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Using the uavcan stm32 clock driver to support UAVCAN time syncing

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Conflicts:
	src/lib/uavcan
	src/modules/systemlib/print_load_posix.c
	src/modules/uavcannode/module.mk
This commit is contained in:
David Sidrane 2015-08-07 11:18:56 -10:00
parent 27bf924a40
commit f424cc6b18
3 changed files with 4 additions and 85 deletions
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2
src/lib/uavcan

@ -1 +1 @@
Subproject commit 3ae5400aa5ead18139106d30f730114d5e9b65dd
Subproject commit 50dc08663af2d9b55eae0ccf5f07c63db0ee8907

6
src/modules/uavcan/module.mk
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@ -44,8 +44,7 @@ WFRAME_LARGER_THAN = 1400
# Main
SRCS += uavcan_main.cpp \
uavcan_servers.cpp \
uavcan_clock.cpp \
uavcan_servers.cpp \
uavcan_params.c
# Actuators
@ -70,7 +69,8 @@ override EXTRADEFINES := $(EXTRADEFINES) \
-DUAVCAN_CPP_VERSION=UAVCAN_CPP03 \
-DUAVCAN_NO_ASSERTIONS \
-DUAVCAN_MEM_POOL_BLOCK_SIZE=48 \
-DUAVCAN_MAX_NETWORK_SIZE_HINT=16
-DUAVCAN_MAX_NETWORK_SIZE_HINT=16 \
-DUAVCAN_STM32_TIMER_NUMBER=2
#
# libuavcan drivers for STM32

81
src/modules/uavcan/uavcan_clock.cpp
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@ -1,81 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <uavcan_stm32/uavcan_stm32.hpp>
#include <drivers/drv_hrt.h>
/**
* @file uavcan_clock.cpp
*
* Implements a clock for the CAN node.
*
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
*/
namespace uavcan_stm32
{
namespace clock
{
uavcan::MonotonicTime getMonotonic()
{
return uavcan::MonotonicTime::fromUSec(hrt_absolute_time());
}
uavcan::UtcTime getUtc()
{
return uavcan::UtcTime();
}
void adjustUtc(uavcan::UtcDuration adjustment)
{
(void)adjustment;
}
uavcan::uint64_t getUtcUSecFromCanInterrupt();
uavcan::uint64_t getUtcUSecFromCanInterrupt()
{
return 0;
}
} // namespace clock
SystemClock &SystemClock::instance()
{
static SystemClock inst;
return inst;
}
}