opencyphal-garage / libuavcan_kinetis Goto Github PK

As I mentioned on the forum we got a new driver going for flexcan for the Teensy boards which are kinetis based (K20, K64 and K66). However, I would like to update the current clock driver to use PIT timers vs elapsedMillis, it may resolve some issues I am having that I traced to the clock driver.

I have been through the examples but just don't get it - certain things in c++ always get me. Anyway right now I am doing this to initialize the clock:

systemClock = &initSystemClock(); // interfaces to systemclock and canDriver ISystemClock* systemClock;

where initSystemClock() is defined as:

// init system clock interface
ISystemClock& initSystemClock()
{
  return uavcan_teensy::SystemClock::instance();
}

but for the life of me I having problems getting it going. Wonder if you all could help with the correct format.

Thanks
Mike