Reference implementation for "time synchronization master" with SocketCAN

[heab]

Hi,

Is there a reference implementation for a “time synchronization master” with SocketCAN?
Any ideas how to get the timestamp (other than use CAN loopback mode to Rx the node’s Tx frames) when the transport layer completes the transmission of a time sync message?

Thx!

[pavel.kirienko]

@heab

Is there a reference implementation for a “time synchronization master” with SocketCAN?

There is an open-source implementation for the original UAVCAN v0 in LibUAVCAN v0 here: https://github.com/OpenCyphal-Garage/libcyphal/blob/legacy-v0/libuavcan/include/uavcan/protocol/global_time_sync_master.hpp

In Cyphal, the logic is virtually identical.

@heab

Any ideas how to get the timestamp (other than use CAN loopback mode to Rx the node’s Tx frames) when the transport layer completes the transmission of a time sync message?

AFAIK there is no other reliable timestamping method available.