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RX frames have two timestamps: monotonic - for protocol timings management; utc - for application-level timestamping

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Pavel Kirienko
2014-02-11 14:32:45 +04:00
parent b8f6bf3ffa
commit 696451baca
10 changed files with 85 additions and 62 deletions
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libuavcan/include/uavcan/can_driver.hpp
+9 -2
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@@ -93,10 +93,17 @@ public:
/**
* Non-blocking reception.
* out_utc_timestamp_usec must be provided by the driver, ideally by the hardware CAN controller; 0 if unknown.
* Timestamps should be provided by the CAN driver, ideally by the hardware CAN controller.
* Monotonic timestamp is required and can be not precise since it is needed only for
* protocol timing validation (transfer timeouts and inter-transfer intervals).
* UTC timestamp is optional, if available it will be used for precise time synchronization;
* must be set to zero if not available.
* Refer to @ref ISystemClock to learn more about timestamps.
* @param [out] out_ts_monotonic_usec Monotonic timestamp, usec, mandatory.
* @param [out] out_ts_utc_usec UTC timestamp, usec, optional, zero if unknown.
* @return 1 = one frame received, 0 = RX buffer empty, negative for error.
*/
virtual int receive(CanFrame& out_frame, uint64_t& out_utc_timestamp_usec) = 0;
virtual int receive(CanFrame& out_frame, uint64_t& out_ts_monotonic_usec, uint64_t& out_ts_utc_usec) = 0;
/**
* Configure the hardware CAN filters. @ref CanFilterConfig.