mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 17:23:33 +08:00
102 lines
2.4 KiB
C++
102 lines
2.4 KiB
C++
/*
|
|
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <uavcan/driver/system_clock.hpp>
|
|
|
|
namespace uavcan_stm32
|
|
{
|
|
|
|
namespace clock
|
|
{
|
|
/**
|
|
* Starts the clock.
|
|
* Can be called multiple times, only the first call will be effective.
|
|
*/
|
|
void init();
|
|
|
|
/**
|
|
* Returns current monotonic time since the moment when clock::init() was called.
|
|
* This function is thread safe.
|
|
*/
|
|
uavcan::MonotonicTime getMonotonic();
|
|
|
|
/**
|
|
* Returns UTC time if it has been set, otherwise returns zero time.
|
|
* This function is thread safe.
|
|
*/
|
|
uavcan::UtcTime getUtc();
|
|
|
|
/**
|
|
* Performs UTC phase and frequency adjustment.
|
|
* The UTC time will be zero until first adjustment has been performed.
|
|
* This function is thread safe.
|
|
*/
|
|
void adjustUtc(uavcan::UtcDuration adjustment);
|
|
|
|
/**
|
|
* UTC clock synchronization parameters
|
|
*/
|
|
struct UtcSyncParams
|
|
{
|
|
float offset_p = 0.01; ///< PPM per one usec error
|
|
float rate_i = 0.02; ///< PPM per one PPM error for second
|
|
float rate_error_corner_freq = 0.01;
|
|
float max_rate_correction_ppm = 300;
|
|
float lock_thres_rate_ppm = 2.0;
|
|
uavcan::UtcDuration lock_thres_offset = uavcan::UtcDuration::fromMSec(4);
|
|
uavcan::UtcDuration min_jump = uavcan::UtcDuration::fromMSec(10); ///< Min error to jump rather than change rate
|
|
};
|
|
|
|
/**
|
|
* Clock rate error.
|
|
* Positive if the hardware timer is slower than reference time.
|
|
* This function is thread safe.
|
|
*/
|
|
float getUtcRateCorrectionPPM();
|
|
|
|
/**
|
|
* Number of non-gradual adjustments performed so far.
|
|
* Ideally should be zero.
|
|
* This function is thread safe.
|
|
*/
|
|
uavcan::uint32_t getUtcJumpCount();
|
|
|
|
/**
|
|
* Whether UTC is synchronized and locked.
|
|
* This function is thread safe.
|
|
*/
|
|
bool isUtcLocked();
|
|
|
|
/**
|
|
* UTC sync params get/set.
|
|
* Both functions are thread safe.
|
|
*/
|
|
UtcSyncParams getUtcSyncParams();
|
|
void setUtcSyncParams(const UtcSyncParams& params);
|
|
|
|
}
|
|
|
|
/**
|
|
* Adapter for uavcan::ISystemClock.
|
|
*/
|
|
class SystemClock : public uavcan::ISystemClock, uavcan::Noncopyable
|
|
{
|
|
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();
|
|
};
|
|
|
|
}
|