Paparazzi UAS  v5.15_devel-46-gd23ed71
Paparazzi is a free software Unmanned Aircraft System.
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sys_time_arch.c
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1 /*
2  * Copyright (C) 2009-2011 The Paparazzi Team
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
30 #include "mcu_periph/sys_time.h"
31 
32 #include "libopencm3/cm3/systick.h"
33 
34 #ifdef SYS_TIME_LED
35 #include "led.h"
36 #endif
37 
38 #ifndef USE_OCM3_SYSTICK_INIT
39 #define USE_OCM3_SYSTICK_INIT 1
40 #endif
41 
42 void sys_tick_handler(void);
43 
48 {
49  /* run cortex systick timer with 72MHz (FIXME only 72 or does it work with 168MHz???) */
50 #if USE_OCM3_SYSTICK_INIT
51  systick_set_clocksource(STK_CSR_CLKSOURCE_AHB);
52 #endif
54 
55  /* cpu ticks per desired sys_time timer step */
57 
58 #if USE_OCM3_SYSTICK_INIT
59  /* The timer interrupt is activated on the transition from 1 to 0,
60  * therefore it activates every n+1 clock ticks.
61  */
62  systick_set_reload(sys_time.resolution_cpu_ticks - 1);
63 
64  systick_interrupt_enable();
65  systick_counter_enable();
66 #endif
67 }
68 
69 
70 // FIXME : nb_tick rollover ???
71 //
72 // 97 days at 512hz
73 // 12 hours at 100khz
74 //
75 void sys_tick_handler(void)
76 {
77  sys_time.nb_tick++;
78 
82  sys_time.nb_sec++;
83 
84 #ifdef SYS_TIME_LED
85  LED_TOGGLE(SYS_TIME_LED);
86 #endif
87  }
88  for (unsigned int i = 0; i < SYS_TIME_NB_TIMER; i++) {
89  if (sys_time.timer[i].in_use &&
92  sys_time.timer[i].elapsed = true;
93  if (sys_time.timer[i].cb) {
94  sys_time.timer[i].cb(i);
95  }
96  }
97  }
98 }
void sys_tick_handler(void)
Definition: sys_time_arch.c:38
float resolution
sys_time_timer resolution in seconds
Definition: sys_time.h:77
uint32_t cpu_ticks_per_sec
cpu ticks per second
Definition: sys_time.h:80
#define AHB_CLK
Definition: board.h:74
volatile uint32_t nb_tick
SYS_TIME_TICKS since startup.
Definition: sys_time.h:74
volatile bool elapsed
Definition: sys_time.h:66
Architecture independent timing functions.
unsigned long uint32_t
Definition: types.h:18
uint32_t end_time
in SYS_TIME_TICKS
Definition: sys_time.h:67
volatile uint32_t nb_sec_rem
remainder of seconds since startup in CPU_TICKS
Definition: sys_time.h:73
#define LED_TOGGLE(i)
Definition: led_hw.h:52
struct sys_time_timer timer[SYS_TIME_NB_TIMER]
Definition: sys_time.h:75
volatile uint32_t nb_sec
full seconds since startup
Definition: sys_time.h:72
sys_time_cb cb
Definition: sys_time.h:65
arch independent LED (Light Emitting Diodes) API
#define SYS_TIME_NB_TIMER
Definition: sys_time.h:40
uint32_t duration
in SYS_TIME_TICKS
Definition: sys_time.h:68
void sys_time_arch_init(void)
Definition: sys_time_arch.c:49
uint32_t resolution_cpu_ticks
sys_time_timer resolution in cpu ticks
Definition: sys_time.h:79