Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
sys_time.c
Go to the documentation of this file.
1 /*
2  *
3  * Copyright (C) 2009-2011 The Paparazzi Team
4  *
5  * This file is part of paparazzi.
6  *
7  * paparazzi is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2, or (at your option)
10  * any later version.
11  *
12  * paparazzi is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
16  *
17  * You should have received a copy of the GNU General Public License
18  * along with paparazzi; see the file COPYING. If not, write to
19  * the Free Software Foundation, 59 Temple Place - Suite 330,
20  * Boston, MA 02111-1307, USA.
21  *
22  */
23 
30 #include "mcu_periph/sys_time.h"
31 #include "mcu.h"
32 
34 
36 
37 int sys_time_register_timer(float duration, sys_time_cb cb) {
38 
39  uint32_t start_time = sys_time.nb_tick;
40  for (int i = 0; i< SYS_TIME_NB_TIMER; i++) {
41  if (!sys_time.timer[i].in_use) {
42  sys_time.timer[i].cb = cb;
43  sys_time.timer[i].elapsed = FALSE;
44  sys_time.timer[i].end_time = start_time + sys_time_ticks_of_sec(duration);
45  sys_time.timer[i].duration = sys_time_ticks_of_sec(duration);
46  sys_time.timer[i].in_use = TRUE;
47  return i;
48  }
49  }
50  return -1;
51 }
52 
53 
55  sys_time.timer[id].in_use = FALSE;
56  sys_time.timer[id].cb = NULL;
58  sys_time.timer[id].end_time = 0;
59  sys_time.timer[id].duration = 0;
60 }
61 
62 // FIXME: race condition ??
63 void sys_time_update_timer(tid_t id, float duration) {
68 }
69 
70 void sys_time_init( void ) {
71  sys_time.nb_sec = 0;
72  sys_time.nb_sec_rem = 0;
73  sys_time.nb_tick = 0;
74 
77 
78  for (unsigned int i=0; i<SYS_TIME_NB_TIMER; i++) {
80  sys_time.timer[i].cb = NULL;
82  sys_time.timer[i].end_time = 0;
83  sys_time.timer[i].duration = 0;
84  }
85 
87 }
volatile bool_t elapsed
Definition: sys_time.h:63
sys_time_cb cb
Definition: sys_time.h:62
void sys_time_cancel_timer(tid_t id)
Cancel a system timer by id.
Definition: sys_time.c:54
#define mcu_int_disable()
Definition: mcu_arch.h:38
uint8_t tid_t
sys_time timer id type
Definition: sys_time.h:57
uint32_t end_time
in SYS_TIME_TICKS
Definition: sys_time.h:64
#define FALSE
Definition: imu_chimu.h:141
#define mcu_int_enable()
Definition: mcu_arch.h:37
Architecture independent timing functions.
void(* sys_time_cb)(uint8_t id)
Definition: sys_time.h:58
unsigned long uint32_t
Definition: types.h:18
float resolution
sys_time_timer resolution in seconds
Definition: sys_time.h:74
#define SYS_TIME_FREQUENCY
(Default) sys_time timer frequency in Hz.
Definition: sys_time.h:52
void sys_time_init(void)
Definition: sys_time.c:70
volatile uint32_t nb_sec_rem
remainder of seconds since startup in CPU_TICKS
Definition: sys_time.h:70
int sys_time_register_timer(float duration, sys_time_cb cb)
Register a new system timer.
Definition: sys_time.c:37
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
Arch independent mcu ( Micro Controller Unit ) utilities.
int start_time
Definition: gps_sirf.c:93
static uint32_t sys_time_ticks_of_sec(float seconds)
Definition: sys_time.h:131
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
void sys_time_update_timer(tid_t id, float duration)
Update the duration until a timer elapses.
Definition: sys_time.c:63
#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
bool_t in_use
Definition: sys_time.h:61
struct sys_time_timer timer[SYS_TIME_NB_TIMER]
Definition: sys_time.h:72