From 6fec7b5affd223c18bad78377d7655af958dffc2 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Mon, 25 Feb 2019 16:40:16 -0700 Subject: altos: Fix several mis-specified time types Make sure AO_TICK_TYPE is used "everywhere", instead of uint16_t or other. Signed-off-by: Keith Packard --- src/kernel/ao_led.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src/kernel') 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 -- cgit v1.2.3 From 0448b9b638f8599633227a639ef9d8572780bbd9 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Mon, 25 Feb 2019 16:41:45 -0700 Subject: altos: Change default time type to 32-bits Offers additional range for internal use without increasing cost on 32-bit platforms. Signed-off-by: Keith Packard --- src/attiny/ao_arch.h | 5 +++++ src/kernel/ao.h | 4 ++-- 2 files changed, 7 insertions(+), 2 deletions(-) (limited to 'src/kernel') 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/kernel/ao.h b/src/kernel/ao.h index 910c1d8e..c00de1fe 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; -- cgit v1.2.3 From cd920a0e5321166ef8b1d6afc3d63fc5de998a93 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Mon, 25 Feb 2019 16:42:25 -0700 Subject: altos: add ao_time_ns API This provides nano-second resolution times by reading the systick value (which runs at 250ns ticks on stm). Signed-off-by: Keith Packard --- src/kernel/ao.h | 4 ++++ src/lpc/ao_timer_lpc.c | 18 ++++++++++++++++++ src/stm/ao_timer.c | 17 +++++++++++++++++ src/stmf0/ao_timer.c | 16 ++++++++++++++++ 4 files changed, 55 insertions(+) (limited to 'src/kernel') diff --git a/src/kernel/ao.h b/src/kernel/ao.h index c00de1fe..dddcd9cb 100644 --- a/src/kernel/ao.h +++ b/src/kernel/ao.h @@ -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/lpc/ao_timer_lpc.c b/src/lpc/ao_timer_lpc.c index 50313333..62b16318 100644 --- a/src/lpc/ao_timer_lpc.c +++ b/src/lpc/ao_timer_lpc.c @@ -18,6 +18,8 @@ #include +#define AO_SYSTICK (AO_LPC_SYSCLK / 2) + volatile AO_TICK_TYPE ao_tick_count; AO_TICK_TYPE @@ -26,6 +28,22 @@ 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 = 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_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_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; -- cgit v1.2.3