sensors/time/docs/mainsection.md

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# Copyright (c) 2019-2020 NVIDIA CORPORATION.  All rights reserved.

@page time_mainsection Time
@note 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
- XSENS IMU/GPS
- 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=192.168.0.210,port=2000`  |
|`NOVATEL_CAN`      |`can-device`               |`nvpps-device=/dev/nvpps0,reference-type=NOVATEL_CAN,can-device=can0`                  |
|`NMEA`             |`gps-serial-device`, `baud`|`nvpps-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

- @ref time_usecase1