From 9c02ce2e053970c0f99e22274bf308712d42c9ff Mon Sep 17 00:00:00 2001 From: Pavel Kirienko Date: Thu, 20 Mar 2014 20:41:47 +0400 Subject: [PATCH] GlobalTimeSync message update --- dsdl/uavcan/protocol/0.GlobalTimeSync.uavcan | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/dsdl/uavcan/protocol/0.GlobalTimeSync.uavcan b/dsdl/uavcan/protocol/0.GlobalTimeSync.uavcan index d9d87f718a..803c00f0ab 100644 --- a/dsdl/uavcan/protocol/0.GlobalTimeSync.uavcan +++ b/dsdl/uavcan/protocol/0.GlobalTimeSync.uavcan @@ -1,11 +1,14 @@ # -# Time synchronization; publish frequency 0.5 Hz. +# Global time synchronization. # Should be UTC time, not GPS time nor local time. -# Any node that publishes a timestamped data must use this time reference. -# Multiple nodes can provide the time synchronization concurrently. +# Any node that publishes timestamped data must use this time reference. +# This message is not intended for unicast transfers. # -uint16 PUBLICATION_PERIOD_MS = 2000 +uint16 MAX_PUBLICATION_PERIOD_MS = 2000 +uint16 DEFAULT_PUBLICATION_PERIOD_MS = 1000 +uint16 PUBLISHER_TIMEOUT_MS = 10000 -uavcan.Timestamp timestamp # Must be known -float16 timestamp_variance # Units of the timestamp ^2 +# UTC 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