Paparazzi UAS  v6.0_unstable-92-g17422e4-dirty
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sys_time.c
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23 
30 #include "mcu_periph/sys_time.h"
31 #include "mcu.h"
32 
33 // check the number of timers against max tid_t value
34 #include "limits.h"
35 #if (SYS_TIME_NB_TIMER >= SCHAR_MAX)
36  WARNING("Too many sys timers (SYS_TIME_NB_TIMER >= SCHAR_MAX). Consider increasing the size of tid_d type (currently int8_t")
37 #endif
38 
39 PRINT_CONFIG_VAR(SYS_TIME_FREQUENCY)
40 
42 
44 {
45  uint32_t start_time = sys_time.nb_tick;
46  for (tid_t i = 0; i < SYS_TIME_NB_TIMER; i++) {
47  if (!sys_time.timer[i].in_use) {
48  sys_time.timer[i].cb = cb;
49  sys_time.timer[i].elapsed = false;
50  sys_time.timer[i].end_time = start_time + sys_time_ticks_of_sec(duration);
51  sys_time.timer[i].duration = sys_time_ticks_of_sec(duration);
52  sys_time.timer[i].in_use = true;
53  return i;
54  }
55  }
56  return -1;
57 }
58 
60 {
61  if (timer >=0 && timer < SYS_TIME_NB_TIMER) {
62  for (tid_t i = 0; i < SYS_TIME_NB_TIMER; i++) {
63  if (!sys_time.timer[i].in_use && (timer < i)) { // timer should be already registered
64  sys_time.timer[i].cb = cb;
65  sys_time.timer[i].elapsed = false;
66  sys_time.timer[i].end_time = sys_time.timer[timer].end_time + sys_time_ticks_of_sec(offset); // add offset to end time
67  sys_time.timer[i].duration = sys_time.timer[timer].duration; // copy duration
68  sys_time.timer[i].in_use = true;
69  return i;
70  }
71  }
72  }
73  return -1;
74 }
75 
77 {
78  sys_time.timer[id].in_use = false;
79  sys_time.timer[id].cb = NULL;
80  sys_time.timer[id].elapsed = false;
81  sys_time.timer[id].end_time = 0;
82  sys_time.timer[id].duration = 0;
83 }
84 
85 // FIXME: race condition ??
86 void sys_time_update_timer(tid_t id, float duration)
87 {
90 }
91 
92 void sys_time_init(void)
93 {
94  sys_time.nb_sec = 0;
95  sys_time.nb_sec_rem = 0;
96  sys_time.nb_tick = 0;
97 
100 
101  for (unsigned int i = 0; i < SYS_TIME_NB_TIMER; i++) {
102  sys_time.timer[i].in_use = false;
103  sys_time.timer[i].cb = NULL;
104  sys_time.timer[i].elapsed = false;
105  sys_time.timer[i].end_time = 0;
106  sys_time.timer[i].duration = 0;
107  }
108 
110 }
float resolution
sys_time_timer resolution in seconds
Definition: sys_time.h:73
void sys_time_cancel_timer(tid_t id)
Cancel a system timer by id.
Definition: sys_time.c:76
volatile uint32_t nb_tick
SYS_TIME_TICKS since startup.
Definition: sys_time.h:70
uint32_t ticks_per_sec
sys_time ticks per second (SYS_TIME_FREQUENCY)
Definition: sys_time.h:74
static const float offset[]
volatile bool elapsed
Definition: sys_time.h:62
Architecture independent timing functions.
void(* sys_time_cb)(uint8_t id)
Definition: sys_time.h:57
uint32_t end_time
in SYS_TIME_TICKS
Definition: sys_time.h:63
int8_t tid_t
sys_time timer id type
Definition: sys_time.h:56
#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:92
tid_t sys_time_register_timer_offset(tid_t timer, float offset, sys_time_cb cb)
Register a new system timer with an fixed offset from another one.
Definition: sys_time.c:59
volatile uint32_t nb_sec_rem
remainder of seconds since startup in CPU_TICKS
Definition: sys_time.h:69
struct sys_time_timer timer[SYS_TIME_NB_TIMER]
Definition: sys_time.h:71
Arch independent mcu ( Micro Controller Unit ) utilities.
int start_time
Definition: gps_sirf.c:192
static uint32_t sys_time_ticks_of_sec(float seconds)
Definition: sys_time.h:143
volatile uint32_t nb_sec
full seconds since startup
Definition: sys_time.h:68
void sys_time_update_timer(tid_t id, float duration)
Update the duration until a timer elapses.
Definition: sys_time.c:86
sys_time_cb cb
Definition: sys_time.h:61
#define SYS_TIME_NB_TIMER
Definition: sys_time.h:40
uint32_t duration
in SYS_TIME_TICKS
Definition: sys_time.h:64
void sys_time_arch_init(void)
Definition: sys_time_arch.c:52
tid_t sys_time_register_timer(float duration, sys_time_cb cb)
Register a new system timer.
Definition: sys_time.c:43
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.
Definition: vl53l1_types.h:78