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Adding mechanism to update the drivers notion of UTC from the system RTC

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Fixed Clock source and prescale calculation
This commit is contained in:
David Sidrane
2015-08-08 07:18:24 -10:00
parent 4c80149b23
commit 9e51b2b125
2 changed files with 35 additions and 7 deletions
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libuavcan_drivers/stm32/driver/include/uavcan_stm32/clock.hpp
+8
View File
@@ -24,6 +24,14 @@ void init();
*/
uavcan::MonotonicTime getMonotonic();
/**
* Sets the driver's notion of the system UTC. It should be called
* at startup and any time the system clock is updated from an
* external source that is not the UAVCAN Timesync master.
* This function is thread safe.
*/
void setUtc(uavcan::UtcTime time);
/**
* Returns UTC time if it has been set, otherwise returns zero time.
* This function is thread safe.
libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
+27 -7
View File
@@ -23,7 +23,7 @@
# if UAVCAN_STM32_NUTTX
# define TIMX UAVCAN_STM32_GLUE3(STM32_TIM, UAVCAN_STM32_TIMER_NUMBER, _BASE)
# define TMR_REG(o) (TIMX + (o))
# define TIMX_INPUT_CLOCK STM32_TIM18_FREQUENCY
# define TIMX_INPUT_CLOCK STM32_TIM27_FREQUENCY
# define TIMX_IRQn UAVCAN_STM32_GLUE2(STM32_IRQ_TIM, UAVCAN_STM32_TIMER_NUMBER)
# endif
@@ -116,7 +116,7 @@ void init()
// Start the timer
putreg32(0xFFFF, TMR_REG(STM32_BTIM_ARR_OFFSET));
putreg16((TIMX_INPUT_CLOCK / 1000000), TMR_REG(STM32_BTIM_PSC_OFFSET));
putreg16(((TIMX_INPUT_CLOCK / 1000000)-1), TMR_REG(STM32_BTIM_PSC_OFFSET));
putreg16(BTIM_CR1_URS, TMR_REG(STM32_BTIM_CR1_OFFSET));
putreg16(0, TMR_REG(STM32_BTIM_SR_OFFSET));
putreg16(BTIM_EGR_UG, TMR_REG(STM32_BTIM_EGR_OFFSET)); // Reload immediately
@@ -130,6 +130,23 @@ void init()
# endif
}
void setUtc(uavcan::UtcTime time)
{
MutexLocker mlocker(mutex);
UAVCAN_ASSERT(initialized);
{
CriticalSectionLocker locker;
time_utc = time.toUSec();
}
utc_set = true;
utc_locked = false;
utc_jump_cnt++;
utc_prev_adj = 0;
utc_rel_rate_ppm = 0;
}
static uavcan::uint64_t sampleUtcFromCriticalSection()
{
# if UAVCAN_STM32_CHIBIOS
@@ -176,10 +193,12 @@ uavcan::uint64_t getUtcUSecFromCanInterrupt()
uavcan::MonotonicTime getMonotonic()
{
uavcan::uint64_t usec = 0;
// Scope Critical section
{
CriticalSectionLocker locker;
volatile uavcan::uint64_t time = time_mono;
# if UAVCAN_STM32_CHIBIOS
volatile uavcan::uint32_t cnt = TIMX->CNT;
@@ -187,6 +206,7 @@ uavcan::MonotonicTime getMonotonic()
{
cnt = TIMX->CNT;
# endif
# if UAVCAN_STM32_NUTTX
volatile uavcan::uint32_t cnt = getreg16(TMR_REG(STM32_BTIM_CNT_OFFSET));
@@ -195,9 +215,9 @@ uavcan::MonotonicTime getMonotonic()
{
cnt = getreg16(TMR_REG(STM32_BTIM_CNT_OFFSET));
# endif
time += USecPerOverflow;
}
usec = time + cnt;
time += USecPerOverflow;
}
usec = time + cnt;
# ifndef NDEBUG
static uavcan::uint64_t prev_usec = 0; // Self-test
@@ -205,9 +225,9 @@ uavcan::MonotonicTime getMonotonic()
(void)prev_usec;
prev_usec = usec;
# endif
}
} // End Scope Critical section
return uavcan::MonotonicTime::fromUSec(usec);
return uavcan::MonotonicTime::fromUSec(usec);
}
uavcan::UtcTime getUtc()