107 lines
4 KiB
C
107 lines
4 KiB
C
#include <ch.h>
|
|
|
|
#include "timer.h"
|
|
|
|
static uint32_t ticks_offset = 0;
|
|
static uint32_t last_ticks = 0;
|
|
static uint32_t ms_offset = 0;
|
|
#if CH_CFG_ST_RESOLUTION < 32
|
|
static uint32_t last_systime = 0;
|
|
static uint32_t overflow = 0;
|
|
#endif
|
|
|
|
// Get the current system time in ticks as a 32-bit number.
|
|
// This function must be called from within a system lock zone (so that it can safely use and update the static data).
|
|
static inline uint32_t get_system_time_ticks(void) {
|
|
uint32_t systime = (uint32_t)chVTGetSystemTimeX();
|
|
|
|
#if CH_CFG_ST_RESOLUTION < 32
|
|
// If the real system timer resolution is less than 32 bits, provide the missing bits by checking for the counter
|
|
// overflow. For this to work, this function must be called at least once for every overflow of the system timer.
|
|
// In the 16-bit case, the corresponding times are:
|
|
// - CH_CFG_ST_FREQUENCY = 100000, overflow will occur every ~0.65 seconds
|
|
// - CH_CFG_ST_FREQUENCY = 10000, overflow will occur every ~6.5 seconds
|
|
// - CH_CFG_ST_FREQUENCY = 1000, overflow will occur every ~65 seconds
|
|
if (systime < last_systime) {
|
|
overflow += ((uint32_t)1) << CH_CFG_ST_RESOLUTION;
|
|
}
|
|
last_systime = systime;
|
|
systime += overflow;
|
|
#endif
|
|
|
|
return systime;
|
|
}
|
|
|
|
#if CH_CFG_ST_RESOLUTION < 32
|
|
static virtual_timer_t update_timer;
|
|
|
|
// Update the system tick counter every half of the timer overflow period; this should keep the tick counter correct
|
|
// even if something blocks timer interrupts for 1/2 of the timer overflow period.
|
|
# define UPDATE_INTERVAL (((sysinterval_t)1) << (CH_CFG_ST_RESOLUTION - 1))
|
|
|
|
// VT callback function to keep the overflow bits of the system tick counter updated.
|
|
static void update_fn(void *arg) {
|
|
(void)arg;
|
|
chSysLockFromISR();
|
|
get_system_time_ticks();
|
|
chVTSetI(&update_timer, UPDATE_INTERVAL, update_fn, NULL);
|
|
chSysUnlockFromISR();
|
|
}
|
|
#endif
|
|
|
|
// The highest multiple of CH_CFG_ST_FREQUENCY that fits into uint32_t. This number of ticks will necessarily
|
|
// correspond to some integer number of seconds.
|
|
#define OVERFLOW_ADJUST_TICKS ((uint32_t)((UINT32_MAX / CH_CFG_ST_FREQUENCY) * CH_CFG_ST_FREQUENCY))
|
|
|
|
// The time in milliseconds which corresponds to OVERFLOW_ADJUST_TICKS ticks (this is a precise conversion, because
|
|
// OVERFLOW_ADJUST_TICKS corresponds to an integer number of seconds).
|
|
#define OVERFLOW_ADJUST_MS (TIME_I2MS(OVERFLOW_ADJUST_TICKS))
|
|
|
|
void timer_init(void) {
|
|
timer_clear();
|
|
#if CH_CFG_ST_RESOLUTION < 32
|
|
chVTObjectInit(&update_timer);
|
|
chVTSet(&update_timer, UPDATE_INTERVAL, update_fn, NULL);
|
|
#endif
|
|
}
|
|
|
|
void timer_clear(void) {
|
|
chSysLock();
|
|
ticks_offset = get_system_time_ticks();
|
|
last_ticks = 0;
|
|
ms_offset = 0;
|
|
chSysUnlock();
|
|
}
|
|
|
|
uint16_t timer_read(void) {
|
|
return (uint16_t)timer_read32();
|
|
}
|
|
|
|
uint32_t timer_read32(void) {
|
|
chSysLock();
|
|
uint32_t ticks = get_system_time_ticks() - ticks_offset;
|
|
if (ticks < last_ticks) {
|
|
// The 32-bit tick counter overflowed and wrapped around. We cannot just extend the counter to 64 bits here,
|
|
// because TIME_I2MS() may encounter overflows when handling a 64-bit argument; therefore the solution here is
|
|
// to subtract a reasonably large number of ticks from the tick counter to bring its value below the 32-bit
|
|
// limit again, and then add the equivalent number of milliseconds to the converted value. (Adjusting just the
|
|
// converted value to account for 2**32 ticks is not possible in general, because 2**32 ticks may not correspond
|
|
// to an integer number of milliseconds).
|
|
ticks -= OVERFLOW_ADJUST_TICKS;
|
|
ticks_offset += OVERFLOW_ADJUST_TICKS;
|
|
ms_offset += OVERFLOW_ADJUST_MS;
|
|
}
|
|
last_ticks = ticks;
|
|
uint32_t ms_offset_copy = ms_offset; // read while still holding the lock to ensure a consistent value
|
|
chSysUnlock();
|
|
|
|
return (uint32_t)TIME_I2MS(ticks) + ms_offset_copy;
|
|
}
|
|
|
|
uint16_t timer_elapsed(uint16_t last) {
|
|
return TIMER_DIFF_16(timer_read(), last);
|
|
}
|
|
|
|
uint32_t timer_elapsed32(uint32_t last) {
|
|
return TIMER_DIFF_32(timer_read32(), last);
|
|
}
|