Paparazzi UAS  v5.15_devel-81-gd13dafb
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sys_time.c
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23 
30 #include "mcu_periph/sys_time.h"
31 #include "mcu.h"
32 
33 // check the number of timers against max tid_t value
34 #include "limits.h"
35 #if (SYS_TIME_NB_TIMER >= SCHAR_MAX)
36  WARNING("Too many sys timers (SYS_TIME_NB_TIMER >= SCHAR_MAX). Consider increasing the size of tid_d type (currently int8_t")
37 #endif
38 
39 PRINT_CONFIG_VAR(SYS_TIME_FREQUENCY)
40 
42 
44 {
45  uint32_t start_time = sys_time.nb_tick;
46  for (tid_t i = 0; i < SYS_TIME_NB_TIMER; i++) {
47  if (!sys_time.timer[i].in_use) {
48  sys_time.timer[i].cb = cb;
49  sys_time.timer[i].elapsed = false;
50  sys_time.timer[i].end_time = start_time + sys_time_ticks_of_sec(duration);
51  sys_time.timer[i].duration = sys_time_ticks_of_sec(duration);
52  sys_time.timer[i].in_use = true;
53  return i;
54  }
55  }
56  return -1;
57 }
58 
59 
61 {
62  sys_time.timer[id].in_use = false;
63  sys_time.timer[id].cb = NULL;
64  sys_time.timer[id].elapsed = false;
65  sys_time.timer[id].end_time = 0;
66  sys_time.timer[id].duration = 0;
67 }
68 
69 // FIXME: race condition ??
70 void sys_time_update_timer(tid_t id, float duration)
71 {
76 }
77 
78 void sys_time_init(void)
79 {
80  sys_time.nb_sec = 0;
81  sys_time.nb_sec_rem = 0;
82  sys_time.nb_tick = 0;
83 
86 
87  for (unsigned int i = 0; i < SYS_TIME_NB_TIMER; i++) {
88  sys_time.timer[i].in_use = false;
89  sys_time.timer[i].cb = NULL;
90  sys_time.timer[i].elapsed = false;
91  sys_time.timer[i].end_time = 0;
92  sys_time.timer[i].duration = 0;
93  }
94 
96 }
float resolution
sys_time_timer resolution in seconds
Definition: sys_time.h:77
void sys_time_cancel_timer(tid_t id)
Cancel a system timer by id.
Definition: sys_time.c:60
volatile uint32_t nb_tick
SYS_TIME_TICKS since startup.
Definition: sys_time.h:74
#define mcu_int_enable()
Definition: mcu_arch.h:36
uint32_t ticks_per_sec
sys_time ticks per second (SYS_TIME_FREQUENCY)
Definition: sys_time.h:78
volatile bool elapsed
Definition: sys_time.h:66
Architecture independent timing functions.
void(* sys_time_cb)(uint8_t id)
Definition: sys_time.h:61
unsigned long uint32_t
Definition: types.h:18
uint32_t end_time
in SYS_TIME_TICKS
Definition: sys_time.h:67
int8_t tid_t
sys_time timer id type
Definition: sys_time.h:60
#define SYS_TIME_FREQUENCY
(Default) sys_time timer frequency in Hz.
Definition: sys_time.h:55
void sys_time_init(void)
Definition: sys_time.c:78
volatile uint32_t nb_sec_rem
remainder of seconds since startup in CPU_TICKS
Definition: sys_time.h:73
struct sys_time_timer timer[SYS_TIME_NB_TIMER]
Definition: sys_time.h:75
Arch independent mcu ( Micro Controller Unit ) utilities.
int start_time
Definition: gps_sirf.c:192
static uint32_t sys_time_ticks_of_sec(float seconds)
Definition: sys_time.h:138
volatile uint32_t nb_sec
full seconds since startup
Definition: sys_time.h:72
#define mcu_int_disable()
Definition: mcu_arch.h:37
void sys_time_update_timer(tid_t id, float duration)
Update the duration until a timer elapses.
Definition: sys_time.c:70
sys_time_cb cb
Definition: sys_time.h:65
#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
tid_t sys_time_register_timer(float duration, sys_time_cb cb)
Register a new system timer.
Definition: sys_time.c:43