motor-control: switch to CLOCK_TAI

switch all CLOCK_REALTIME references to CLOCK_TAI

src/motor-control/src/master.c

@@ -148,7 +148,7 @@ static void *packet_sending_thread(void *p) {
   }
 
   clock_gettime(CLOCK_MONOTONIC, &measures_start);
-  clock_gettime(CLOCK_REALTIME, &next);
+  clock_gettime(CLOCK_TAI, &next);
 
   if (thread_params.start_ts) {
     if (thread_params.start_ts < ts_to_uint(next)) {
@@ -182,7 +182,7 @@ static void *packet_sending_thread(void *p) {
         nb_cycles >= ((unsigned int)thread_params.max_cycles))
       break;
 
-    clock_gettime(CLOCK_REALTIME, &current);
+    clock_gettime(CLOCK_TAI, &current);
 
     // Sanity check
     if(current.tv_sec > next.tv_sec)
@@ -190,7 +190,7 @@ static void *packet_sending_thread(void *p) {
     if(current.tv_sec == next.tv_sec && current.tv_nsec > next.tv_nsec)
       goto invalid_ts;
 
-    ret = clock_nanosleep(CLOCK_REALTIME, TIMER_ABSTIME, &next, NULL);
+    ret = clock_nanosleep(CLOCK_TAI, TIMER_ABSTIME, &next, NULL);
     if (ret) {
       fprintf(stderr, "clock_nanosleep returned error: %d, aborting...\n", ret);
       exit(EXIT_FAILURE);
@@ -200,7 +200,7 @@ static void *packet_sending_thread(void *p) {
     encode(tx_data, send_data);
 
     // Get timestamp before TSN task for stats
-    clock_gettime(CLOCK_REALTIME, &current);
+    clock_gettime(CLOCK_TAI, &current);
     do_tsn_task(send_data, next_txtime);
     add_ns(&next, thread_params.interval);
 

src/motor-control/src/send_packet.c

@@ -76,7 +76,7 @@ void init_udp_send(egress_info_t *info) {
     error(EXIT_FAILURE, errno, "setsockopt SO_BINDTODEVICE failed\n");
 
   if (params->use_etf) {
-    info->sk_txtime.clockid = CLOCK_REALTIME;
+    info->sk_txtime.clockid = CLOCK_TAI;
     info->sk_txtime.flags = SOF_TXTIME_REPORT_ERRORS;
 
     if (setsockopt(info->sock_fd, SOL_SOCKET, SO_TXTIME, &info->sk_txtime,

src/motor-control/src/slave.c

@@ -129,7 +129,7 @@ static void *emit_signal_thread(void *p) {
       continue;
     }
 
-    ret = clock_nanosleep(CLOCK_REALTIME, TIMER_ABSTIME, &emit_signal_next, NULL);
+    ret = clock_nanosleep(CLOCK_TAI, TIMER_ABSTIME, &emit_signal_next, NULL);
     if (ret) {
       fprintf(stderr, "clock_nanosleep returned error: %d, aborting...\n", ret);
       exit(EXIT_FAILURE);
@@ -145,7 +145,7 @@ static void *emit_signal_thread(void *p) {
       gpio_pulse_state = toggle_gpio(gpio_pulse_fd, gpio_pulse_state);
     }
 
-    clock_gettime(CLOCK_REALTIME, &current);
+    clock_gettime(CLOCK_TAI, &current);
     
     previous_emit = current;
     previous_ts = emit_signal_next;
@@ -177,7 +177,7 @@ static void *tsn_thread(void *p) {
   if (tsn_task == XDP_TASK) setup_poll_fd();
 
   if (thread_params.start_ts) {
-    clock_gettime(CLOCK_REALTIME, &next);
+    clock_gettime(CLOCK_TAI, &next);
     if (thread_params.start_ts < ts_to_uint(next)) {
       fprintf(stderr, "start timestamp is in the past, aborting...\n");
       exit(EXIT_FAILURE);
@@ -199,7 +199,7 @@ static void *tsn_thread(void *p) {
       recv_xdp_packet();
 
     // Get time for statistics
-    clock_gettime(CLOCK_REALTIME, &current);
+    clock_gettime(CLOCK_TAI, &current);
     recv_xdp_cleanup();
     interval_us = calcdiff_ns(current, previous) / 1000;