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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 8
41 #endif
42 
43 
48 #ifndef SYS_TIME_FREQUENCY
49 #if defined PERIODIC_FREQUENCY
50 #define SYS_TIME_FREQUENCY (2 * PERIODIC_FREQUENCY)
51 #else
52 #define SYS_TIME_FREQUENCY 1000
53 #endif
54 #endif
55 
56 
57 typedef uint8_t tid_t;
58 typedef void (*sys_time_cb) (uint8_t id);
59 
61  bool_t in_use;
63  volatile bool_t elapsed;
66 };
67 
68 struct sys_time {
69  volatile uint32_t nb_sec;
70  volatile uint32_t nb_sec_rem;
71  volatile uint32_t nb_tick;
73 
74  float resolution;
78 };
79 
80 extern struct sys_time sys_time;
81 
82 
83 extern void sys_time_init(void);
84 
91 extern int sys_time_register_timer(float duration, sys_time_cb cb);
92 
97 extern void sys_time_cancel_timer(tid_t id);
98 
104 extern void sys_time_update_timer(tid_t id, float duration);
105 
111 static inline bool_t sys_time_check_and_ack_timer(tid_t id) {
112  if (sys_time.timer[id].elapsed) {
113  sys_time.timer[id].elapsed = FALSE;
114  return TRUE;
115  }
116  return FALSE;
117 }
118 
123 static inline float get_sys_time_float(void) {
125 }
126 
127 
128 /*
129  * Convenience functions to convert between seconds and sys_time ticks.
130  */
131 static inline uint32_t sys_time_ticks_of_sec(float seconds) {
132  return (uint32_t)(seconds * sys_time.ticks_per_sec + 0.5);
133 }
134 
136  return msec * sys_time.ticks_per_sec / 1000;
137 }
138 
140  return usec * sys_time.ticks_per_sec / 1000000;
141 }
142 
143 static inline float sec_of_sys_time_ticks(uint32_t ticks) {
144  return (float)ticks * sys_time.resolution;
145 }
146 
148  return ticks * 1000 / sys_time.ticks_per_sec;
149 }
150 
152  return ticks * 1000 / sys_time.ticks_per_sec * 1000;
153 }
154 
155 
156 
157 /*
158  * Convenience functions to convert between seconds and CPU ticks.
159  */
160 static inline uint32_t cpu_ticks_of_sec(float seconds) {
161  return (uint32_t)(seconds * sys_time.cpu_ticks_per_sec + 0.5);
162 }
163 
164 static inline uint32_t cpu_ticks_of_usec(uint32_t usec) {
165  return usec * (sys_time.cpu_ticks_per_sec / 1000000);
166 }
167 
169  return usec * ((int32_t)sys_time.cpu_ticks_per_sec / 1000000);
170 }
171 
172 static inline uint32_t cpu_ticks_of_nsec(uint32_t nsec) {
173  return nsec * (sys_time.cpu_ticks_per_sec / 1000000) / 1000;
174 }
175 
176 static inline uint32_t msec_of_cpu_ticks(uint32_t cpu_ticks) {
177  return cpu_ticks / (sys_time.cpu_ticks_per_sec / 1000);
178 }
179 
180 static inline uint32_t usec_of_cpu_ticks(uint32_t cpu_ticks) {
181  return cpu_ticks / (sys_time.cpu_ticks_per_sec / 1000000);
182 }
183 
184 static inline uint32_t nsec_of_cpu_ticks(uint32_t cpu_ticks) {
185  return cpu_ticks / (sys_time.cpu_ticks_per_sec / 1000000) / 1000;
186 }
187 
188 
189 
190 #define USEC_OF_SEC(sec) ((sec) * 1e6)
191 
192 #include "mcu_periph/sys_time_arch.h"
193 
194 /* architecture specific init implementation */
195 extern void sys_time_arch_init(void);
196 
197 
198 #endif /* SYS_TIME_H */
static uint32_t msec_of_cpu_ticks(uint32_t cpu_ticks)
Definition: sys_time.h:176
volatile bool_t elapsed
Definition: sys_time.h:63
sys_time_cb cb
Definition: sys_time.h:62
uint32_t cpu_ticks_per_sec
cpu ticks per second
Definition: sys_time.h:77
static uint32_t cpu_ticks_of_nsec(uint32_t nsec)
Definition: sys_time.h:172
static float sec_of_sys_time_ticks(uint32_t ticks)
Definition: sys_time.h:143
static uint32_t msec_of_sys_time_ticks(uint32_t ticks)
Definition: sys_time.h:147
uint8_t tid_t
sys_time timer id type
Definition: sys_time.h:57
void sys_time_arch_init(void)
Initialize SysTick.
static float get_sys_time_float(void)
Get the time in seconds since startup.
Definition: sys_time.h:123
uint32_t end_time
in SYS_TIME_TICKS
Definition: sys_time.h:64
#define FALSE
Definition: imu_chimu.h:141
void sys_time_init(void)
Definition: sys_time.c:70
static uint32_t usec_of_cpu_ticks(uint32_t cpu_ticks)
Definition: sys_time.h:180
void(* sys_time_cb)(uint8_t id)
Definition: sys_time.h:58
static uint32_t sys_time_ticks_of_msec(uint32_t msec)
Definition: sys_time.h:135
unsigned long uint32_t
Definition: types.h:18
float resolution
sys_time_timer resolution in seconds
Definition: sys_time.h:74
static int32_t signed_cpu_ticks_of_usec(int32_t usec)
Definition: sys_time.h:168
int ticks
Definition: gps_sirf.c:94
volatile uint32_t nb_sec_rem
remainder of seconds since startup in CPU_TICKS
Definition: sys_time.h:70
static bool_t sys_time_check_and_ack_timer(tid_t id)
Check if timer has elapsed.
Definition: sys_time.h:111
volatile uint32_t nb_tick
SYS_TIME_TICKS since startup.
Definition: sys_time.h:71
signed long int32_t
Definition: types.h:19
#define TRUE
Definition: imu_chimu.h:144
static uint32_t usec_of_sys_time_ticks(uint32_t ticks)
Definition: sys_time.h:151
static uint32_t sys_time_ticks_of_sec(float seconds)
Definition: sys_time.h:131
unsigned char uint8_t
Definition: types.h:14
uint32_t duration
in SYS_TIME_TICKS
Definition: sys_time.h:65
static uint32_t nsec_of_cpu_ticks(uint32_t cpu_ticks)
Definition: sys_time.h:184
volatile uint32_t nb_sec
full seconds since startup
Definition: sys_time.h:69
uint32_t resolution_cpu_ticks
sys_time_timer resolution in cpu ticks
Definition: sys_time.h:76
#define SYS_TIME_NB_TIMER
Definition: sys_time.h:40
uint32_t ticks_per_sec
sys_time ticks per second (SYS_TIME_FREQUENCY)
Definition: sys_time.h:75
int sys_time_register_timer(float duration, sys_time_cb cb)
Register a new system timer.
Definition: sys_time.c:37
bool_t in_use
Definition: sys_time.h:61
static uint32_t sys_time_ticks_of_usec(uint32_t usec)
Definition: sys_time.h:139
struct sys_time_timer timer[SYS_TIME_NB_TIMER]
Definition: sys_time.h:72
static uint32_t cpu_ticks_of_sec(float seconds)
Definition: sys_time.h:160
void sys_time_update_timer(tid_t id, float duration)
Update the duration until a timer elapses.
Definition: sys_time.c:63
static uint32_t cpu_ticks_of_usec(uint32_t usec)
Definition: sys_time.h:164
void sys_time_cancel_timer(tid_t id)
Cancel a system timer by id.
Definition: sys_time.c:54