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Time synchronization message update: 1. field prev_utc_usec renamed to a more human-readable name; 2. UTC is no longer required, but rather recommended

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Pavel Kirienko
2015-03-18 23:32:58 +03:00
parent 7946ddd5bc
commit 62dd626025
4 changed files with 22 additions and 19 deletions
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dsdl/uavcan/protocol/0.GlobalTimeSync.uavcan
+8 -6
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@@ -1,15 +1,17 @@
#
# Global time synchronization.
# Should be UTC time, not GPS time nor local time.
# Preferred time is UTC.
# Any node that publishes timestamped data must use this time reference.
# This message is not intended for unicast transfers.
#
# Please refer to the specification to learn about time synchronization algorithm.
#
uint16 MAX_PUBLICATION_PERIOD_MS = 1100
uint16 MIN_PUBLICATION_PERIOD_MS = 350
uint16 MAX_PUBLICATION_PERIOD_MS = 1100 # Milliseconds
uint16 MIN_PUBLICATION_PERIOD_MS = 350 # Milliseconds
uint16 PUBLISHER_TIMEOUT_MS = 10000
uint16 PUBLISHER_TIMEOUT_MS = 10000 # Milliseconds
# UTC time in microseconds when the PREVIOUS GlobalTimeSync message was transmitted.
# Time in microseconds when the PREVIOUS GlobalTimeSync message was transmitted.
# If this message is the first one, this field must be zero.
uint64 prev_utc_usec
uint64 previous_transmission_timestamp_usec # Microseconds