STM32 clock driver

libuavcan_drivers/stm32/driver/include/uavcan_stm32/clock.hpp

@@ -0,0 +1,78 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <uavcan/driver/system_clock.hpp>
+
+namespace uavcan_stm32
+{
+
+namespace clock
+{
+/**
+ * Starts the clock.
+ * Can be called multiple times, only the first call will be effective.
+ */
+void init();
+
+/**
+ * For CAN timestamping.
+ */
+uavcan::uint64_t getUtcUSecFromInterrupt();
+
+/**
+ * For general usage.
+ */
+uavcan::MonotonicTime getMonotonic();
+uavcan::UtcTime getUtc();
+
+/**
+ * Performs UTC time adjustment.
+ * The UTC time will be zero until first adjustment has been performed.
+ */
+void adjustUtc(uavcan::UtcDuration adjustment);
+
+/**
+ * Clock speed error.
+ * Positive if the hardware timer is slower than reference time
+ */
+uavcan::int32_t getUtcSpeedCorrectionPPM();
+
+/**
+ * Number of non-gradual adjustments performed so far.
+ * Ideally should be zero.
+ */
+uavcan::uint32_t getUtcAjdustmentJumpCount();
+
+}
+
+/**
+ * Clock interface for CAN driver.
+ */
+class ICanTimestampingClock : public uavcan::ISystemClock
+{
+public:
+    virtual uavcan::uint64_t getUtcUSecFromInterrupt() const = 0;
+};
+
+/**
+ * Trivial system clock implementation; can be redefined by the application.
+ * Uses a simple 16-bit hardware timer for both UTC and monotonic clocks.
+ */
+class SystemClock : public ICanTimestampingClock, uavcan::Noncopyable
+{
+    SystemClock() { }
+
+public:
+    static SystemClock& instance();
+
+    virtual uavcan::uint64_t getUtcUSecFromInterrupt() const { return clock::getUtcUSecFromInterrupt(); }
+
+    virtual uavcan::MonotonicTime getMonotonic()     const { return clock::getMonotonic(); }
+    virtual uavcan::UtcTime getUtc()                 const { return clock::getUtc(); }
+    virtual void adjustUtc(uavcan::UtcDuration adjustment) { clock::adjustUtc(adjustment); }
+};
+
+}

libuavcan_drivers/stm32/driver/include/uavcan_stm32/thread.hpp

@@ -15,11 +15,11 @@
 namespace uavcan_stm32
 {
 
-#if UAVCAN_STM32_CHIBIOS
-
 class Event
 {
+#if UAVCAN_STM32_CHIBIOS
     chibios_rt::CounterSemaphore sem_;
+#endif
 
 public:
     Event() : sem_(0) { }
@@ -31,6 +31,4 @@ public:
     void signalFromInterrupt();
 };
 
-#endif
-
 }

libuavcan_drivers/stm32/driver/include/uavcan_stm32/uavcan_stm32.hpp

@@ -4,5 +4,6 @@
 
 #pragma once
 
-#include <uavcan_stm32/can.hpp>
 #include <uavcan_stm32/thread.hpp>
+#include <uavcan_stm32/clock.hpp>
+#include <uavcan_stm32/can.hpp>