diff options
Diffstat (limited to 'CAN-binder/low-can-binding/utils')
| -rw-r--r-- | CAN-binder/low-can-binding/utils/socketcan-bcm.cpp | 7 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/socketcan-raw.cpp | 5 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/timer.cpp | 10 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/timer.hpp | 7 |
4 files changed, 22 insertions, 7 deletions
diff --git a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp index 7323565c..38f48522 100644 --- a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp +++ b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp @@ -84,7 +84,12 @@ namespace utils DEBUG(binder_interface, "read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, msg.msg_head.can_id, msg.frames.can_dlc, msg.frames.data[0], msg.frames.data[1], msg.frames.data[2], msg.frames.data[3], msg.frames.data[4], msg.frames.data[5], msg.frames.data[6], msg.frames.data[7]); - cm = ::can_message_t::convert_from_frame(msg.frames , nbytes-sizeof(struct bcm_msg_head)); + struct timeval tv; + ioctl(s.socket(), SIOCGSTAMP, &tv); + uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec; + cm = ::can_message_t::convert_from_frame(msg.frames , + nbytes-sizeof(struct bcm_msg_head), + timestamp); return s; } diff --git a/CAN-binder/low-can-binding/utils/socketcan-raw.cpp b/CAN-binder/low-can-binding/utils/socketcan-raw.cpp index d8cd906f..a35a99d4 100644 --- a/CAN-binder/low-can-binding/utils/socketcan-raw.cpp +++ b/CAN-binder/low-can-binding/utils/socketcan-raw.cpp @@ -78,7 +78,10 @@ namespace utils DEBUG(binder_interface, "read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, frame.can_id, frame.len, frame.data[0], frame.data[1], frame.data[2], frame.data[3], frame.data[4], frame.data[5], frame.data[6], frame.data[7]); - cm = ::can_message_t::convert_from_frame(frame , nbytes); + struct timeval tv; + ioctl(s.socket(), SIOCGSTAMP, &tv); + uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec; + cm = ::can_message_t::convert_from_frame(frame , nbytes, timestamp); return s; } diff --git a/CAN-binder/low-can-binding/utils/timer.cpp b/CAN-binder/low-can-binding/utils/timer.cpp index 3d90a007..9c22bd0d 100644 --- a/CAN-binder/low-can-binding/utils/timer.cpp +++ b/CAN-binder/low-can-binding/utils/timer.cpp @@ -62,6 +62,12 @@ frequency_clock_t::frequency_clock_t(float frequency) frequency_ = 1; } +frequency_clock_t::frequency_clock_t(float frequency, uint64_t last_tick, time_function_t time_function) + : unit_{1000000}, frequency_{frequency}, last_tick_{0}, time_function_{nullptr} +{ + if(frequency_ <= 0) + frequency_ = 1; +} /// @brief Return the period in ms given the frequency in hertz. /// @param[in] frequency - Frequency to convert, in hertz float frequency_clock_t::frequency_to_period() const @@ -109,7 +115,7 @@ float frequency_clock_t::get_frequency() const /// @brief Force the clock to tick, regardless of it its time has actually /// elapsed. -void frequency_clock_t::tick() +void frequency_clock_t::tick(uint64_t timestamp) { - last_tick_ = get_time_function()(); + last_tick_ = timestamp; }
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/utils/timer.hpp b/CAN-binder/low-can-binding/utils/timer.hpp index 8ea74768..432d513d 100644 --- a/CAN-binder/low-can-binding/utils/timer.hpp +++ b/CAN-binder/low-can-binding/utils/timer.hpp @@ -18,6 +18,7 @@ #pragma once #include <sys/time.h> +#include <stdint.h> /// @brief return epoch in milliseconds /// @@ -36,13 +37,13 @@ class frequency_clock_t private: float unit_; ///< unit_ - multiplicator to make operation to be in the right unit (milli, micro, nano, etc) float frequency_; ///< the clock frequency in Hz. - unsigned long last_tick_; ///< the last time (in milliseconds since startup) that the clock ticked. + uint64_t last_tick_; ///< the last time (in microseconds since startup) that the clock ticked. time_function_t time_function_; ///< a function returning current time public: frequency_clock_t(); frequency_clock_t(float frequency); - frequency_clock_t(float frequency, unsigned long last_tick, time_function_t time_function); + frequency_clock_t(float frequency, uint64_t last_tick, time_function_t time_function); float get_frequency() const; const struct timeval get_timeval_from_period() const; @@ -52,5 +53,5 @@ public: time_function_t get_time_function(); bool elapsed(bool stagger); - void tick(); + void tick(uint64_t timestamp); };
\ No newline at end of file |