Paparazzi UAS  v4.2.2_stable-4-gcc32f65
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sys_time.c
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23 
30 #include "mcu_periph/sys_time.h"
31 #include "mcu.h"
32 
34 
35 int sys_time_register_timer(float duration, sys_time_cb cb) {
36 
37  uint32_t start_time = sys_time.nb_tick;
38  for (int i = 0; i< SYS_TIME_NB_TIMER; i++) {
39  if (!sys_time.timer[i].in_use) {
40  sys_time.timer[i].cb = cb;
42  sys_time.timer[i].end_time = start_time + SYS_TIME_TICKS_OF_SEC(duration);
45  return i;
46  }
47  }
48  return -1;
49 }
50 
52  sys_time.timer[id].in_use = FALSE;
53 #if 0
54  sys_time.timer[id].cb = NULL;
56  sys_time.timer[id].end_time = 0;
57  sys_time.timer[id].duration = 0;
58 #endif
59 }
60 
61 // FIXME: race condition ??
62 void sys_time_update_timer(tid_t id, float duration) {
67 }
68 
69 void sys_time_init( void ) {
71 
72  sys_time.nb_sec = 0;
73  sys_time.nb_sec_rem = 0;
74  sys_time.nb_tick = 0;
75 
76  for (unsigned int i=0; i<SYS_TIME_NB_TIMER; i++) {
78  sys_time.timer[i].cb = NULL;
80  sys_time.timer[i].end_time = 0;
81  sys_time.timer[i].duration = 0;
82  }
83 }
volatile bool_t elapsed
Definition: sys_time.h:49
sys_time_cb cb
Definition: sys_time.h:48
#define SYS_TIME_TICKS_OF_SEC(s)
Definition: sys_time.h:116
void sys_time_cancel_timer(tid_t id)
Cancel a system timer by id.
Definition: sys_time.c:51
#define mcu_int_disable()
Definition: mcu_arch.h:33
uint8_t tid_t
sys_time timer id type
Definition: sys_time.h:43
uint32_t end_time
in SYS_TICKS
Definition: sys_time.h:50
#define FALSE
Definition: imu_chimu.h:141
#define mcu_int_enable()
Definition: mcu_arch.h:32
Architecture independent timing functions.
void(* sys_time_cb)(uint8_t id)
Definition: sys_time.h:44
unsigned long uint32_t
Definition: types.h:18
void sys_time_init(void)
Definition: sys_time.c:69
volatile uint32_t nb_sec_rem
remainder of second in CPU_TICKS
Definition: sys_time.h:56
int sys_time_register_timer(float duration, sys_time_cb cb)
Register a new system timer.
Definition: sys_time.c:35
volatile uint32_t nb_tick
in SYS_TICKS with SYS_TIME_RESOLUTION
Definition: sys_time.h:57
void sys_time_arch_init(void)
Definition: sys_time_arch.c:96
#define TRUE
Definition: imu_chimu.h:144
arch independent mcu ( Micro Controller Unit ) utilities
uint32_t duration
in SYS_TICKS
Definition: sys_time.h:51
volatile uint32_t nb_sec
full seconds since startup
Definition: sys_time.h:55
void sys_time_update_timer(tid_t id, float duration)
Update the duration until a timer elapses.
Definition: sys_time.c:62
#define SYS_TIME_NB_TIMER
Definition: sys_time.h:40
bool_t in_use
Definition: sys_time.h:47
struct sys_time_timer timer[SYS_TIME_NB_TIMER]
Definition: sys_time.h:58