sys_time.h File Reference

Architecture independent timing functions. More...

#include <inttypes.h>
#include <stdlib.h>
#include "std.h"
#include <BOARD_CONFIG>
#include "mcu_periph/sys_time_arch.h"

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Data Structures
struct	sys_time_timer
struct	sys_time

Macros
#define	SYS_TIME_NB_TIMER   16
#define	SYS_TIME_FREQUENCY   1000
	(Default) sys_time timer frequency in Hz. More...
#define	USEC_OF_SEC(sec)   ((sec) * 1e6)
#define	SysTimeTimerStart(_t)   { _t = get_sys_time_usec(); }
#define	SysTimeTimer(_t)   ( get_sys_time_usec() - (_t))
#define	SysTimeTimerStop(_t)   { _t = ( get_sys_time_usec() - (_t)); }

Typedefs
typedef int8_t	tid_t
	sys_time timer id type More...
typedef void(*	sys_time_cb )(uint8_t id)

Functions
void	sys_time_init (void)
tid_t	sys_time_register_timer (float duration, sys_time_cb cb)
	Register a new system timer. More...
void	sys_time_cancel_timer (tid_t id)
	Cancel a system timer by id. More...
void	sys_time_update_timer (tid_t id, float duration)
	Update the duration until a timer elapses. More...
static bool	sys_time_check_and_ack_timer (tid_t id)
	Check if timer has elapsed. More...
static float	get_sys_time_float (void)
	Get the time in seconds since startup. More...
static uint32_t	sys_time_ticks_of_sec (float seconds)
static uint32_t	sys_time_ticks_of_msec (uint32_t msec)
static uint32_t	sys_time_ticks_of_usec (uint32_t usec)
static float	sec_of_sys_time_ticks (uint32_t ticks)
static uint32_t	msec_of_sys_time_ticks (uint32_t ticks)
static uint32_t	usec_of_sys_time_ticks (uint32_t ticks)
static uint32_t	cpu_ticks_of_sec (float seconds)
static uint32_t	cpu_ticks_of_usec (uint32_t usec)
static int32_t	signed_cpu_ticks_of_usec (int32_t usec)
static uint32_t	cpu_ticks_of_nsec (uint32_t nsec)
static uint32_t	msec_of_cpu_ticks (uint32_t cpu_ticks)
static uint32_t	usec_of_cpu_ticks (uint32_t cpu_ticks)
static uint32_t	nsec_of_cpu_ticks (uint32_t cpu_ticks)
void	sys_time_arch_init (void)
	Initialize SysTick. More...

Variables
struct sys_time	sys_time

Detailed Description

Architecture independent timing functions.

Definition in file sys_time.h.

---

Data Structure Documentation

struct sys_time_timer

Definition at line 63 of file sys_time.h.

Data Fields
sys_time_cb	cb
uint32_t	duration	in SYS_TIME_TICKS
volatile bool	elapsed
uint32_t	end_time	in SYS_TIME_TICKS
bool	in_use

struct sys_time

Definition at line 71 of file sys_time.h.

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Data Fields
uint32_t	cpu_ticks_per_sec	cpu ticks per second
volatile uint32_t	nb_sec	full seconds since startup
volatile uint32_t	nb_sec_rem	remainder of seconds since startup in CPU_TICKS
volatile uint32_t	nb_tick	SYS_TIME_TICKS since startup.
float	resolution	sys_time_timer resolution in seconds
uint32_t	resolution_cpu_ticks	sys_time_timer resolution in cpu ticks
uint32_t	ticks_per_sec	sys_time ticks per second (SYS_TIME_FREQUENCY)
struct sys_time_timer	timer[SYS_TIME_NB_TIMER]

Macro Definition Documentation

#define SYS_TIME_FREQUENCY   1000

(Default) sys_time timer frequency in Hz.

sys_time.resolution is set from this define.

Definition at line 55 of file sys_time.h.

Referenced by sys_time_init().

#define SYS_TIME_NB_TIMER   16

Definition at line 40 of file sys_time.h.

Referenced by sys_tick_handler(), sys_tick_irq_handler(), sys_time_check_and_ack_timer(), sys_time_init(), and sys_time_register_timer().

#define SysTimeTimer

(

_t

)

( get_sys_time_usec() - (_t))

Definition at line 219 of file sys_time.h.

Referenced by actuators_asctec_set(), actuators_asctec_v2_set(), actuators_esc32_play_melody(), actuators_mkk_set(), actuators_mkk_v2_set(), actuators_skiron_set(), airspeed_ets_read_periodic(), baro_ets_read_periodic(), event_sysmon(), gps_sim_hitl_event(), hott_event(), i2c_event(), imu_krooz_event(), and periodic_sysmon().

#define SysTimeTimerStart

(

_t

)

{ _t = get_sys_time_usec(); }

Definition at line 218 of file sys_time.h.

Referenced by actuators_esc32_play_melody(), airspeed_ets_init(), baro_ets_init(), event_sysmon(), gps_mtk_read_message(), gps_sim_hitl_event(), hott_event(), i2c_event(), imu_krooz_event(), periodic_sysmon(), and sonar_bebop_init().

#define SysTimeTimerStop

(

_t

)

{ _t = ( get_sys_time_usec() - (_t)); }

Definition at line 220 of file sys_time.h.

#define USEC_OF_SEC

(

sec

)

((sec) * 1e6)

Definition at line 210 of file sys_time.h.

Referenced by actuators_asctec_set(), actuators_asctec_v2_set(), actuators_mkk_set(), actuators_mkk_v2_set(), actuators_skiron_set(), airspeed_ets_read_periodic(), and baro_ets_read_periodic().

Typedef Documentation

typedef void(* sys_time_cb)(uint8_t id)

Definition at line 61 of file sys_time.h.

typedef int8_t tid_t

sys_time timer id type

Definition at line 60 of file sys_time.h.

Function Documentation

static uint32_t cpu_ticks_of_nsec ( uint32_t  nsec )

inlinestatic

Definition at line 188 of file sys_time.h.

References sys_time::cpu_ticks_per_sec.

Referenced by ms2100_reset_cb(), and sys_tick_handler().

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static uint32_t cpu_ticks_of_sec ( float  seconds )

inlinestatic

Definition at line 173 of file sys_time.h.

References sys_time::cpu_ticks_per_sec.

static uint32_t cpu_ticks_of_usec ( uint32_t  usec )

inlinestatic

Definition at line 178 of file sys_time.h.

References sys_time::cpu_ticks_per_sec.

Referenced by sys_time_usleep(), and xtend_rssi_periodic().

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static float get_sys_time_float ( void  )

inlinestatic

Get the time in seconds since startup.

Returns

current system time as float with sys_time.resolution

Definition at line 129 of file sys_time.h.

References sys_time::cpu_ticks_per_sec, sys_time::nb_sec, and sys_time::nb_sec_rem.

Referenced by accel_sp_cb(), agl_cb(), agl_dist_init(), airspeed_cb(), baro_cb(), check_anchor_timeout(), dc_periodic(), file_logger_write_row(), fill_anchor(), gps_cb(), guidance_indi_run(), gyro_cb(), hmc58xx_start_configure(), i2c_blocking_receive(), i2c_blocking_transceive(), i2c_blocking_transmit(), imu_aspirin2_configure_mag_slave(), imu_mpu9250_configure_mag_slave(), incidence_cb(), mag_cb(), periodic_report_sysmon(), pressure_diff_cb(), px4flow_i2c_downlink(), px4flow_i2c_frame_cb(), reset_all_vars(), reset_horizontal_vars(), reset_vertical_vars(), spi_blocking_transceive(), stabilization_attitude_read_rc_setpoint_eulers(), stabilization_attitude_read_rc_setpoint_eulers_f(), and vertical_ctrl_module_run().

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static uint32_t msec_of_cpu_ticks ( uint32_t  cpu_ticks )

inlinestatic

Definition at line 193 of file sys_time.h.

References sys_time::cpu_ticks_per_sec.

Referenced by get_sys_time_msec(), and TRIG_ISR().

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static uint32_t msec_of_sys_time_ticks ( uint32_t  ticks )

inlinestatic

Definition at line 158 of file sys_time.h.

References sys_time::ticks_per_sec.

Referenced by get_sys_time_msec(), gps_tow_from_sys_ticks(), trigger_ext_periodic(), and windturbine_periodic().

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static uint32_t nsec_of_cpu_ticks ( uint32_t  cpu_ticks )

inlinestatic

Definition at line 203 of file sys_time.h.

References sys_time::cpu_ticks_per_sec.

static float sec_of_sys_time_ticks ( uint32_t  ticks )

inlinestatic

Definition at line 153 of file sys_time.h.

References sys_time::resolution.

static int32_t signed_cpu_ticks_of_usec ( int32_t  usec )

inlinestatic

Definition at line 183 of file sys_time.h.

References sys_time::cpu_ticks_per_sec.

void sys_time_arch_init

(

void

)

Initialize SysTick.

Generate SysTick interrupt every sys_time.resolution_cpu_ticks

Definition at line 49 of file sys_time_arch.c.

References _VIC_ADDR, _VIC_CNTL, AHB_CLK, CH_CFG_ST_FREQUENCY, sys_time::cpu_ticks_per_sec, PCLK, sys_time::resolution, sys_time::resolution_cpu_ticks, startup_time, sys_time_thread_main(), T0CCR, T0EMR, T0MCR, T0MR0, T0PR, T0TCR, TCR_ENABLE, TCR_RESET, thd_sys_tick(), TIMER0_ISR(), TIMER0_VIC_SLOT, TMCR_MR0_I, VIC_BIT, VIC_ENABLE, VIC_TIMER0, VICIntEnable, and VICIntSelect.

Referenced by sys_time_init().

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void sys_time_cancel_timer

(

tid_t

id

)

Cancel a system timer by id.

Parameters

id

Timer id.

Definition at line 60 of file sys_time.c.

References sys_time_timer::cb, sys_time_timer::duration, sys_time_timer::elapsed, sys_time_timer::end_time, sys_time_timer::in_use, and sys_time::timer.

Referenced by mavlink_mission_cancel_timer(), and px4flash_event().

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static bool sys_time_check_and_ack_timer ( tid_t  id )

inlinestatic

Check if timer has elapsed.

Parameters

id

Timer id

Returns

TRUE if timer has elapsed

Definition at line 114 of file sys_time.h.

References sys_time_timer::elapsed, SYS_TIME_NB_TIMER, and sys_time::timer.

Referenced by handle_periodic_tasks(), handle_periodic_tasks_ap(), handle_periodic_tasks_fbw(), main(), mavlink_mission_periodic(), and px4flash_event().

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void sys_time_init

(

void

)

Definition at line 78 of file sys_time.c.

References sys_time_timer::cb, sys_time_timer::duration, sys_time_timer::elapsed, sys_time_timer::end_time, sys_time_timer::in_use, sys_time::nb_sec, sys_time::nb_sec_rem, sys_time::nb_tick, sys_time::resolution, sys_time_arch_init(), SYS_TIME_FREQUENCY, SYS_TIME_NB_TIMER, sys_time::ticks_per_sec, and sys_time::timer.

Referenced by main(), and mcu_init().

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tid_t sys_time_register_timer	(	float	duration,
		sys_time_cb	cb
	)

Register a new system timer.

Parameters

duration	Duration in seconds until the timer elapses.
cb	Callback function that is called from the ISR when timer elapses, or NULL

Returns

-1 if it failed, the timer id otherwise

Definition at line 43 of file sys_time.c.

References sys_time_timer::cb, sys_time_timer::duration, sys_time_timer::elapsed, sys_time_timer::end_time, sys_time_timer::in_use, sys_time::nb_tick, start_time, SYS_TIME_NB_TIMER, sys_time_ticks_of_sec(), and sys_time::timer.

Referenced by init_ap(), init_fbw(), intermcu_init(), main(), main_init(), mavlink_mission_set_timer(), px4flash_event(), and px4flash_init().

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static uint32_t sys_time_ticks_of_msec ( uint32_t  msec )

inlinestatic

Definition at line 143 of file sys_time.h.

References sys_time::ticks_per_sec.

static uint32_t sys_time_ticks_of_sec ( float  seconds )

inlinestatic

Definition at line 138 of file sys_time.h.

References sys_time::ticks_per_sec.

Referenced by sys_tick_handler(), sys_time_register_timer(), and sys_time_update_timer().

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static uint32_t sys_time_ticks_of_usec ( uint32_t  usec )

inlinestatic

Definition at line 148 of file sys_time.h.

References sys_time::ticks_per_sec.

Referenced by sys_tick_handler().

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void sys_time_update_timer	(	tid_t	id,
		float	duration
	)

Update the duration until a timer elapses.

Parameters

id	Timer id
duration	Duration in seconds until the timer elapses.

Definition at line 70 of file sys_time.c.

References sys_time_timer::duration, sys_time_timer::end_time, mcu_int_disable, mcu_int_enable, sys_time_ticks_of_sec(), and sys_time::timer.

Referenced by mavlink_mission_set_timer().

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static uint32_t usec_of_cpu_ticks ( uint32_t  cpu_ticks )

inlinestatic

Definition at line 198 of file sys_time.h.

References sys_time::cpu_ticks_per_sec.

Referenced by get_sys_time_usec(), and sys_time_usleep().

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static uint32_t usec_of_sys_time_ticks ( uint32_t  ticks )

inlinestatic

Definition at line 163 of file sys_time.h.

References sys_time::ticks_per_sec.

Referenced by get_sys_time_usec().

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Variable Documentation

struct sys_time sys_time

Definition at line 41 of file sys_time.c.