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#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()
{
return 0;
}
} // namespace clock
SystemClock &SystemClock::instance()
{
static SystemClock inst;
return inst;
}
}