[Krobot-commits] [SCM] krobot branch, master, updated. 7c145a8bcb0fa1400dbe1344b84efd887941a4ff

[Nicolas D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 7c145a8bcb0fa1400dbe1344b84efd887941a4ff
Author: Nicolas Dandrimont <Nic...@cr...>
Date:   Tue Mar 22 19:02:50 2011 +0100

    [USB_CAN/Firmware] Allow a configurable timestamping function

-----------------------------------------------------------------------

Changes:
diff --git a/elec/boards/USB_CAN/Firmware/usb_can/usb_can.c b/elec/boards/USB_CAN/Firmware/usb_can/usb_can.c
index ef58b89..75d3c4a 100644
--- a/elec/boards/USB_CAN/Firmware/usb_can/usb_can.c
+++ b/elec/boards/USB_CAN/Firmware/usb_can/usb_can.c
@@ -45,12 +45,19 @@ INLINE uint32_t nibble_to_uint32(char *nibbles, size_t length) {
     return ret;
 }
 
+uint16_t get_timestamp(void) {
+    /* The timestamp should wrap around every minute (it works until
+       the 32 bits of timer_clock are exhausted) */
+    return ticks_to_ms(timer_clock()) % 60000;
+}
+
 void usb_can_init(usb_can *usbcan, can_driver *can, struct Serial *ser) {
 
     usbcan->can = can;
     usbcan->ser = ser;
     usbcan->is_open = false;
     usbcan->timestamped = false;
+    usbcan->get_timestamp = get_timestamp;
 
 }
 
@@ -195,9 +202,7 @@ int usb_can_emit(usb_can *usbcan, can_rx_frame *frame) {
         sprintf(&buffer[i], "%02x", frame->data8[j]);
 
     if (usbcan->timestamped) {
-        /* The timestamp should wrap around every minute (it works until
-           the 32 bits of timer_clock are exhausted) */
-        timestamp = ticks_to_ms(timer_clock()) % 60000;
+        timestamp = usbcan->get_timestamp();
 
         sprintf(&buffer[i], "%04x", timestamp);
         i+=4;
diff --git a/elec/boards/USB_CAN/Firmware/usb_can/usb_can.h b/elec/boards/USB_CAN/Firmware/usb_can/usb_can.h
index 960f819..800e4a5 100644
--- a/elec/boards/USB_CAN/Firmware/usb_can/usb_can.h
+++ b/elec/boards/USB_CAN/Firmware/usb_can/usb_can.h
@@ -31,13 +31,18 @@
 #include <drv/timer.h>
 #include <io/kfile.h>
 
+typedef uint16_t (usb_can_timestamp(void));
+
 typedef struct _usb_can {
     can_driver *can;      // CAN Device
     struct Serial *ser;   // Serial Device
     bool is_open;         // Channel open?
     bool timestamped;     // Emit timestamps?
+    usb_can_timestamp *get_timestamp; // Get Timestamp function
 } usb_can;
 
+uint16_t get_timestamp(void);
+
 void usb_can_init(usb_can *usbcan, can_driver *can, struct Serial *ser);
 
 void usb_can_open(usb_can *usbcan);


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