Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

12 files changed, 68 insertions, 23 deletions

diff --git a/src/attiny/ao_arch.h b/src/attiny/ao_arch.h
index dfd41afe..5550eb44 100644
--- a/src/attiny/ao_arch.h
+++ b/src/attiny/ao_arch.h
@@ -36,6 +36,11 @@
 
 #define AO_LED_TYPE	uint8_t
 
+#ifndef AO_TICK_TYPE
+#define AO_TICK_TYPE	uint16_t
+#define AO_TICK_SIGNED	int16_t
+#endif
+
 /* Various definitions to make GCC look more like SDCC */
 
 #define ao_arch_naked_declare	__attribute__((naked))
diff --git a/src/attiny/ao_clock.c b/src/attiny/ao_clock.c
index d722d568..2ac0500b 100644
--- a/src/attiny/ao_clock.c
+++ b/src/attiny/ao_clock.c
@@ -28,7 +28,7 @@ ISR(TIMER1_COMPA_vect)
 		ao_wakeup((void *) &ao_tick_count);
 }
 
-uint16_t
+AO_TICK_TYPE
 ao_time(void)
 {
 	uint16_t	r;
diff --git a/src/kernel/ao.h b/src/kernel/ao.h
index 910c1d8e..dddcd9cb 100644
--- a/src/kernel/ao.h
+++ b/src/kernel/ao.h
@@ -100,8 +100,8 @@ extern AO_ROMCONFIG_SYMBOL uint32_t ao_radio_cal;
  */
 
 #ifndef AO_TICK_TYPE
-#define AO_TICK_TYPE	uint16_t
-#define AO_TICK_SIGNED	int16_t
+#define AO_TICK_TYPE	uint32_t
+#define AO_TICK_SIGNED	int32_t
 #endif
 
 extern volatile AO_TICK_TYPE ao_tick_count;
@@ -117,6 +117,10 @@ extern volatile AO_TICK_TYPE ao_tick_count;
 AO_TICK_TYPE
 ao_time(void);
 
+/* Returns the current time in ns */
+uint64_t
+ao_time_ns(void);
+
 /* Suspend the current task until ticks time has passed */
 void
 ao_delay(uint16_t ticks);
diff --git a/src/kernel/ao_led.h b/src/kernel/ao_led.h
index 5d982ca6..b770381f 100644
--- a/src/kernel/ao_led.h
+++ b/src/kernel/ao_led.h
@@ -43,7 +43,7 @@ ao_led_set(AO_LED_TYPE colors);
 
 /* Set all LEDs in 'mask' to the specified state */
 void
-ao_led_set_mask(uint8_t colors, uint8_t mask);
+ao_led_set_mask(AO_LED_TYPE colors, AO_LED_TYPE mask);
 
 /* Toggle the specified LEDs */
 void
@@ -51,7 +51,7 @@ ao_led_toggle(AO_LED_TYPE colors);
 
 /* Turn on the specified LEDs for the indicated interval */
 void
-ao_led_for(AO_LED_TYPE colors, uint16_t ticks);
+ao_led_for(AO_LED_TYPE colors, AO_TICK_TYPE ticks);
 
 /* Initialize the LEDs */
 void
diff --git a/src/lpc/ao_arch.h b/src/lpc/ao_arch.h
index 7821839e..93676b86 100644
--- a/src/lpc/ao_arch.h
+++ b/src/lpc/ao_arch.h
@@ -33,11 +33,6 @@
 
 #define AO_LED_TYPE	AO_PORT_TYPE
 
-#ifndef AO_TICK_TYPE
-#define AO_TICK_TYPE	uint16_t
-#define AO_TICK_SIGNED	int16_t
-#endif
-
 /* Various definitions to make GCC look more like SDCC */
 
 #define ao_arch_naked_declare	__attribute__((naked))
diff --git a/src/lpc/ao_led_lpc.c b/src/lpc/ao_led_lpc.c
index 3a2d4c98..46bf0495 100644
--- a/src/lpc/ao_led_lpc.c
+++ b/src/lpc/ao_led_lpc.c
@@ -49,7 +49,7 @@ ao_led_toggle(AO_PORT_TYPE colors)
 }
 
 void
-ao_led_for(AO_PORT_TYPE colors, uint16_t ticks) 
+ao_led_for(AO_PORT_TYPE colors, AO_TICK_TYPE ticks) 
 {
 	ao_led_on(colors);
 	ao_delay(ticks);
diff --git a/src/lpc/ao_timer_lpc.c b/src/lpc/ao_timer_lpc.c
index 8999c7ac..62b16318 100644
--- a/src/lpc/ao_timer_lpc.c
+++ b/src/lpc/ao_timer_lpc.c
@@ -18,14 +18,32 @@
 
 #include <ao.h>
 
+#define AO_SYSTICK	(AO_LPC_SYSCLK / 2)
+
 volatile AO_TICK_TYPE ao_tick_count;
 
-uint16_t
+AO_TICK_TYPE
 ao_time(void)
 {
 	return ao_tick_count;
 }
 
+uint64_t
+ao_time_ns(void)
+{
+	AO_TICK_TYPE	before, after;
+	uint32_t	cvr;
+
+	do {
+		before = ao_tick_count;
+		cvr = lpc_systick.cvr;
+		after = ao_tick_count;
+	} while (before != after);
+
+	return (uint64_t) after * (1000000000ULL / AO_HERTZ) +
+		(uint64_t) cvr * (1000000000ULL / AO_SYSTICK);
+}
+
 #if AO_DATA_ALL
 volatile uint8_t	ao_data_interval = 1;
 volatile uint8_t	ao_data_count;
diff --git a/src/stm/ao_arch.h b/src/stm/ao_arch.h
index c95c7cd5..e83b6bd2 100644
--- a/src/stm/ao_arch.h
+++ b/src/stm/ao_arch.h
@@ -30,11 +30,6 @@
 #define AO_STACK_SIZE	512
 #endif
 
-#ifndef AO_TICK_TYPE
-#define AO_TICK_TYPE	uint16_t
-#define AO_TICK_SIGNED	int16_t
-#endif
-
 #define AO_PORT_TYPE	uint16_t
 
 /* Various definitions to make GCC look more like SDCC */
diff --git a/src/stm/ao_led_stm.c b/src/stm/ao_led_stm.c
index 7dcbb661..ed4ec161 100644
--- a/src/stm/ao_led_stm.c
+++ b/src/stm/ao_led_stm.c
@@ -87,7 +87,7 @@ ao_led_toggle(AO_LED_TYPE colors)
 }
 
 void
-ao_led_for(AO_LED_TYPE colors, AO_LED_TYPE ticks) 
+ao_led_for(AO_LED_TYPE colors, AO_TICK_TYPE ticks) 
 {
 	ao_led_on(colors);
 	ao_delay(ticks);
diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index 9e9436cf..d00deffa 100644
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.c
@@ -36,6 +36,23 @@ ao_time(void)
 {
 	return ao_tick_count;
 }
+
+uint64_t
+ao_time_ns(void)
+{
+	AO_TICK_TYPE	before, after;
+	uint32_t	cvr;
+
+	do {
+		before = ao_tick_count;
+		cvr = stm_systick.cvr;
+		after = ao_tick_count;
+	} while (before != after);
+
+	return (uint64_t) after * (1000000000ULL / AO_HERTZ) +
+		(uint64_t) cvr * (1000000000ULL / AO_SYSTICK);
+}
+
 #endif
 
 #if AO_DATA_ALL
diff --git a/src/stmf0/ao_arch.h b/src/stmf0/ao_arch.h
index e5f7e1f7..d70a9110 100644
--- a/src/stmf0/ao_arch.h
+++ b/src/stmf0/ao_arch.h
@@ -32,11 +32,6 @@
 
 #define AO_LED_TYPE	uint16_t
 
-#ifndef AO_TICK_TYPE
-#define AO_TICK_TYPE	uint16_t
-#define AO_TICK_SIGNED	int16_t
-#endif
-
 #define AO_PORT_TYPE	uint16_t
 
 /* Various definitions to make GCC look more like SDCC */
diff --git a/src/stmf0/ao_timer.c b/src/stmf0/ao_timer.c
index 1def5f69..58e52995 100644
--- a/src/stmf0/ao_timer.c
+++ b/src/stmf0/ao_timer.c
@@ -35,6 +35,22 @@ ao_time(void)
 	return ao_tick_count;
 }
 
+uint64_t
+ao_time_ns(void)
+{
+	AO_TICK_TYPE	before, after;
+	uint32_t	cvr;
+
+	do {
+		before = ao_tick_count;
+		cvr = stm_systick.cvr;
+		after = ao_tick_count;
+	} while (before != after);
+
+	return (uint64_t) after * (1000000000ULL / AO_HERTZ) +
+		(uint64_t) cvr * (1000000000ULL / AO_SYSTICK);
+}
+
 #if AO_DATA_ALL
 volatile uint8_t	ao_data_interval = 1;
 volatile uint8_t	ao_data_count;