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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Go to the source code of this file.

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

◆ sys_time_timer

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

◆ sys_time

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

◆ SYS_TIME_FREQUENCY

#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.

◆ SYS_TIME_NB_TIMER

#define SYS_TIME_NB_TIMER 16

Definition at line 40 of file sys_time.h.

◆ SysTimeTimer

#define SysTimeTimer ( _t ) ( get_sys_time_usec() - (_t))

Definition at line 219 of file sys_time.h.

◆ SysTimeTimerStart

#define SysTimeTimerStart ( _t ) { _t = get_sys_time_usec(); }

Definition at line 218 of file sys_time.h.

◆ SysTimeTimerStop

#define SysTimeTimerStop ( _t ) { _t = ( get_sys_time_usec() - (_t)); }

Definition at line 220 of file sys_time.h.

◆ USEC_OF_SEC

#define USEC_OF_SEC ( sec ) ((sec) * 1e6)

Definition at line 210 of file sys_time.h.

Typedef Documentation

◆ sys_time_cb

typedef void(* sys_time_cb) (uint8_t id)

Definition at line 61 of file sys_time.h.

◆ tid_t

typedef int8_t tid_t

sys_time timer id type

Definition at line 60 of file sys_time.h.

Function Documentation

◆ cpu_ticks_of_nsec()

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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◆ cpu_ticks_of_sec()

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.

◆ cpu_ticks_of_usec()

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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◆ get_sys_time_float()

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(), autopilot_arming_check_motors_on(), autopilot_arming_set(), baro_cb(), cc2500_delayMicroseconds(), check_anchor_timeout(), ctrl_module_run(), 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(), logger_control_effectiveness_periodic(), 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(), start_chirp(), stop_chirp(), sys_id_chirp_activate_handler(), sys_id_chirp_init(), sys_id_chirp_run(), and vertical_ctrl_module_run().

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◆ msec_of_cpu_ticks()

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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◆ msec_of_sys_time_ticks()

static uint32_t msec_of_sys_time_ticks ( uint32_t ticks )

inlinestatic

Definition at line 158 of file sys_time.h.

References ticks, and 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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◆ nsec_of_cpu_ticks()

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.

◆ sec_of_sys_time_ticks()

static float sec_of_sys_time_ticks ( uint32_t ticks )

inlinestatic

Definition at line 153 of file sys_time.h.

References sys_time::resolution, and ticks.

◆ signed_cpu_ticks_of_usec()

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.

◆ sys_time_arch_init()

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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◆ sys_time_cancel_timer()

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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◆ sys_time_check_and_ack_timer()

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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◆ sys_time_init()

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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◆ sys_time_register_timer()

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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◆ sys_time_ticks_of_msec()

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.

◆ sys_time_ticks_of_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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◆ sys_time_ticks_of_usec()

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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◆ sys_time_update_timer()

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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◆ usec_of_cpu_ticks()

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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◆ usec_of_sys_time_ticks()

static uint32_t usec_of_sys_time_ticks ( uint32_t ticks )

inlinestatic

Definition at line 163 of file sys_time.h.

References ticks, and sys_time::ticks_per_sec.

Referenced by get_sys_time_usec().

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Variable Documentation

◆ sys_time

struct sys_time sys_time

Definition at line 41 of file sys_time.c.

Data Structures

Macros

Typedefs

Functions

Variables

Detailed Description

Data Structure Documentation

◆ sys_time_timer

◆ sys_time

Macro Definition Documentation

◆ SYS_TIME_FREQUENCY

◆ SYS_TIME_NB_TIMER

◆ SysTimeTimer

◆ SysTimeTimerStart

◆ SysTimeTimerStop

◆ USEC_OF_SEC

Typedef Documentation

◆ sys_time_cb

◆ tid_t

Function Documentation

◆ cpu_ticks_of_nsec()

◆ cpu_ticks_of_sec()

◆ cpu_ticks_of_usec()

◆ get_sys_time_float()

◆ msec_of_cpu_ticks()

◆ msec_of_sys_time_ticks()

◆ nsec_of_cpu_ticks()

◆ sec_of_sys_time_ticks()

◆ signed_cpu_ticks_of_usec()

◆ sys_time_arch_init()

◆ sys_time_cancel_timer()

◆ sys_time_check_and_ack_timer()

◆ sys_time_init()

◆ sys_time_register_timer()

◆ sys_time_ticks_of_msec()

◆ sys_time_ticks_of_sec()

◆ sys_time_ticks_of_usec()

◆ sys_time_update_timer()

◆ usec_of_cpu_ticks()

◆ usec_of_sys_time_ticks()

Variable Documentation

◆ sys_time