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75 lines
1.6 KiB
C++
75 lines
1.6 KiB
C++
/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#pragma once
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#include <uavcan/driver/system_clock.hpp>
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namespace uavcan_stm32
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{
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namespace clock
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{
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/**
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* Starts the clock.
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* Can be called multiple times, only the first call will be effective.
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*/
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void init();
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/**
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* Returns current monotonic time passed since the moment when clock::init() was called.
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* This function is thread safe.
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*/
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uavcan::MonotonicTime getMonotonic();
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/**
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* Returns UTC time if it has been set, otherwise returns zero time.
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* This function is thread safe.
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*/
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uavcan::UtcTime getUtc();
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/**
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* Performs UTC time adjustment.
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* The UTC time will be zero until first adjustment has been performed.
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* This function is thread safe.
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*/
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void adjustUtc(uavcan::UtcDuration adjustment);
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/**
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* Clock speed error.
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* Positive if the hardware timer is slower than reference time.
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* This function is thread safe.
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*/
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uavcan::int32_t getUtcSpeedCorrectionPPM();
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/**
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* Number of non-gradual adjustments performed so far.
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* Ideally should be zero.
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* This function is thread safe.
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*/
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uavcan::uint32_t getUtcAjdustmentJumpCount();
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}
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/**
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* Adapter for uavcan::ISystemClock.
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*/
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class SystemClock : public uavcan::ISystemClock, uavcan::Noncopyable
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{
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SystemClock() { }
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virtual uavcan::MonotonicTime getMonotonic() const { return clock::getMonotonic(); }
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virtual uavcan::UtcTime getUtc() const { return clock::getUtc(); }
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virtual void adjustUtc(uavcan::UtcDuration adjustment) { clock::adjustUtc(adjustment); }
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public:
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/**
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* Calls clock::init() as needed.
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* This function is thread safe.
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*/
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static SystemClock& instance();
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};
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}
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