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111 lines
2.7 KiB
C++
111 lines
2.7 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_stm32/build_config.hpp>
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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 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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* Sets the driver's notion of the system UTC. It should be called
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* at startup and any time the system clock is updated from an
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* external source that is not the UAVCAN Timesync master.
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* This function is thread safe.
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*/
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void setUtc(uavcan::UtcTime time);
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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 phase and frequency 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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* UTC clock synchronization parameters
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*/
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struct UtcSyncParams
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{
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float offset_p = 0.01F; ///< PPM per one usec error
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float rate_i = 0.02F; ///< PPM per one PPM error for second
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float rate_error_corner_freq = 0.01F;
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float max_rate_correction_ppm = 300.0F;
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float lock_thres_rate_ppm = 2.0F;
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uavcan::UtcDuration lock_thres_offset = uavcan::UtcDuration::fromMSec(4);
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uavcan::UtcDuration min_jump = uavcan::UtcDuration::fromMSec(10); ///< Min error to jump rather than change rate
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};
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/**
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* Clock rate 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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float getUtcRateCorrectionPPM();
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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 getUtcJumpCount();
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/**
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* Whether UTC is synchronized and locked.
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* This function is thread safe.
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*/
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bool isUtcLocked();
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/**
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* UTC sync params get/set.
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* Both functions are thread safe.
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*/
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UtcSyncParams getUtcSyncParams();
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void setUtcSyncParams(const UtcSyncParams& params);
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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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