sys_time_arch.c File Reference

Implementation of system time functions for ChibiOS arch. More...

#include "mcu_periph/sys_time_arch.h"
#include <BOARD_CONFIG>
#include <ch.h>
#include "led.h"

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Functions
static	MUTEX_DECL (sys_time_mtx)
static void	thd_sys_tick (void *arg)
static	THD_WORKING_AREA (wa_thd_sys_tick, 1024)
static void	sys_tick_handler (void)
void	sys_time_arch_init (void)
uint32_t	get_sys_time_usec (void)
	Get the time in microseconds since startup. More...
uint32_t	get_sys_time_usec100 (void)
	Get the time in microseconds divided by 100 since startup. More...
uint32_t	get_sys_time_msec (void)
	Get the time in milliseconds since startup. More...
void	sys_time_usleep (uint32_t us)
	sys_time_usleep(uint32_t us) More...
void	sys_time_msleep (uint16_t ms)
void	sys_time_ssleep (uint8_t s)

Variables
static uint32_t	cpu_ticks = 0
static uint32_t	cpu_counter = 0

Detailed Description

Implementation of system time functions for ChibiOS arch.

Mostly empty functions for Paparazzi compatibility, since ChibiOS uses different system time functions.

Definition in file sys_time_arch.c.

Function Documentation

get_sys_time_msec()

uint32_t get_sys_time_msec

(

void

)

Get the time in milliseconds since startup.

Returns

milliseconds since startup as uint32_t

Definition at line 98 of file sys_time_arch.c.

References cpu_counter, sys_time::nb_sec, sys_time::nb_sec_rem, and STM32_SYSCLK.

Referenced by ak8975_event(), ak8975_read(), approach_moving_target_enable(), bf_millis(), collective_tracking_control(), dc_ctrl_parrot_mykonos_command(), dc_ctrl_parrot_mykonos_periodic(), distributed_circular(), follow_me_parse_target_pos(), follow_me_set_wp(), gps_piksi_event(), gvf_control_2D(), gvf_parametric_control_2D(), hackhd_command(), hackhd_periodic(), init_random(), mavlink_send_attitude(), mavlink_send_attitude_quaternion(), mavlink_send_global_position_int(), mavlink_send_highres_imu(), mavlink_send_local_position_ned(), mavlink_send_rc_channels(), mavlink_send_set_mode(), mavlink_send_system_time(), parseThetaTable(), periodic_2Hz_openlog(), sbp_pos_ecef_callback(), sbus_common_decode_event(), send_bluegiga(), send_downlink(), send_gvf(), send_gvf_parametric(), spb_heartbeat_callback(), spektrum_init_sat(), spektrum_uart_check(), target_get_pos(), target_get_vel(), target_parse_target_pos(), target_pos_set_current_offset(), tunnel_event(), and wind_estimator_periodic().

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get_sys_time_usec()

uint32_t get_sys_time_usec

(

void

)

Get the time in microseconds since startup.

WARNING: overflows after 70min!

Returns

microseconds since startup as uint32_t

Definition at line 71 of file sys_time_arch.c.

References cpu_counter, sys_time::nb_sec, sys_time::nb_sec_rem, and STM32_SYSCLK.

Referenced by ahrs_aligner_run(), ahrs_vectornav_event(), apogee_baro_event(), ardrone_baro_event(), baro_amsys_read_event(), baro_bmp280_event(), baro_bmp3_event(), baro_bmp_event(), baro_ets_read_event(), baro_event(), baro_hca_read_event(), baro_mpl3115_read_event(), baro_MS5534A_event(), baro_ms5611_event(), baro_scp_event(), baro_sim_periodic(), bf_micros(), cloud_sensor_callback(), cloud_sim_detect(), decode_optical_flow_msg(), ekf_aw_get_health(), gps_cb(), gps_datalink_publish(), gps_feed_value(), gps_intermcu_parse_IMCU_REMOTE_GPS(), gps_mtk_msg(), gps_piksi_publish(), gps_sim_publish(), gps_sirf_msg(), gps_skytraq_msg(), gps_ubx_msg(), gps_udp_parse(), handle_ins_msg(), hott_periodic_event(), imu_apogee_event(), imu_aspirin2_event(), imu_aspirin_event(), imu_aspirin_i2c_event(), imu_bebop_event(), imu_bmi088_event(), imu_cube_event(), imu_disco_event(), imu_heater_run(), imu_mpu9250_event(), imu_mpu_hmc_event(), imu_mpu_i2c_event(), imu_mpu_spi_event(), imu_nps_event(), imu_px4_event(), imu_px4fmu_event(), ins_alt_float_update_baro(), ins_alt_float_update_gps(), ins_ekf2_parse_EXTERNAL_POSE(), ins_ext_pose_msg_update(), invensense2_config(), invensense2_parse_data(), invensense3_config(), invensense3_parse_fifo_data(), invensense3_parse_reg_data(), laser_range_array_parse_msg(), lidar_lite_periodic(), lidar_sf11_periodic(), lidar_vl53l5cx_periodic(), lisa_l_baro_event(), LWC_callback(), mag_hmc58xx_module_event(), mag_ist8310_module_event(), mag_lis3mdl_module_event(), mag_pitot_parse_msg(), mag_qmc5883l_module_event(), mag_rm3100_module_event(), main(), mateksys3901l0x_parse(), mavlink_send_gps_global_origin(), mavlink_send_gps_raw_int(), meteo_stick_event(), navdata_publish_imu(), navdata_update(), nmea_gps_msg(), nps_autopilot_run_step(), opticflow_module_run(), opticflow_pmw3901_event(), pose_periodic(), px4flow_i2c_frame_cb(), range_msg_callback(), range_sensor_uavcan_cb(), readRegister_nonblocking(), send_filter_status(), sensors_hitl_event(), sensors_hitl_parse_HITL_AIR_DATA(), sensors_hitl_parse_HITL_GPS(), sonar_adc_read(), sonar_bebop_event(), sonar_pwm_read(), sonar_vl53l1x_publish(), stereocam_parse_msg(), sts3032_event(), superbitrf_event(), superbitrf_receive_packet_cb(), teraranger_event(), tfmini_i2c_periodic(), tfmini_parse(), v4l2_capture_thread(), and video_thread_function().

get_sys_time_usec100()

uint32_t get_sys_time_usec100

(

void

)

Get the time in microseconds divided by 100 since startup.

Get the time in microseconds since startup.

WARNING: overflows after 7000min!

Returns

100microseconds since startup as uint32_t

Definition at line 87 of file sys_time_arch.c.

References cpu_counter, sys_time::nb_sec, sys_time::nb_sec_rem, and STM32_SYSCLK.

Referenced by pprzlog_tp_init().

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MUTEX_DECL()

static MUTEX_DECL ( sys_time_mtx  )

static

sys_tick_handler()

static void sys_tick_handler ( void  )

static

Definition at line 154 of file sys_time_arch.c.

References sys_time_timer::cb, CH_CFG_ST_FREQUENCY, cpu_counter, cpu_ticks, cpu_ticks_of_sec(), sys_time_timer::duration, sys_time_timer::elapsed, sys_time_timer::end_time, sys_time_timer::in_use, LED_TOGGLE, sys_time::nb_sec, sys_time::nb_sec_rem, sys_time::nb_tick, SYS_TIME_NB_TIMER, sys_time::timer, and TRUE.

Referenced by nps_autopilot_run_systime_step(), and thd_sys_tick().

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sys_time_arch_init()

void sys_time_arch_init

(

void

)

Definition at line 52 of file sys_time_arch.c.

References CH_CFG_ST_FREQUENCY, sys_time::cpu_ticks_per_sec, sys_time::resolution, sys_time::resolution_cpu_ticks, and thd_sys_tick().

Referenced by sys_time_init().

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sys_time_msleep()

void sys_time_msleep

(

uint16_t

ms

)

Definition at line 128 of file sys_time_arch.c.

sys_time_ssleep()

void sys_time_ssleep

(

uint8_t

s

)

Definition at line 133 of file sys_time_arch.c.

References s.

sys_time_usleep()

void sys_time_usleep

(

uint32_t

us

)

sys_time_usleep(uint32_t us)

using intermediate 64 bits variable to avoid wrapping

max sleep time is around 10 days (2^32 / CH_CFG_ST_FREQUENCY) at 10kHz

Definition at line 116 of file sys_time_arch.c.

Referenced by bf_delayMicroseconds(), cyrf6936_init(), initializeSensor(), main(), pcap01_init(), px4flash_event(), readRegister_blocking(), received_spektrum_soft_bind(), send_spektrum_bind(), spektrum_bind(), spektrum_try_bind(), VCOM_putchar(), video_thread_function(), w5100_init(), and xbee_dl_init().

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thd_sys_tick()

static void thd_sys_tick ( void *  arg )

static

Definition at line 142 of file sys_time_arch.c.

References sys_tick_handler(), SYS_TIME_FREQUENCY, TRUE, and USEC_OF_SEC.

Referenced by sys_time_arch_init().

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THD_WORKING_AREA()

static THD_WORKING_AREA ( wa_thd_sys_tick  , 1024    )

static

Variable Documentation

cpu_counter

uint32_t cpu_counter = 0

static

Definition at line 50 of file sys_time_arch.c.

Referenced by get_sys_time_msec(), get_sys_time_usec(), get_sys_time_usec100(), and sys_tick_handler().

cpu_ticks

uint32_t cpu_ticks = 0

static

Definition at line 49 of file sys_time_arch.c.

Referenced by msec_of_cpu_ticks(), nsec_of_cpu_ticks(), sys_tick_handler(), and usec_of_cpu_ticks().