Architecture independent timing functions. More...

#include <inttypes.h>
#include <stdlib.h>
#include "std.h"
#include <BOARD_CONFIG>
#include "mcu_periph/sys_time_arch.h"

Include dependency graph for sys_time.h:

Go to the source code of this file.

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. More...

#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 More...

typedef void(*	sys_time_cb) (uint8_t id)

Functions
void	sys_time_init (void)

tid_t	sys_time_register_timer (float duration, sys_time_cb cb)
	Register a new system timer. More...

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. More...

void	sys_time_cancel_timer (tid_t id)
	Cancel a system timer by id. More...

void	sys_time_update_timer (tid_t id, float duration)
	Update the duration until a timer elapses. More...

static bool	sys_time_check_and_ack_timer (tid_t id)
	Check if timer has elapsed. More...

static float	get_sys_time_float (void)
	Get the time in seconds since startup. More...

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. More...

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.

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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 228 of file sys_time.h.

◆ SysTimeTimerStart

#define SysTimeTimerStart ( _t ) { _t = get_sys_time_usec(); }

Definition at line 227 of file sys_time.h.

◆ SysTimeTimerStop

#define SysTimeTimerStop ( _t ) { _t = ( get_sys_time_usec() - (_t)); }

Definition at line 229 of file sys_time.h.

◆ USEC_OF_SEC

#define USEC_OF_SEC ( sec ) ((sec) * 1e6)

Definition at line 219 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 197 of file sys_time.h.

References sys_time::cpu_ticks_per_sec.

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 182 of file sys_time.h.

References sys_time::cpu_ticks_per_sec.

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 187 of file sys_time.h.

References sys_time::cpu_ticks_per_sec.

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 138 of file sys_time.h.

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

Referenced by accel_sp_cb(), 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(), ctrl_module_run(), dc_periodic(), ekf_run(), fill_anchor(), gps_cb(), gps_fix_valid(), gyro_cb(), hmc58xx_start_configure(), i2c_blocking_receive(), i2c_blocking_transceive(), i2c_blocking_transmit(), 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_rosette_setup(), periodic_report_sysmon(), periodic_sys_id_auto_doublets(), pfc_actuators_run(), PID_divergence_control(), preflight_check(), pressure_diff_cb(), px4flow_i2c_downlink(), px4flow_i2c_frame_cb(), reset_all_vars(), reset_horizontal_vars(), reset_vertical_vars(), rpm_cb(), spi_blocking_transceive(), 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_init(), vertical_ctrl_module_run(), and vertical_ctrl_optical_flow_cb().

◆ msec_of_cpu_ticks()

static uint32_t msec_of_cpu_ticks ( uint32_t cpu_ticks )

inlinestatic

Definition at line 202 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 167 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 212 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 162 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 192 of file sys_time.h.

References sys_time::cpu_ticks_per_sec.

◆ sys_time_arch_init()

void sys_time_arch_init ( void )

Initialize SysTick.

Generate SysTick interrupt every sys_time.resolution_cpu_ticks

Definition at line 52 of file sys_time_arch.c.

References AHB_CLK, CH_CFG_ST_FREQUENCY, sys_time::cpu_ticks_per_sec, 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 )

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, 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 123 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 )

Definition at line 92 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_sec, sys_time::nb_sec_rem, sys_time::nb_tick, sys_time::resolution, 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_register_timer()

tid_t sys_time_register_timer	(	float	duration,
		sys_time_cb	cb
	)

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_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
	)

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