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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();

uavcan::uint64_t getUtcUSecFromCanInterrupt()
{
	return 0;
}

} // namespace clock

SystemClock &SystemClock::instance()
{
	static SystemClock inst;
	return inst;
}

}