Please read the specs to learn how the time synchronization works. More...

Public Member Functions
int	init (const TransferPriority priority=TransferPriority::OneLowerThanHighest)
	Merely prepares the class to work, doesn't do anything else.
bool	isInitialized () const
	Whether the master instance has been initialized.
int	publish ()
	Publishes one sync message.

Detailed Description

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

Member Function Documentation

int init ( const TransferPriority priority = TransferPriority::OneLowerThanHighest )

Merely prepares the class to work, doesn't do anything else.

Must be called before the master can be used. Returns negative error code.

bool isInitialized ( ) const

Whether the master instance has been initialized.

int publish ( )

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.