To solve the problem of still being able to use an inexpensive network controller which can store only a single transmission time, even when telegrams from a plurality of application modules need to be sent in synchronized fashion and the transmission times thereof need to be reliably ascertained and reliably associated with the respective telegrams, provided is a communication device for the synchronized sending of telegrams, a communication system including such a communication device, and a method for the synchronized sending of telegrams. The communication device comprises a coordination device.

A time synchronizer receives UTC (Coordinated Universal Time) time in serial+PPS (Pulse Per Second) format from a GPS (Global Positioning System) device and outputs timestamp data in multiple formats, including: CAN (Controller Area Network), Ethernet, gPTP (generic Precision Time Protocol), and serial+PPS. Multiple data sources receive timestamp data in the multiple formats and each provide data in a unified UTC time base to a sensor-fusion device. The unified UTC time base is based on the timestamp data in the multiple formats output by the time synchronizer. The time synchronizer may perform edge detection for a first transition of an internal clock signal following a transition of the PPS signal received from the GPS device. The internal clock signal may be asynchronous with the PPS signal received from the GPS device. The internal clock signal may have a frequency of 40 MHz.

A communication system includes a Precision Time Protocol (PTP) grandmaster configured to provide a PTP clock reference via a PTP network, and a server connected to the PTP grandmaster via the PTP network, the server being configured to generate a frame event and a frame number for a frame synchronization based on a synchronization to the PTP clock reference using PTP.

A communication system (1000) includes communication devices (10, 20) to share common time after correction of synchronization error including a communication delay with each other via a network (400). The communication device (10) includes a set time acquirer to acquire set time set by a user, a setter to set the set time as first system time, which is system time of the communication device (10), and a time difference data transmitter to transmit time difference data, which indicates a time difference between the common time and the set time, to the communication device (20). The communication device (20) includes a time difference data receiver to receive the time difference data, and a setter to set the sum of the common time and the time difference indicated by the time difference data as second system time, which is system time of the communication device (20).

A communication system (1000) includes communication devices (10, 20) to share common time after correction of synchronization error including a communication delay with each other via a network (400). The communication device (10) includes a set time acquirer to acquire set time set by a user, a setter to set the set time as first system time, which is system time of the communication device (10), and a time difference data transmitter to transmit time difference data, which indicates a time difference between the common time and the set time, to the communication device (20). The communication device (20) includes a time difference data receiver to receive the time difference data, and a setter to set the sum of the common time and the time difference indicated by the time difference data as second system time, which is system time of the communication device (20).

A communication system includes a Precision Time Protocol (PTP) grandmaster configured to provide a PTP clock reference via a PTP network, and a server connected to the PTP grandmaster via the PTP network, the server being configured to generate a frame event and a frame number for a frame synchronization based on a synchronization to the PTP clock reference using PTP.

A time synchronizer receives UTC (Coordinated Universal Time) time in serial+PPS (Pulse Per Second) format from a GPS (Global Positioning System) device and outputs timestamp data in multiple formats, including: CAN (Controller Area Network), Ethernet, gPTP (generic Precision Time Protocol), and serial+PPS. Multiple data sources receive timestamp data in the multiple formats and each provide data in a unified UTC time base to a sensor-fusion device. The unified UTC time base is based on the timestamp data in the multiple formats output by the time synchronizer. The time synchronizer may perform edge detection for a first transition of an internal clock signal following a transition of the PPS signal received from the GPS device. The internal clock signal may be asynchronous with the PPS signal received from the GPS device. The internal clock signal may have a frequency of 40 MHz.

The disclosure relates to a method and device for time-controlled data transmission in a TSN. A new traffic shaping method is described for time-sensitive data streams. The objective is to offer the same real-time performance and configuration complexity as in the prior art but without the need for time synchronization throughout the entire network. The traffic shaper provides that a data frame that is received by a bridge in a first-time interval is passed by this bridge to the next hop/bridge in the next time interval. Each bridge knows the start time of the time interval that belongs to a particular data stream. Each data frame must contain a so-called “delay value,” thus a delay value which is measured by each bridge using a local clock that measures the delay time spent by the data frame in the queue at the outgoing port.

A radio communication repeater for operating in a Time Division Multiple Access radio communication system with a plurality of time slots to transmit packets. The repeater includes a transmitter to transmit a plurality of the packets in a transmit time slot assigned to that repeater and a receiver to receive a plurality of the packets from all other time slots of the TDMA radio communication system other than the transmit time slot assigned to that repeater. The repeater also includes a controller to process the received packets from all other time slots of the TDMA radio communication system other than the transmit time slot assigned to that repeater and, if the received packets have different recipient identifiers, to forward the received packets for transmission by the transmitter in the transmit time slot assigned to that repeater as a frame comprising a plurality of packets having different recipient identifiers.

The disclosure relates to a method and device for time-controlled data transmission in a TSN. A new traffic shaping method is described for time-sensitive data streams. The objective is to offer the same real-time performance and configuration complexity as in the prior art but without the need for time synchronization throughout the entire network. The traffic shaper provides that a data frame that is received by a bridge in a first-time interval is passed by this bridge to the next hop/bridge in the next time interval. Each bridge knows the start time of the time interval that belongs to a particular data stream. Each data frame must contain a so-called delay value, thus a delay value which is measured by each bridge using a local clock that measures the delay time spent by the data frame in the queue at the outgoing port.