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Added timestamps to CAN messages when receiving #309

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Added timestamps to CAN messages when receiving #309

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15 changes: 15 additions & 0 deletions src/modm/architecture/interface/can_message.hpp
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
/*
* Copyright (c) 2014, 2016, Niklas Hauser
* Copyright (c) 2015-2016, Sascha Schade
* Copyright (c) 2019, Benjamin Weps
*
* This file is part of the modm project.
*
Expand All @@ -16,6 +17,7 @@
#include <stdint.h>
#include <modm/io/iostream.hpp>
#include <modm/architecture/utils.hpp>
#include <modm/processing/timer/timestamp.hpp>

namespace modm
{
Expand Down Expand Up @@ -80,6 +82,18 @@ struct Message
length = len;
}

inline Timestamp
getTimestamp()
{
return timestamp;
}

inline void
setTimestamp(Timestamp ts)
{
timestamp = ts;
}

public:
uint32_t identifier;
uint8_t modm_aligned(4) data[8];
Expand All @@ -94,6 +108,7 @@ struct Message
bool extended : 1;
} flags;
uint8_t length;
Timestamp timestamp;

public:
bool
Expand Down
3 changes: 3 additions & 0 deletions src/modm/platform/can/stm32/can.cpp.in
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include <modm/architecture/interface/assert.hpp>
#include <modm/architecture/interface/interrupt.hpp>
#include <modm/architecture/interface/delay.hpp>
#include <modm/architecture/interface/clock.hpp>
#include <modm/platform/clock/rcc.hpp>

%% if id == ""
Expand Down Expand Up @@ -264,6 +265,7 @@ MODM_ISR({{ reg }}_RX0)

%% if options["buffer.rx"] > 0
RxMessage rxMessage;
rxMessage.message.setTimestamp(modm::Clock::now());
readMailbox(rxMessage.message, 0, &(rxMessage.filter_id));

// Release FIFO (access the next message)
Expand Down Expand Up @@ -291,6 +293,7 @@ MODM_ISR({{ reg }}_RX1)

%% if options["buffer.rx"] > 0
RxMessage rxMessage;
rxMessage.message.setTimestamp(modm::Clock::now());
readMailbox(rxMessage.message, 1, &(rxMessage.filter_id));

// Release FIFO (access the next message)
Expand Down