1 # Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
3 @page radar_usecase2 Timestamp options
5 @note SW Release Applicability: This tutorial is applicable to modules in both **NVIDIA DriveWorks** and **NVIDIA DRIVE Software** releases.
7 The Radar sensor provides several timestamp options depending on sensor type. These options can be toggled using the `output-timestamp` sensor parameter, and works by modifying the `dwRadarScan.hostTimestamp` returned when reading a packet. The following table summarizes the timestamp options available for each supported radar sensor. The default option is `host`.
9 Note: this parameter does not modify raw data. For more information, see @ref sensors_usecase4.
11 | Protocol | Device | | output-timestamp parameter | dwRadarScan.hostTimestamp | dwRadarScan.sensorTimestamp | Notes |
12 |---------------|------------------------|---------------------|------------------|------------------------|--------------------------|-----------------------------------------------------------------------------------------------------------------------------------|
13 | radar.socket | Continental ARS430 RDI | | host | DW host | Sensor internal | Sensor timestamp is the internal counter/clock. |
14 | | | time-smoothing=true | smoothed | DW host | Sensor internal | Supersedes time-smoothing=true. |
15 | | | useSensorTime=true | raw | Sensor | Sensor | Sensor internal/PTP depending on `ptp` flag. |
16 | radar.socket | Continental ARS430 | time-smoothing=true | host | DW host | Sensor internal | |
17 | | | | smoothed | DW host | Sensor internal | |
18 | | | useSensorTime=true | raw | Sensor internal | Sensor internal | |
19 | radar.can | Continental ARS430 CAN | time-smoothing=true | host | DW host | Sensor internal | |
20 | | | | smoothed | DW host | Sensor internal | |
21 | radar.socket | Delphi | | host | DW host | Sensor internal | |
22 | radar.virtual | | time-offset | host | DW host | Sensor | |
23 | | | time-smoothing=true | smoothed | DW host | Sensor internal | Available if supported by vendor above. |
24 | | | | raw | Sensor | Sensor | Available if supported by vendor above. |
27 Continental ARS430 RDI radars also support an additional flag enabling PTP sensor time instead of the internal counter. For example, to decode and set hostTimestamp in PTP domain, one would use the parameters `output-timestamp=raw,ptp=true` when reading radar scans.