sys_time.h File Reference

Architecture independent timing functions. More...

#include <inttypes.h>
#include <stdlib.h>
#include "std.h"
#include <BOARD_CONFIG>

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Data Structures
struct	sys_time_timer
struct	sys_time

Macros
#define	SYS_TIME_NB_TIMER   16
#define	SYS_TIME_FREQUENCY   1000
	(Default) sys_time timer frequency in Hz.
#define	USEC_OF_SEC(sec)   ((sec) * 1e6)
#define	SysTimeTimerStart(_t)   { _t = get_sys_time_usec(); }
#define	SysTimeTimer(_t)   ( get_sys_time_usec() - (_t))
#define	SysTimeTimerStop(_t)   { _t = ( get_sys_time_usec() - (_t)); }

Typedefs
typedef int8_t	tid_t
	sys_time timer id type
typedef void(*	sys_time_cb) (uint8_t id)

Functions
void	sys_time_init (void)
void	sys_time_usleep (uint32_t us)
	Sleep.
void	sys_time_msleep (uint32_t ms)
	Sleep.
uint32_t	get_sys_time_usec (void)
	Get the time in microseconds since startup.
uint32_t	get_sys_time_usec100 (void)
	Get the time in 100microseconds since startup.
uint32_t	get_sys_time_msec (void)
	Get the time in milliseconds since startup.
tid_t	sys_time_register_timer (float duration, sys_time_cb cb)
	Register a new system timer.
tid_t	sys_time_register_timer_offset (tid_t timer, float offset, sys_time_cb cb)
	Register a new system timer with an fixed offset from another one.
void	sys_time_cancel_timer (tid_t id)
	Cancel a system timer by id.
void	sys_time_update_timer (tid_t id, float duration)
	Update the duration until a timer elapses.
static bool	sys_time_check_and_ack_timer (tid_t id)
	Check if timer has elapsed.
static float	get_sys_time_float (void)
	Get the time in seconds since startup.
static uint32_t	sys_time_ticks_of_sec (float seconds)
static uint32_t	sys_time_ticks_of_msec (uint32_t msec)
static uint32_t	sys_time_ticks_of_usec (uint32_t usec)
static float	sec_of_sys_time_ticks (uint32_t ticks)
static uint32_t	msec_of_sys_time_ticks (uint32_t ticks)
static uint32_t	usec_of_sys_time_ticks (uint32_t ticks)
static uint32_t	cpu_ticks_of_sec (float seconds)
static uint32_t	cpu_ticks_of_usec (uint32_t usec)
static int32_t	signed_cpu_ticks_of_usec (int32_t usec)
static uint32_t	cpu_ticks_of_nsec (uint32_t nsec)
static uint32_t	msec_of_cpu_ticks (uint32_t cpu_ticks)
static uint32_t	usec_of_cpu_ticks (uint32_t cpu_ticks)
static uint32_t	nsec_of_cpu_ticks (uint32_t cpu_ticks)
void	sys_time_arch_init (void)
	Initialize SysTick.

Variables
struct sys_time	sys_time

Detailed Description

Architecture independent timing functions.

Definition in file sys_time.h.

---

Data Structure Documentation

sys_time_timer

struct sys_time_timer

Definition at line 63 of file sys_time.h.

Data Fields
sys_time_cb	cb
uint32_t	duration	in SYS_TIME_TICKS
volatile bool	elapsed
uint32_t	end_time	in SYS_TIME_TICKS
bool	in_use

sys_time

struct sys_time

Definition at line 71 of file sys_time.h.

Collaboration diagram for sys_time:

Data Fields
uint32_t	cpu_ticks_per_sec	cpu ticks per second
volatile uint32_t	nb_sec	full seconds since startup
volatile uint32_t	nb_sec_rem	remainder of seconds since startup in CPU_TICKS
volatile uint32_t	nb_tick	SYS_TIME_TICKS since startup.
float	resolution	sys_time_timer resolution in seconds
uint32_t	resolution_cpu_ticks	sys_time_timer resolution in cpu ticks
uint32_t	ticks_per_sec	sys_time ticks per second (SYS_TIME_FREQUENCY)
struct sys_time_timer	timer[SYS_TIME_NB_TIMER]

Macro Definition Documentation

SYS_TIME_FREQUENCY

#define SYS_TIME_FREQUENCY   1000

(Default) sys_time timer frequency in Hz.

sys_time.resolution is set from this define.

Definition at line 56 of file sys_time.h.

SYS_TIME_NB_TIMER

#define SYS_TIME_NB_TIMER   16

Definition at line 44 of file sys_time.h.

SysTimeTimer

#define SysTimeTimer

(

_t

)

( get_sys_time_usec() - (_t))

Definition at line 257 of file sys_time.h.

SysTimeTimerStart

#define SysTimeTimerStart

(

_t

)

{ _t = get_sys_time_usec(); }

Definition at line 256 of file sys_time.h.

SysTimeTimerStop

#define SysTimeTimerStop

(

_t

)

{ _t = ( get_sys_time_usec() - (_t)); }

Definition at line 258 of file sys_time.h.

USEC_OF_SEC

#define USEC_OF_SEC

(

sec

)

((sec) * 1e6)

Definition at line 249 of file sys_time.h.

Typedef Documentation

sys_time_cb

typedef void(* sys_time_cb) (uint8_t id)

Definition at line 61 of file sys_time.h.

tid_t

typedef int8_t tid_t

sys_time timer id type

Definition at line 60 of file sys_time.h.

Function Documentation

cpu_ticks_of_nsec()

static uint32_t cpu_ticks_of_nsec ( uint32_t  nsec )

inlinestatic

Definition at line 227 of file sys_time.h.

References sys_time::cpu_ticks_per_sec, and foo.

Referenced by ms2100_reset_cb(), and sys_tick_handler().

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cpu_ticks_of_sec()

static uint32_t cpu_ticks_of_sec ( float  seconds )

inlinestatic

Definition at line 212 of file sys_time.h.

References sys_time::cpu_ticks_per_sec, and foo.

Referenced by sys_tick_handler().

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cpu_ticks_of_usec()

static uint32_t cpu_ticks_of_usec ( uint32_t  usec )

inlinestatic

Definition at line 217 of file sys_time.h.

References sys_time::cpu_ticks_per_sec, and foo.

Referenced by sys_time_usleep(), and xtend_rssi_periodic().

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get_sys_time_float()

static float get_sys_time_float ( void  )

inlinestatic

Get the time in seconds since startup.

Returns

current system time as float with sys_time.resolution

Definition at line 168 of file sys_time.h.

References sys_time::cpu_ticks_per_sec, foo, sys_time::nb_sec, and sys_time::nb_sec_rem.

Referenced by accel_sp_cb(), actuators_faulhaber_periodic(), actuators_t4_uart_event(), actuators_uavcan_esc_status_cb(), agl_cb(), agl_dist_init(), airspeed_cb(), autopilot_arming_check_motors_on(), autopilot_arming_set(), baro_cb(), cc2500_delayMicroseconds(), check_anchor_timeout(), chirp_call(), ctrl_module_run(), dc_periodic(), ekf_run(), fill_anchor(), get_uavcan_status(), gps_cb(), gps_fix_valid(), guidance_indi_run_mode(), guidance_indi_run_mode(), gyro_cb(), hmc58xx_start_configure(), imu_aspirin2_configure_mag_slave(), imu_mpu9250_configure_mag_slave(), incidence_cb(), ins_flow_init(), ins_flow_update(), logger_control_effectiveness_periodic(), logger_file_write_row(), mag_cb(), nav_lace_run(), nav_rosette_run(), nav_rosette_setup(), nav_trinity_run(), optical_flow_landing_init(), periodic_report_sysmon(), periodic_sys_id_auto_doublets(), pfc_actuators_run(), PID_divergence_control(), pprz_bsem_wait_timeout(), preflight_check(), pressure_diff_cb(), px4flow_i2c_downlink(), px4flow_i2c_frame_cb(), read_rc_setpoint_heading(), reset_all_vars(), reset_horizontal_vars(), reset_vertical_vars(), rotwing_state_feedback_cb(), rotwing_state_hover_motors_idling(), rotwing_state_hover_motors_running(), rotwing_state_periodic(), rotwing_state_pusher_motor_running(), rotwing_state_skew_angle_valid(), rpm_cb(), stabilization_attitude_read_rc_setpoint_eulers(), stabilization_attitude_read_rc_setpoint_eulers_f(), start_chirp(), start_doublet(), start_wave(), stop_chirp(), stop_doublet(), stop_wave(), sys_id_auto_doublets_on_activation(), sys_id_chirp_activate_handler(), sys_id_chirp_init(), sys_id_chirp_run(), sys_id_doublet_activate_handler(), sys_id_doublet_init(), sys_id_doublet_run(), sys_id_wave_activate_handler(), sys_id_wave_frequency_hz_set(), sys_id_wave_init(), sys_id_wave_lag_rad_set(), sys_id_wave_run(), vel_sp_cb(), vertical_ctrl_module_run(), and vertical_ctrl_optical_flow_cb().

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 100 of file sys_time_arch.c.

References cpu_counter, foo, msec_of_cpu_ticks(), sys_time::nb_sec, sys_time::nb_sec_rem, and startup_time.

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(), decay_map(), distributed_circular(), follow_diagonal_approach(), follow_me_parse_target_pos(), follow_me_set_wp(), gps_piksi_event(), gvf_control_2D(), gvf_ik_control_2D(), gvf_parametric_control_2D(), hackhd_command(), hackhd_periodic(), init_random(), mavlink_send_attitude(), 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(), reset_gamma_t0(), sbp_pos_ecef_callback(), sbus_common_decode_event(), send_bluegiga(), send_downlink(), send_gvf(), 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

WARNING: overflows after 71min34seconds!

Returns

current system time as uint32_t

Definition at line 73 of file sys_time_arch.c.

References cpu_counter, foo, sys_time::nb_sec, sys_time::nb_sec_rem, startup_time, and usec_of_cpu_ticks().

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_propagate(), 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_uavcan_cb(), gps_ubx_msg(), gps_ubx_parse_nav_relposned(), 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_456_config(), invensense3_456_parse_fifo_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(), mag_uavcan_cb(), mag_uavcan_cb2(), 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(), send_filter_status(), send_filter_status(), send_filter_status(), send_filter_status(), send_filter_status(), send_filter_status(), send_filter_status(), send_filter_status(), sensors_hitl_event(), sensors_hitl_parse_HITL_AIR_DATA(), sensors_hitl_parse_HITL_GPS(), sonar_adc_periodic(), sonar_bebop_event(), sonar_i2c_periodic(), sonar_pwm_read(), sonar_vl53l1x_publish(), stereocam_parse_msg(), sts3032_event(), superbitrf_event(), superbitrf_receive_packet_cb(), teraranger_event(), tfmini_i2c_periodic(), tfmini_send_abi(), v4l2_capture_thread(), and video_thread_function().

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get_sys_time_usec100()

uint32_t get_sys_time_usec100

(

void

)

Get the time in 100microseconds since startup.

WARNING: overflows after 7000min!

Returns

100microseconds since startup as uint32_t

Get the time in 100microseconds since startup.

WARNING: overflows after 7000min!

Returns

100microseconds since startup as uint32_t

WARNING: overflows after 7000 minutes!

Returns

current system time as uint32_t

Definition at line 89 of file sys_time_arch.c.

References cpu_counter, foo, sys_time::nb_sec, sys_time::nb_sec_rem, startup_time, and usec_of_cpu_ticks().

Referenced by pprzlog_tp_init().

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msec_of_cpu_ticks()

static uint32_t msec_of_cpu_ticks ( uint32_t  cpu_ticks )

inlinestatic

Definition at line 232 of file sys_time.h.

References cpu_ticks, and sys_time::cpu_ticks_per_sec.

Referenced by get_sys_time_msec().

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msec_of_sys_time_ticks()

static uint32_t msec_of_sys_time_ticks ( uint32_t  ticks )

inlinestatic

Definition at line 197 of file sys_time.h.

References ticks, and sys_time::ticks_per_sec.

Referenced by gps_tow_from_sys_ticks(), and windturbine_periodic().

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nsec_of_cpu_ticks()

static uint32_t nsec_of_cpu_ticks ( uint32_t  cpu_ticks )

inlinestatic

Definition at line 242 of file sys_time.h.

References cpu_ticks, and sys_time::cpu_ticks_per_sec.

sec_of_sys_time_ticks()

static float sec_of_sys_time_ticks ( uint32_t  ticks )

inlinestatic

Definition at line 192 of file sys_time.h.

References sys_time::resolution, and ticks.

signed_cpu_ticks_of_usec()

static int32_t signed_cpu_ticks_of_usec ( int32_t  usec )

inlinestatic

Definition at line 222 of file sys_time.h.

References sys_time::cpu_ticks_per_sec, and foo.

sys_time_arch_init()

void sys_time_arch_init

(

void

)

Initialize SysTick.

Generate SysTick interrupt every sys_time.resolution_cpu_ticks

Definition at line 54 of file sys_time_arch.c.

References AHB_CLK, CH_CFG_ST_FREQUENCY, sys_time::cpu_ticks_per_sec, foo, sys_time::resolution, sys_time::resolution_cpu_ticks, startup_time, sys_time_thread_main(), and thd_sys_tick().

Referenced by sys_time_init().

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sys_time_cancel_timer()

void sys_time_cancel_timer ( tid_t  id )

extern

Cancel a system timer by id.

Parameters

id

Timer id.

Definition at line 76 of file sys_time.c.

References sys_time_timer::cb, sys_time_timer::duration, sys_time_timer::elapsed, sys_time_timer::end_time, foo, sys_time_timer::in_use, and sys_time::timer.

Referenced by mavlink_mission_cancel_timer(), and px4flash_event().

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sys_time_check_and_ack_timer()

static bool sys_time_check_and_ack_timer ( tid_t  id )

inlinestatic

Check if timer has elapsed.

Parameters

id

Timer id

Returns

TRUE if timer has elapsed

Definition at line 153 of file sys_time.h.

References sys_time_timer::elapsed, SYS_TIME_NB_TIMER, and sys_time::timer.

Referenced by main(), main_ap_periodic(), main_fbw_periodic(), main_recovery_periodic(), mavlink_mission_periodic(), and px4flash_event().

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sys_time_init()

void sys_time_init ( void  )

extern

Definition at line 119 of file sys_time.c.

References sys_time_timer::cb, sys_time_timer::duration, sys_time_timer::elapsed, sys_time_timer::end_time, foo, sys_time_timer::in_use, sys_time::nb_sec, sys_time::nb_sec_rem, sys_time::nb_tick, sys_time::resolution, shell_add_entry(), sys_time_arch_init(), SYS_TIME_FREQUENCY, SYS_TIME_NB_TIMER, sys_time::ticks_per_sec, and sys_time::timer.

Referenced by main(), and mcu_init().

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sys_time_msleep()

void sys_time_msleep

(

uint32_t

ms

)

Sleep.

Parameters

ms	milliseconds

Definition at line 130 of file sys_time_arch.c.

References foo, and sys_time_usleep().

Referenced by uavcan_tx().

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sys_time_register_timer()

tid_t sys_time_register_timer ( float  duration, sys_time_cb  cb  )

extern

Register a new system timer.

Parameters

duration	Duration in seconds until the timer elapses.
cb	Callback function that is called from the ISR when timer elapses, or NULL

Returns

-1 if it failed, the timer id otherwise

Definition at line 43 of file sys_time.c.

References sys_time_timer::cb, sys_time_timer::duration, sys_time_timer::elapsed, sys_time_timer::end_time, sys_time_timer::in_use, sys_time::nb_tick, start_time, SYS_TIME_NB_TIMER, sys_time_ticks_of_sec(), and sys_time::timer.

Referenced by intermcu_init(), main(), main_ap_init(), main_fbw_init(), main_init(), main_init(), main_init(), main_init(), main_init(), main_init(), main_init(), main_recovery_init(), mavlink_mission_set_timer(), and px4flash_init().

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sys_time_register_timer_offset()

tid_t sys_time_register_timer_offset ( tid_t  timer, float  offset, sys_time_cb  cb  )

extern

Register a new system timer with an fixed offset from another one.

Parameters

timer	timer providing start time and duration
offset	offset in seconds beetween the timers (will overlap if longer than duration)
cb	Callback function that is called from the ISR when timer elapses, or NULL

Returns

-1 if it failed, the timer id otherwise

Definition at line 59 of file sys_time.c.

References sys_time_timer::cb, sys_time_timer::duration, sys_time_timer::elapsed, sys_time_timer::end_time, sys_time_timer::in_use, offset, SYS_TIME_NB_TIMER, sys_time_ticks_of_sec(), and sys_time::timer.

Referenced by main_ap_init().

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sys_time_ticks_of_msec()

static uint32_t sys_time_ticks_of_msec ( uint32_t  msec )

inlinestatic

Definition at line 182 of file sys_time.h.

References foo, and sys_time::ticks_per_sec.

sys_time_ticks_of_sec()

static uint32_t sys_time_ticks_of_sec ( float  seconds )

inlinestatic

Definition at line 177 of file sys_time.h.

References foo, and sys_time::ticks_per_sec.

Referenced by sys_tick_handler(), sys_time_register_timer(), sys_time_register_timer_offset(), and sys_time_update_timer().

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sys_time_ticks_of_usec()

static uint32_t sys_time_ticks_of_usec ( uint32_t  usec )

inlinestatic

Definition at line 187 of file sys_time.h.

References foo, and sys_time::ticks_per_sec.

Referenced by sys_tick_handler().

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sys_time_update_timer()

void sys_time_update_timer ( tid_t  id, float  duration  )

extern

Update the duration until a timer elapses.

Parameters

id	Timer id
duration	Duration in seconds until the timer elapses.

Definition at line 86 of file sys_time.c.

References sys_time_timer::duration, sys_time_timer::end_time, sys_time_ticks_of_sec(), and sys_time::timer.

Referenced by mavlink_mission_set_timer().

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sys_time_usleep()

void sys_time_usleep

(

uint32_t

us

)

Sleep.

Parameters

us	microseconds

Sleep.

using intermediate 64 bits variable to avoid wrapping

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

Sleep.

max value is limited by the max number of cycle i.e 2^32 * usec_of_cpu_ticks(systick_get_reload())

Definition at line 118 of file sys_time_arch.c.

References cpu_ticks_of_usec(), foo, and usec_of_cpu_ticks().

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

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usec_of_cpu_ticks()

static uint32_t usec_of_cpu_ticks ( uint32_t  cpu_ticks )

inlinestatic

Definition at line 237 of file sys_time.h.

References cpu_ticks, and sys_time::cpu_ticks_per_sec.

Referenced by get_sys_time_usec(), get_sys_time_usec100(), and sys_time_usleep().

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usec_of_sys_time_ticks()

static uint32_t usec_of_sys_time_ticks ( uint32_t  ticks )

inlinestatic

Definition at line 202 of file sys_time.h.

References ticks, and sys_time::ticks_per_sec.

Variable Documentation

sys_time

struct sys_time sys_time

extern

Definition at line 41 of file sys_time.c.