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96 lines
2.6 KiB
96 lines
2.6 KiB
/* |
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* Copyright (C) Siddharth Bharat Purohit 2017 |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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// High Resolution Timer |
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#include "ch.h" |
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#include "hal.h" |
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#include "hrt.h" |
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#include <stdint.h> |
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static uint64_t timer_base_us64; |
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#if CH_CFG_ST_RESOLUTION == 16 |
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static uint32_t timer_base_us32; |
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#endif |
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static uint32_t timer_base_ms; |
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static volatile systime_t last_systime; |
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#if CH_CFG_ST_RESOLUTION == 16 |
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static uint32_t get_systime_us32(void) |
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{ |
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systime_t now = chVTGetSystemTimeX(); |
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#if CH_CFG_ST_FREQUENCY != 1000000 |
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now *= (1000000UL / CH_CFG_ST_FREQUENCY); |
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#endif |
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if (now < last_systime) { |
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uint32_t last_u32 = timer_base_us32; |
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timer_base_us32 += (uint32_t)TIME_MAX_SYSTIME; |
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if (timer_base_us32 < last_u32) { |
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timer_base_us64 += ((uint32_t)-1); |
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timer_base_ms += ((uint32_t)-1)/1000; |
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} |
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} |
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last_systime = now; |
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return timer_base_us32 + (uint32_t)now; |
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} |
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#elif CH_CFG_ST_RESOLUTION == 32 |
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static uint32_t get_systime_us32(void) |
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{ |
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systime_t now = chVTGetSystemTimeX(); |
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#if CH_CFG_ST_FREQUENCY != 1000000 |
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now *= (1000000UL / CH_CFG_ST_FREQUENCY); |
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#endif |
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if (now < last_systime) { |
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timer_base_us64 += TIME_MAX_SYSTIME; |
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timer_base_ms += TIME_MAX_SYSTIME/1000; |
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} |
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last_systime = now; |
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return now; |
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} |
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#else |
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#error "unsupported timer resolution" |
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#endif |
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/* |
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we use chSysGetStatusAndLockX() to prevent an interrupt while |
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allowing this call from any context |
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*/ |
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uint64_t hrt_micros64() |
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{ |
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syssts_t sts = chSysGetStatusAndLockX(); |
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uint32_t now = get_systime_us32(); |
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uint64_t ret = timer_base_us64 + now; |
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chSysRestoreStatusX(sts); |
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return ret; |
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} |
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uint32_t hrt_micros32() |
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{ |
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syssts_t sts = chSysGetStatusAndLockX(); |
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uint32_t ret = get_systime_us32(); |
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chSysRestoreStatusX(sts); |
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return ret; |
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} |
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uint32_t hrt_millis32() |
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{ |
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syssts_t sts = chSysGetStatusAndLockX(); |
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uint32_t now = get_systime_us32(); |
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uint32_t ret = (now / 1000U) + timer_base_ms; |
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chSysRestoreStatusX(sts); |
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return ret; |
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}
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