help.

In order to set the Pegasus as a slave for the external device, do we just have to execute the following command?

./ptp4l -f ./gPTP_slave.cfg -p /dev/ptp0 -i eth0 -m -D

Do we have to change anything in the gPTP_slave.cfg file?

Also, which port on the Pegasus board do we have to use for the PTP synchronization?

Once the PTP synchronization is successful, is the time on the Peagsus the same as on the master device?

Dear @kn10,
Just want to know if you have followed the steps in and facing any issue?