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STM32 test: Time sync slave

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This commit is contained in:
Pavel Kirienko 2014-04-05 18:02:57 +04:00
parent befd18de6d
commit 0edeff9e4d
1 changed files with 21 additions and 1 deletions
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22
libuavcan_drivers/stm32/test_stm32f107/src/main.cpp
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@ -5,6 +5,7 @@
#include <unistd.h>
#include <crdr_chibios/sys/sys.h>
#include <uavcan_stm32/uavcan_stm32.hpp>
#include <uavcan/protocol/global_time_sync_slave.hpp>
namespace app
{
@ -93,6 +94,18 @@ public:
::sleep(3);
}
/*
* Time synchronizer
*/
static uavcan::GlobalTimeSyncSlave time_sync_slave(node);
{
const int res = time_sync_slave.start();
if (res < 0)
{
die(res);
}
}
/*
* Main loop
*/
@ -100,11 +113,12 @@ public:
node.setStatusOk();
while (true)
{
const int spin_res = node.spin(uavcan::MonotonicDuration::fromMSec(100));
const int spin_res = node.spin(uavcan::MonotonicDuration::fromMSec(5000));
if (spin_res < 0)
{
lowsyslog("Spin failure: %i\n", spin_res);
}
lowsyslog("Time sync master: %u\n", unsigned(time_sync_slave.getMasterNodeID().get()));
}
return msg_t();
}
@ -130,5 +144,11 @@ int main()
sleep(1);
app::ledSet(true);
sleep(1);
const uavcan::UtcTime utc = uavcan_stm32::clock::getUtc();
lowsyslog("UTC %lu sec, %li corr, %lu jumps\n",
static_cast<unsigned long>(utc.toMSec() / 1000),
uavcan_stm32::clock::getUtcSpeedCorrectionPPM(),
uavcan_stm32::clock::getUtcAjdustmentJumpCount());
}
}