Dedicated HW timer for time synchronization
During operation, AMiRo-OS system time can be synchronized via a GPIO signal (cf. SSSP). Currently, the master module, driving that signal, relies on standard ChibiOS API to trigger the logic that toggles the GPIO output. Even though ChibiOS utilizes an hardware timer, only a single timer is used for everything, which may entangles additional overhead, resulting in increased latency and jitter. As an alternative, a dedicated hardware timer could be used for just that purpose, so time synchronization timing consistent as possible.
The feature should be optional (keep fallback to ChibiOS timer API) in case no further hadrware timer is available.
A challenge might be to ensure that the local time representation of the master module is always in sync with that signal. Potentially, the master module itself needs to monitor the GPIO and synchronize its internal time representation to the timer like any slave module.