Jacob Dahl 3f6fe0e40c refactor(uavcan): base the libuavcan clock on HRT instead of a dedicated timer (#28569) ...

* refactor(uavcan): base the libuavcan clock on HRT instead of a dedicated timer

The stm32, stm32h7 and kinetis drivers each ran a 16-bit hardware timer
with a software overflow extension, a second copy of what HRT provides,
and slewed UTC by patching that accumulator from the timer interrupt.
Every CAN board paid a general-purpose timer for it, and the bus time
base led HRT by the timer phase at seeding even when the FC is the sync
master.

Monotonic time is now hrt_absolute_time() and UTC is HRT plus an offset
that time sync moves. Each adjustment is applied directly; the rate PID
and its lock accessors had no callers, and at the sub-100 us errors sync
produces after convergence a 1 Hz offset correction bounds the error to
crystal drift over one second. The timer number plumbing and the
BOARD_UAVCAN_TIMER_OVERRIDE option go with it.

* refactor(uavcan): drop the vestigial clock::init and the timer enables it left behind

With the hardware timer gone, init() only set a flag, so the flag is set
where the singleton is constructed. The three boards that enabled their
override timer in defconfig alongside the override no longer need it.

2026-09-08 20:12:29 -06:00

..

ap-h743r1

refactor(uavcan): base the libuavcan clock on HRT instead of a dedicated timer (#28569)

2026-09-08 20:12:29 -06:00

ap-h743v2

feat(boards): upgrade NuttX to 12.12.0

2026-09-03 12:31:07 -07:00