Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
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sys_time_arch.c
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1 /*
2  *
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5  * This file is part of paparazzi.
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22 
27 #include "mcu_periph/sys_time.h"
28 #include <sys/time.h>
29 #include <signal.h>
30 #include <string.h>
31 
32 #ifdef SYS_TIME_LED
33 #include "led.h"
34 #endif
35 
36 
37 void sys_time_arch_init( void ) {
38 
41 
42  struct sigaction sa;
43  struct itimerval timer;
44 
45  memset(&sa, 0, sizeof(sa));
46  sa.sa_handler = &sys_tick_handler;
47  sigaction(SIGALRM, &sa, NULL);
48 
49  // timer expires after sys_time.resolution sec
50  timer.it_value.tv_sec = 0;
51  timer.it_value.tv_usec = USEC_OF_SEC(sys_time.resolution);
52  // and every SYS_TIME_RESOLUTION sec after that
53  timer.it_interval.tv_sec = 0;
54  timer.it_interval.tv_usec = USEC_OF_SEC(sys_time.resolution);
55 
56  setitimer(ITIMER_REAL, &timer, NULL);
57 }
58 
59 void sys_tick_handler( int signum ) {
60 
61  sys_time.nb_tick++;
65  sys_time.nb_sec++;
66 #ifdef SYS_TIME_LED
67  LED_TOGGLE(SYS_TIME_LED);
68 #endif
69 
70  }
71  for (unsigned int i=0; i<SYS_TIME_NB_TIMER; i++) {
72  if (sys_time.timer[i].in_use &&
76  if (sys_time.timer[i].cb) {
77  sys_time.timer[i].cb(i);
78  }
79  }
80  }
81 }
void sys_tick_handler(int signum)
Definition: sys_time_arch.c:59
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
uint32_t end_time
in SYS_TIME_TICKS
Definition: sys_time.h:64
Architecture independent timing functions.
unsigned long uint32_t
Definition: types.h:18
float resolution
sys_time_timer resolution in seconds
Definition: sys_time.h:74
volatile uint32_t nb_sec_rem
remainder of seconds since startup in CPU_TICKS
Definition: sys_time.h:70
#define LED_TOGGLE(i)
Definition: led_hw.h:30
#define USEC_OF_SEC(sec)
Definition: sys_time.h:190
volatile uint32_t nb_tick
SYS_TIME_TICKS since startup.
Definition: sys_time.h:71
void sys_time_arch_init(void)
#define TRUE
Definition: imu_chimu.h:144
uint32_t duration
in SYS_TIME_TICKS
Definition: sys_time.h:65
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
arch independent LED (Light Emitting Diodes) API
#define SYS_TIME_NB_TIMER
Definition: sys_time.h:40
bool_t in_use
Definition: sys_time.h:61
struct sys_time_timer timer[SYS_TIME_NB_TIMER]
Definition: sys_time.h:72