ardupilot/libraries/AP_HAL_ChibiOS/CANClock.h

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/*
* The MIT License (MIT)
*
* Copyright (c) 2014 Pavel Kirienko
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Modified for Ardupilot by Siddharth Bharat Purohit
*/
#pragma once
#include "AP_HAL_ChibiOS.h"
#if HAL_WITH_UAVCAN
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#include <uavcan/driver/system_clock.hpp>
namespace ChibiOS_CAN {
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();
/**
* Sets the driver's notion of the system UTC. It should be called
* at startup and any time the system clock is updated from an
* external source that is not the UAVCAN Timesync master.
* This function is thread safe.
*/
void setUtc(uavcan::UtcTime time);
/**
* 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; ///< PPM per one usec error
float rate_i; ///< PPM per one PPM error for second
float rate_error_corner_freq;
float max_rate_correction_ppm;
float lock_thres_rate_ppm;
uavcan::UtcDuration lock_thres_offset;
uavcan::UtcDuration min_jump; ///< Min error to jump rather than change rate
UtcSyncParams()
: offset_p(0.01F)
, rate_i(0.02F)
, rate_error_corner_freq(0.01F)
, max_rate_correction_ppm(300.0F)
, lock_thres_rate_ppm(2.0F)
, lock_thres_offset(uavcan::UtcDuration::fromMSec(4))
, min_jump(uavcan::UtcDuration::fromMSec(10))
{ }
};
/**
* 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 void adjustUtc(uavcan::UtcDuration adjustment)
{
clock::adjustUtc(adjustment);
}
public:
virtual uavcan::MonotonicTime getMonotonic() const
{
return clock::getMonotonic();
}
virtual uavcan::UtcTime getUtc() const
{
return clock::getUtc();
}
/**
* Calls clock::init() as needed.
* This function is thread safe.
*/
static SystemClock& get_singleton();
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};
}
#endif //HAL_WITH_UAVCAN