Method Timestamp

phc/pps_source.go:163–187

Timestamp returns the timestamp of the last PPS output edge from the given PPS source

()

// Timestamp returns the timestamp of the last PPS output edge from the given PPS source
func (ppsSource *PPSSource) Timestamp() (time.Time, error) {
	if ppsSource.state != PPSSet {
		return time.Time{}, fmt.Errorf("PPS source not set")
	}

	currTime, err := ppsSource.PHCDevice.Time()
	if err != nil {
		return time.Time{}, fmt.Errorf("error getting time (clock_gettime) on %s", ppsSource.PHCDevice.File().Name())
	}

	// subtract device perout phase from current time to get the time of the last perout output edge
	// TODO: optimize section below using binary operations instead of type conversions
	currTime = currTime.Add(-time.Duration(ppsSource.peroutPhase))
	sourceTs, err := unix.TimeToTimespec(currTime)
	if err != nil {
		return time.Time{}, err
	}

	sourceTs.Nsec = 0
	//nolint:unconvert // explicit int64 conversions kept for portability across platforms where Timespec fields may be int32
	currTime = time.Unix(int64(sourceTs.Sec), int64(sourceTs.Nsec))
	currTime = currTime.Add(time.Duration(ppsSource.peroutPhase))

	return currTime, nil
}

// NewPiServo returns a servo.PiServo object configure for synchronizing the given device. maxFreq 0 is equivalent to no maxFreq
func NewPiServo(interval time.Duration, firstStepth time.Duration, stepth time.Duration, device FrequencyGetter, maxFreq float64) (*servo.PiServo, error) {