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Collateral fixes

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Pavel Kirienko
2014-05-05 16:15:22 +04:00
parent 17ac1f7f6b
commit 8c8732d051
6 changed files with 17 additions and 8 deletions
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libuavcan_drivers/lpc11c24/driver/src/clock.cpp
+5 -2
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@@ -3,6 +3,7 @@
*/
#include <uavcan_lpc11c24/clock.hpp>
#include <uavcan/util/templates.hpp>
#include <chip.h>
#include "internal.hpp"
@@ -113,8 +114,10 @@ void adjustUtc(uavcan::UtcDuration adjustment)
utc_correction_usec_per_overflow_x16 += adjustment.isPositive() ? 1 : -1; // I
utc_correction_usec_per_overflow_x16 += (adj_delta > 0) ? 1 : -1; // P
utc_correction_usec_per_overflow_x16 = std::max(utc_correction_usec_per_overflow_x16, -MaxUtcSpeedCorrectionX16);
utc_correction_usec_per_overflow_x16 = std::min(utc_correction_usec_per_overflow_x16, MaxUtcSpeedCorrectionX16);
utc_correction_usec_per_overflow_x16 =
uavcan::max(utc_correction_usec_per_overflow_x16, -MaxUtcSpeedCorrectionX16);
utc_correction_usec_per_overflow_x16 =
uavcan::min(utc_correction_usec_per_overflow_x16, MaxUtcSpeedCorrectionX16);
if (adjustment.getAbs().toMSec() > 9 || !utc_set)
{