platform_specific_components/stm32/libuavcan/driver/include/uavcan_stm32/clock.hpp

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/*
 * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
 */
 
#pragma once
 
#include <uavcan_stm32/build_config.hpp>
#include <uavcan/driver/system_clock.hpp>
 
namespace uavcan_stm32
{
 
namespace clock
{
void init();
 
uavcan::MonotonicTime getMonotonic();
 
void setUtc(uavcan::UtcTime time);
 
uavcan::UtcTime getUtc();
 
void adjustUtc(uavcan::UtcDuration adjustment);
 
struct UtcSyncParams
{
    float offset_p;                        
    float rate_i;                          
    float rate_error_corner_freq;
    float max_rate_correction_ppm;
    float lock_thres_rate_ppm;
    uavcan::UtcDuration lock_thres_offset;
    uavcan::UtcDuration min_jump;          
 
    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))
    { }
};
 
float getUtcRateCorrectionPPM();
 
uavcan::uint32_t getUtcJumpCount();
 
bool isUtcLocked();
 
UtcSyncParams getUtcSyncParams();
void setUtcSyncParams(const UtcSyncParams& params);
 
}
 
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(); }
 
    static SystemClock& instance();
};
 
}