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Diffstat (limited to 'src/modules/uavcan/uavcan_clock.cpp')
-rw-r--r-- | src/modules/uavcan/uavcan_clock.cpp | 79 |
1 files changed, 79 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..e41d5f953 --- /dev/null +++ b/src/modules/uavcan/uavcan_clock.cpp @@ -0,0 +1,79 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * 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> + +/** + * @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; +} + +} + |