libuavcan documentation

libuavcan/include/uavcan/protocol/global_time_sync_master.hpp

@@ -13,7 +13,15 @@
 namespace uavcan
 {
 /**
+ * Please read the specs to learn how the time synchronization works.
+ *
+ * No more than one object of this class is allowed per node; otherwise a disaster is bound to happen.
+ *
+ * NOTE: In order for this class to work, the platform driver must implement
+ *       CAN bus TX loopback with both UTC and monotonic timestamping.
+ *
  * Ref. M. Gergeleit, H. Streich - "Implementing a Distributed High-Resolution Real-Time Clock using the CAN-Bus"
+ *
  * TODO: Enforce max one master per node
  */
 class UAVCAN_EXPORT GlobalTimeSyncMaster : protected LoopbackFrameListenerBase
@@ -57,10 +65,29 @@ public:
         , initialized_(false)
     { }
 
+    /**
+     * Merely prepares the class to work, doesn't do anything else.
+     * Must be called before the master can be used.
+     * Returns negative error code.
+     */
     int init();
 
+    /**
+     * Whether the master instance has been initialized.
+     */
     bool isInitialized() const { return initialized_; }
 
+    /**
+     * Publishes one sync message.
+     *
+     * Every call to this method hints the master to publish the next sync message once. Exact time will
+     * be obtained from the TX loopback timestamp field.
+     *
+     * This method shall be called with a proper interval - refer to the time sync message definition
+     * for min/max interval values.
+     *
+     * Returns negative error code.
+     */
     int publish();
 };