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author | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-05-06 19:30:45 +0400 |
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committer | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-05-06 19:30:45 +0400 |
commit | 7813566e6680f4940989fb91760ddb0782b05858 (patch) | |
tree | ae40a0f9a449baf5765475cb470f16dd6fac11e8 /src/modules/uavcan/uavcan_clock.cpp | |
parent | e7ebcd6c572fe3550fd626530eb69b818e31be4a (diff) | |
download | px4-firmware-7813566e6680f4940989fb91760ddb0782b05858.tar.gz px4-firmware-7813566e6680f4940989fb91760ddb0782b05858.tar.bz2 px4-firmware-7813566e6680f4940989fb91760ddb0782b05858.zip |
Initial UAVCAN integration. The library compiles successfully, CAN driver appears to be working properly. There is one hardcoded path in the module makefile that needs to be fixed; plus the compilation will likely fail unless arch/math.h contains log2l()
Diffstat (limited to 'src/modules/uavcan/uavcan_clock.cpp')
-rw-r--r-- | src/modules/uavcan/uavcan_clock.cpp | 65 |
1 files changed, 65 insertions, 0 deletions
diff --git a/src/modules/uavcan/uavcan_clock.cpp b/src/modules/uavcan/uavcan_clock.cpp new file mode 100644 index 000000000..2a5e88989 --- /dev/null +++ b/src/modules/uavcan/uavcan_clock.cpp @@ -0,0 +1,65 @@ +/**************************************************************************** + * + * Copyright (C) 2014 PX4 Development Team. All rights reserved. + * Author: Pavel Kirienko <pavel.kirienko@gmail.com> + * + * 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> + +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; +} + +} +} + |