Paparazzi UAS  v6.0_unstable-92-g17422e4-dirty
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
sys_time.h
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 #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 16
41 #endif
42 
43 
48 #ifndef SYS_TIME_FREQUENCY
49 #if defined PERIODIC_FREQUENCY
50 #define SYS_TIME_FREQUENCY (2 * PERIODIC_FREQUENCY)
51 #else /* !defined PERIODIC_FREQUENCY */
52 #define SYS_TIME_FREQUENCY 1000
53 #endif
54 #endif
55 
56 typedef int8_t tid_t;
57 typedef void (*sys_time_cb)(uint8_t id);
58 
60  bool in_use;
62  volatile bool elapsed;
65 };
66 
67 struct sys_time {
68  volatile uint32_t nb_sec;
69  volatile uint32_t nb_sec_rem;
70  volatile uint32_t nb_tick;
72 
73  float resolution;
77 };
78 
79 extern struct sys_time sys_time;
80 
81 
82 extern void sys_time_init(void);
83 
90 extern tid_t sys_time_register_timer(float duration, sys_time_cb cb);
91 
100 
105 extern void sys_time_cancel_timer(tid_t id);
106 
112 extern void sys_time_update_timer(tid_t id, float duration);
113 
119 static inline bool sys_time_check_and_ack_timer(tid_t id)
120 {
121  if ((id < SYS_TIME_NB_TIMER) && (id >= 0)) {
122  if (sys_time.timer[id].elapsed) {
123  sys_time.timer[id].elapsed = false;
124  return true;
125  }
126  }
127  return false;
128 }
129 
134 static inline float get_sys_time_float(void)
135 {
136  return (float)(sys_time.nb_sec + (float)(sys_time.nb_sec_rem) / sys_time.cpu_ticks_per_sec);
137 }
138 
139 
140 /*
141  * Convenience functions to convert between seconds and sys_time ticks.
142  */
143 static inline uint32_t sys_time_ticks_of_sec(float seconds)
144 {
145  return (uint32_t)(seconds * sys_time.ticks_per_sec + 0.5);
146 }
147 
149 {
150  return msec * sys_time.ticks_per_sec / 1000;
151 }
152 
154 {
155  return usec * sys_time.ticks_per_sec / 1000000;
156 }
157 
159 {
160  return (float)ticks * sys_time.resolution;
161 }
162 
164 {
165  return ticks * 1000 / sys_time.ticks_per_sec;
166 }
167 
169 {
170  return ticks * 1000 / sys_time.ticks_per_sec * 1000;
171 }
172 
173 
174 
175 /*
176  * Convenience functions to convert between seconds and CPU ticks.
177  */
178 static inline uint32_t cpu_ticks_of_sec(float seconds)
179 {
180  return (uint32_t)(seconds * sys_time.cpu_ticks_per_sec + 0.5);
181 }
182 
184 {
185  return usec * (sys_time.cpu_ticks_per_sec / 1000000);
186 }
187 
189 {
190  return usec * ((int32_t)sys_time.cpu_ticks_per_sec / 1000000);
191 }
192 
194 {
195  return nsec * (sys_time.cpu_ticks_per_sec / 1000000) / 1000;
196 }
197 
199 {
200  return cpu_ticks / (sys_time.cpu_ticks_per_sec / 1000);
201 }
202 
204 {
205  return cpu_ticks / (sys_time.cpu_ticks_per_sec / 1000000);
206 }
207 
209 {
210  return cpu_ticks / (sys_time.cpu_ticks_per_sec / 1000000) / 1000;
211 }
212 
213 
214 
215 #define USEC_OF_SEC(sec) ((sec) * 1e6)
216 
217 #include "mcu_periph/sys_time_arch.h"
218 
219 /* architecture specific init implementation */
220 extern void sys_time_arch_init(void);
221 
222 /* Generic timer macros */
223 #define SysTimeTimerStart(_t) { _t = get_sys_time_usec(); }
224 #define SysTimeTimer(_t) ( get_sys_time_usec() - (_t))
225 #define SysTimeTimerStop(_t) { _t = ( get_sys_time_usec() - (_t)); }
226 
227 #endif /* SYS_TIME_H */
static uint32_t msec_of_cpu_ticks(uint32_t cpu_ticks)
Definition: sys_time.h:198
static uint32_t cpu_ticks_of_nsec(uint32_t nsec)
Definition: sys_time.h:193
float resolution
sys_time_timer resolution in seconds
Definition: sys_time.h:73
uint32_t cpu_ticks_per_sec
cpu ticks per second
Definition: sys_time.h:76
static float sec_of_sys_time_ticks(uint32_t ticks)
Definition: sys_time.h:158
static uint32_t msec_of_sys_time_ticks(uint32_t ticks)
Definition: sys_time.h:163
signed char int8_t
Typedef defining 8 bit char type.
Definition: vl53l1_types.h:103
volatile uint32_t nb_tick
SYS_TIME_TICKS since startup.
Definition: sys_time.h:70
void sys_time_arch_init(void)
Initialize SysTick.
Definition: sys_time_arch.c:52
static float get_sys_time_float(void)
Get the time in seconds since startup.
Definition: sys_time.h:134
void sys_time_init(void)
Definition: sys_time.c:92
tid_t sys_time_register_timer(float duration, sys_time_cb cb)
Register a new system timer.
Definition: sys_time.c:43
uint32_t ticks_per_sec
sys_time ticks per second (SYS_TIME_FREQUENCY)
Definition: sys_time.h:74
static uint32_t usec_of_cpu_ticks(uint32_t cpu_ticks)
Definition: sys_time.h:203
static const float offset[]
volatile bool elapsed
Definition: sys_time.h:62
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
void(* sys_time_cb)(uint8_t id)
Definition: sys_time.h:57
static uint32_t sys_time_ticks_of_msec(uint32_t msec)
Definition: sys_time.h:148
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
static int32_t signed_cpu_ticks_of_usec(int32_t usec)
Definition: sys_time.h:188
int int32_t
Typedef defining 32 bit int type.
Definition: vl53l1_types.h:83
int ticks
Definition: gps_sirf.c:193
static uint32_t cpu_ticks
Definition: sys_time_arch.c:49
volatile uint32_t nb_sec_rem
remainder of seconds since startup in CPU_TICKS
Definition: sys_time.h:69
static uint32_t usec_of_sys_time_ticks(uint32_t ticks)
Definition: sys_time.h:168
struct sys_time_timer timer[SYS_TIME_NB_TIMER]
Definition: sys_time.h:71
static uint32_t sys_time_ticks_of_sec(float seconds)
Definition: sys_time.h:143
static bool sys_time_check_and_ack_timer(tid_t id)
Check if timer has elapsed.
Definition: sys_time.h:119
volatile uint32_t nb_sec
full seconds since startup
Definition: sys_time.h:68
static uint32_t nsec_of_cpu_ticks(uint32_t cpu_ticks)
Definition: sys_time.h:208
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
static uint32_t sys_time_ticks_of_usec(uint32_t usec)
Definition: sys_time.h:153
static uint32_t cpu_ticks_of_sec(float seconds)
Definition: sys_time.h:178
void sys_time_update_timer(tid_t id, float duration)
Update the duration until a timer elapses.
Definition: sys_time.c:86
static uint32_t cpu_ticks_of_usec(uint32_t usec)
Definition: sys_time.h:183
void sys_time_cancel_timer(tid_t id)
Cancel a system timer by id.
Definition: sys_time.c:76
uint32_t resolution_cpu_ticks
sys_time_timer resolution in cpu ticks
Definition: sys_time.h:75
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition: vl53l1_types.h:98
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.
Definition: vl53l1_types.h:78