DriveWorks SDK Reference
3.0.4260 Release
For Test and Development only

SW Release Applicability: This module is available in both NVIDIA DriveWorks and NVIDIA DRIVE Software releases.

About This Module

The Time module provides the ability to start a Time sensor which will enable time synchronization for supported sensors.

Supported Time Sensors

Currently Time sensor is supported through Garmin 18X and Novatel GPS sensors.

Sensors available for time synchronization include:

  • Velodyne lidar
  • Novatel IMU/GPS
  • GMSL cameras

Start Time Sensor

To create a Time sensor, the DW module expects the following inputs:

  • nvpps device
  • reference type
  • reference type specific start parameters

Supported Reference Types

Reference Type Required Parameters Example
NOVATEL_ETHERNET ip, port nvpps-device=/dev/nvpps0,reference-type=NOVATEL_ETHERNET,ip=,port=2000
NOVATEL_CAN can-device nvpps-device=/dev/nvpps0,reference-type=NOVATEL_CAN,can-device=can0
NMEA gps-serial-device, baudnvpps-device=/dev/nvpps0,reference-type=NMEA,baud=9600,gps-serial-device=/dev/ttyUSB0

Starting Time Synchronization

To enable time synchronization for supported sensors, simply create and start the time sensor. The HAL will take care of synchronization. There are no further steps to access synchronized timestamps, which will automatically overwrite the original sensor frame/packet timestamps.

Playback from Recordings

The time module also supports time synchronization during playback using recorded time sensor data.

Relevant Tutorials