sys_time_arch.c

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/*
 *
 * Copyright (C) 2009-2011 The Paparazzi Team
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */
 
#include "mcu_periph/sys_time.h"
#include "std.h"
#include <time.h>
 
// number of milliseconds since midnight at the start time.
static uint32_t rtc_ms_start;
 
void sys_tick_handler(void);
 
void sys_time_arch_init(void)
{
  // simulate 1us cpu ticks
  sys_time.cpu_ticks_per_sec = 1e6;
  sys_time.resolution_cpu_ticks = (uint32_t)(sys_time.resolution * sys_time.cpu_ticks_per_sec + 0.5);
 
 
  struct timespec now;
  struct tm local_time;
  clock_gettime(CLOCK_REALTIME, &now);
  gmtime_r(&now.tv_sec, &local_time);
  rtc_ms_start = (local_time.tm_hour * 3600 + local_time.tm_min * 60 + local_time.tm_sec) * 1000
                + now.tv_nsec / 1000000;
}
 
uint32_t get_sys_time_usec(void)
{
  return sys_time.nb_sec * 1000000 +
         usec_of_cpu_ticks(sys_time.nb_sec_rem);
}
 
uint32_t get_sys_time_usec100(void)
{
  return sys_time.nb_sec * 10000 +
         usec_of_cpu_ticks(sys_time.nb_sec_rem)/100;
}
 
uint32_t get_sys_time_msec(void)
{
  return sys_time.nb_sec * 1000 +
         msec_of_cpu_ticks(sys_time.nb_sec_rem);
}
 
void sys_tick_handler(void)
{
  sys_time.nb_tick++;
  sys_time.nb_sec_rem += sys_time.resolution_cpu_ticks;
  if (sys_time.nb_sec_rem >= sys_time.cpu_ticks_per_sec) {
    sys_time.nb_sec_rem -= sys_time.cpu_ticks_per_sec;
    sys_time.nb_sec++;
  }
  for (unsigned int i = 0; i < SYS_TIME_NB_TIMER; i++) {
    if (sys_time.timer[i].in_use &&
        sys_time.nb_tick >= sys_time.timer[i].end_time) {
      sys_time.timer[i].end_time += sys_time.timer[i].duration;
      sys_time.timer[i].elapsed = true;
      if (sys_time.timer[i].cb) {
        sys_time.timer[i].cb(i);
      }
    }
  }
}
 
void sys_time_usleep(uint32_t us __attribute__((unused))) {}
 
void sys_time_msleep(uint32_t ms) {
  sys_time_usleep(ms*1000);
}
 
uint32_t sys_time_rtc_millisecond(void)
{
  uint32_t ms = rtc_ms_start
                + sys_time.nb_sec * 1000
                + (uint64_t)(sys_time.nb_sec_rem*1000LLU) / sys_time.cpu_ticks_per_sec;
  return ms;
}