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sys_time.h
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23 
30 #ifndef SYS_TIME_H
31 #define SYS_TIME_H
32 
33 #include <inttypes.h>
34 #include <stdlib.h>
35 #include "std.h"
36 
37 #include BOARD_CONFIG
38 
39 #ifndef SYS_TIME_NB_TIMER
40 #define SYS_TIME_NB_TIMER 16
41 #endif
42 
43 
48 #ifndef SYS_TIME_FREQUENCY
49 #if USE_CHIBIOS_RTOS
50 #define SYS_TIME_FREQUENCY CH_CFG_ST_FREQUENCY
51 #else /* NO RTOS */
52 #if defined PERIODIC_FREQUENCY
53 #define SYS_TIME_FREQUENCY (2 * PERIODIC_FREQUENCY)
54 #else /* !defined PERIODIC_FREQUENCY */
55 #define SYS_TIME_FREQUENCY 1000
56 #endif
57 #endif /* USE_CHIBIOS_RTOS */
58 #endif
59 
60 typedef int8_t tid_t;
61 typedef void (*sys_time_cb)(uint8_t id);
62 
64  bool in_use;
66  volatile bool elapsed;
69 };
70 
71 struct sys_time {
72  volatile uint32_t nb_sec;
73  volatile uint32_t nb_sec_rem;
74  volatile uint32_t nb_tick;
76 
77  float resolution;
81 };
82 
83 extern struct sys_time sys_time;
84 
85 
86 extern void sys_time_init(void);
87 
94 extern tid_t sys_time_register_timer(float duration, sys_time_cb cb);
95 
100 extern void sys_time_cancel_timer(tid_t id);
101 
107 extern void sys_time_update_timer(tid_t id, float duration);
108 
114 static inline bool sys_time_check_and_ack_timer(tid_t id)
115 {
116  if ((id < SYS_TIME_NB_TIMER) && (id >= 0)) {
117  if (sys_time.timer[id].elapsed) {
118  sys_time.timer[id].elapsed = false;
119  return true;
120  }
121  }
122  return false;
123 }
124 
129 static inline float get_sys_time_float(void)
130 {
131  return (float)(sys_time.nb_sec + (float)(sys_time.nb_sec_rem) / sys_time.cpu_ticks_per_sec);
132 }
133 
134 
135 /*
136  * Convenience functions to convert between seconds and sys_time ticks.
137  */
138 static inline uint32_t sys_time_ticks_of_sec(float seconds)
139 {
140  return (uint32_t)(seconds * sys_time.ticks_per_sec + 0.5);
141 }
142 
144 {
145  return msec * sys_time.ticks_per_sec / 1000;
146 }
147 
149 {
150  return usec * sys_time.ticks_per_sec / 1000000;
151 }
152 
154 {
155  return (float)ticks * sys_time.resolution;
156 }
157 
159 {
160  return ticks * 1000 / sys_time.ticks_per_sec;
161 }
162 
164 {
165  return ticks * 1000 / sys_time.ticks_per_sec * 1000;
166 }
167 
168 
169 
170 /*
171  * Convenience functions to convert between seconds and CPU ticks.
172  */
173 static inline uint32_t cpu_ticks_of_sec(float seconds)
174 {
175  return (uint32_t)(seconds * sys_time.cpu_ticks_per_sec + 0.5);
176 }
177 
179 {
180  return usec * (sys_time.cpu_ticks_per_sec / 1000000);
181 }
182 
184 {
185  return usec * ((int32_t)sys_time.cpu_ticks_per_sec / 1000000);
186 }
187 
189 {
190  return nsec * (sys_time.cpu_ticks_per_sec / 1000000) / 1000;
191 }
192 
193 static inline uint32_t msec_of_cpu_ticks(uint32_t cpu_ticks)
194 {
195  return cpu_ticks / (sys_time.cpu_ticks_per_sec / 1000);
196 }
197 
198 static inline uint32_t usec_of_cpu_ticks(uint32_t cpu_ticks)
199 {
200  return cpu_ticks / (sys_time.cpu_ticks_per_sec / 1000000);
201 }
202 
203 static inline uint32_t nsec_of_cpu_ticks(uint32_t cpu_ticks)
204 {
205  return cpu_ticks / (sys_time.cpu_ticks_per_sec / 1000000) / 1000;
206 }
207 
208 
209 
210 #define USEC_OF_SEC(sec) ((sec) * 1e6)
211 
212 #include "mcu_periph/sys_time_arch.h"
213 
214 /* architecture specific init implementation */
215 extern void sys_time_arch_init(void);
216 
217 /* Generic timer macros */
218 #define SysTimeTimerStart(_t) { _t = get_sys_time_usec(); }
219 #define SysTimeTimer(_t) ( get_sys_time_usec() - (_t))
220 #define SysTimeTimerStop(_t) { _t = ( get_sys_time_usec() - (_t)); }
221 
222 #endif /* SYS_TIME_H */
static uint32_t msec_of_cpu_ticks(uint32_t cpu_ticks)
Definition: sys_time.h:193
static uint32_t cpu_ticks_of_nsec(uint32_t nsec)
Definition: sys_time.h:188
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
static float sec_of_sys_time_ticks(uint32_t ticks)
Definition: sys_time.h:153
static uint32_t msec_of_sys_time_ticks(uint32_t ticks)
Definition: sys_time.h:158
volatile uint32_t nb_tick
SYS_TIME_TICKS since startup.
Definition: sys_time.h:74
void sys_time_arch_init(void)
Initialize SysTick.
Definition: sys_time_arch.c:49
static float get_sys_time_float(void)
Get the time in seconds since startup.
Definition: sys_time.h:129
void sys_time_init(void)
Definition: sys_time.c:78
tid_t sys_time_register_timer(float duration, sys_time_cb cb)
Register a new system timer.
Definition: sys_time.c:43
uint32_t ticks_per_sec
sys_time ticks per second (SYS_TIME_FREQUENCY)
Definition: sys_time.h:78
static uint32_t usec_of_cpu_ticks(uint32_t cpu_ticks)
Definition: sys_time.h:198
volatile bool elapsed
Definition: sys_time.h:66
void(* sys_time_cb)(uint8_t id)
Definition: sys_time.h:61
static uint32_t sys_time_ticks_of_msec(uint32_t msec)
Definition: sys_time.h:143
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
static int32_t signed_cpu_ticks_of_usec(int32_t usec)
Definition: sys_time.h:183
int ticks
Definition: gps_sirf.c:193
volatile uint32_t nb_sec_rem
remainder of seconds since startup in CPU_TICKS
Definition: sys_time.h:73
signed long int32_t
Definition: types.h:19
static uint32_t usec_of_sys_time_ticks(uint32_t ticks)
Definition: sys_time.h:163
struct sys_time_timer timer[SYS_TIME_NB_TIMER]
Definition: sys_time.h:75
static uint32_t sys_time_ticks_of_sec(float seconds)
Definition: sys_time.h:138
unsigned char uint8_t
Definition: types.h:14
static bool sys_time_check_and_ack_timer(tid_t id)
Check if timer has elapsed.
Definition: sys_time.h:114
volatile uint32_t nb_sec
full seconds since startup
Definition: sys_time.h:72
static uint32_t nsec_of_cpu_ticks(uint32_t cpu_ticks)
Definition: sys_time.h:203
sys_time_cb cb
Definition: sys_time.h:65
#define SYS_TIME_NB_TIMER
Definition: sys_time.h:40
signed char int8_t
Definition: types.h:15
uint32_t duration
in SYS_TIME_TICKS
Definition: sys_time.h:68
static uint32_t sys_time_ticks_of_usec(uint32_t usec)
Definition: sys_time.h:148
static uint32_t cpu_ticks_of_sec(float seconds)
Definition: sys_time.h:173
void sys_time_update_timer(tid_t id, float duration)
Update the duration until a timer elapses.
Definition: sys_time.c:70
static uint32_t cpu_ticks_of_usec(uint32_t usec)
Definition: sys_time.h:178
void sys_time_cancel_timer(tid_t id)
Cancel a system timer by id.
Definition: sys_time.c:60
uint32_t resolution_cpu_ticks
sys_time_timer resolution in cpu ticks
Definition: sys_time.h:79