The Time module provides the ability to start a Time sensor which will enable time synchronization for supported sensors.
Currently Time sensor is supported through Garmin 18X and Novatel GPS sensors.
Sensors available for time synchronization include:
To create a Time sensor, the DW module expects the following inputs:
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 |
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.
The time module also supports time synchronization during playback using recorded time sensor data.