LPC11C24 clock driver. Not well tested yet, but generally seems to be OK

libuavcan_drivers/lpc11c24/driver/include/uavcan_lpc11c24/clock.hpp

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+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <uavcan/driver/system_clock.hpp>
+
+namespace uavcan_lpc11c24
+{
+namespace clock
+{
+/**
+ * Starts the clock.
+ * Can be called multiple times, only the first call will be effective.
+ */
+void init();
+
+/**
+ * Returns current monotonic time passed since the moment when clock::init() was called.
+ * Note that both monotonic and UTC clocks are implemented using SysTick timer.
+ */
+uavcan::MonotonicTime getMonotonic();
+
+/**
+ * Returns UTC time if it has been set, otherwise returns zero time.
+ * Note that both monotonic and UTC clocks are implemented using SysTick timer.
+ */
+uavcan::UtcTime getUtc();
+
+/**
+ * Performs UTC time adjustment.
+ * The UTC time will be zero until first adjustment has been performed.
+ */
+void adjustUtc(uavcan::UtcDuration adjustment);
+
+/**
+ * Returns clock error sampled at previous UTC adjustment.
+ * Positive if the hardware timer is slower than reference time.
+ */
+uavcan::UtcDuration getPrevUtcAdjustment();
+
+}
+
+/**
+ * Adapter for uavcan::ISystemClock.
+ */
+class SystemClock : public uavcan::ISystemClock, uavcan::Noncopyable
+{
+    static SystemClock self;
+
+    SystemClock() { }
+
+    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); }
+
+public:
+    /**
+     * Calls clock::init() as needed.
+     * This function is thread safe.
+     */
+    static SystemClock& instance();
+};
+
+}