fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 09:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Pavel Kirienko
2014-04-15 22:12:19 +04:00
parent 1f0f6b0899
commit e205c2e441
5 changed files with 285 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan_drivers/lpc11c24/driver/src/can.cpp
+5 -4
View File
@@ -3,6 +3,7 @@
*/
#include <uavcan_lpc11c24/can.hpp>
#include <uavcan_lpc11c24/clock.hpp>
#include <chip.h>
#include "internal.hpp"
@@ -264,8 +265,8 @@ uavcan::int16_t CanDriver::send(const uavcan::CanFrame& frame, uavcan::Monotonic
uavcan::int16_t CanDriver::receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic,
uavcan::UtcTime& out_ts_utc, uavcan::CanIOFlags& out_flags)
{
out_ts_monotonic = uavcan::MonotonicTime(); // TODO: read monotonic
out_flags = 0; // We don't support any flags
out_ts_monotonic = uavcan_lpc11c24::clock::getMonotonic();
out_flags = 0; // We don't support any IO flags
CriticalSectionLocker locker;
if (rx_queue.getLength() == 0)
@@ -368,9 +369,9 @@ void canErrorCallback(uint32_t error_info)
}
}
void CAN_IRQHandler(void)
void CAN_IRQHandler()
{
uavcan_lpc11c24::last_irq_utc_timestamp = 0; // TODO: Read UTC timestamp
uavcan_lpc11c24::last_irq_utc_timestamp = uavcan_lpc11c24::clock::getUtcUSecFromCanInterrupt();
LPC_CCAN_API->isr();
}