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nuttx/include/nuttx/clock.h

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/****************************************************************************
* include/nuttx/clock.h
*
* Copyright (C) 2007-2009, 2011-2012, 2014, 2016-2018 Gregory Nutt.
All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef __INCLUDE_NUTTX_CLOCK_H
#define __INCLUDE_NUTTX_CLOCK_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <time.h>
#include <nuttx/compiler.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Efficient, direct access to OS global timer variables will be supported
* if the execution environment has direct access to kernel global data.
* The code in this execution context can access the kernel global data
* directly if:
*
* 1. We are not running tick-less (in which case there is no global timer
* data),
* 2. This is an un-protected, non-kernel build,
* 3. This is a protected build, but this code is being built for execution
* within the kernel space.
* 4. It we are building with SYSCALLs enabled, but not in a kernel build,
* then we can't know a priori whether the code has access to the
* global variables or not. In that case we have to assume not.
*/
#undef __HAVE_KERNEL_GLOBALS
#if defined(CONFIG_SCHED_TICKLESS)
/* Case 1: There is no global timer data */
#elif defined(CONFIG_BUILD_PROTECTED) && defined(__KERNEL__)
/* Case 3: Kernel mode of protected kernel build */
# define __HAVE_KERNEL_GLOBALS 1
#elif defined(CONFIG_BUILD_KERNEL) && defined(__KERNEL__)
/* Case 3: Kernel only build */
# define __HAVE_KERNEL_GLOBALS 1
#elif defined(CONFIG_LIB_SYSCALL)
/* Case 4: Building with SYSCALLs enabled, but not part of a kernel build */
#else
/* Case 2: Un-protected, non-kernel build */
# define __HAVE_KERNEL_GLOBALS 1
#endif
/* If CONFIG_SYSTEM_TIME64 is selected and the CPU supports long long types,
* then a 64-bit system time will be used.
*/
#ifndef CONFIG_HAVE_LONG_LONG
# undef CONFIG_SYSTEM_TIME64
#endif
/* Timing constants *********************************************************/
#define NSEC_PER_SEC 1000000000L /* Seconds */
#define USEC_PER_SEC 1000000L
#define MSEC_PER_SEC 1000L
#define DSEC_PER_SEC 10L
#define HSEC_PER_SEC 2L
#define NSEC_PER_HSEC 500000000L /* Half seconds */
#define USEC_PER_HSEC 500000L
#define MSEC_PER_HSEC 500L
#define DSEC_PER_HSEC 5L
#define NSEC_PER_DSEC 100000000L /* Deciseconds */
#define USEC_PER_DSEC 100000L
#define MSEC_PER_DSEC 100L
#define NSEC_PER_MSEC 1000000L /* Milliseconds */
#define USEC_PER_MSEC 1000L
#define NSEC_PER_USEC 1000L /* Microseconds */
#define SEC_PER_MIN 60L
#define NSEC_PER_MIN (NSEC_PER_SEC * SEC_PER_MIN)
#define USEC_PER_MIN (USEC_PER_SEC * SEC_PER_MIN)
#define MSEC_PER_MIN (MSEC_PER_SEC * SEC_PER_MIN)
#define DSEC_PER_MIN (HSEC_PER_SEC * SEC_PER_MIN)
#define HSEC_PER_MIN (HSEC_PER_SEC * SEC_PER_MIN)
#define MIN_PER_HOUR 60L
#define NSEC_PER_HOUR (NSEC_PER_MIN * MIN_PER_HOUR)
#define USEC_PER_HOUR (USEC_PER_MIN * MIN_PER_HOUR)
#define MSEC_PER_HOUR (MSEC_PER_MIN * MIN_PER_HOUR)
#define DSEC_PER_HOUR (HSEC_PER_SEC * MIN_PER_HOUR)
#define HSEC_PER_HOUR (DSEC_PER_MIN * MIN_PER_HOUR)
#define SEC_PER_HOUR (SEC_PER_MIN * MIN_PER_HOUR)
#define HOURS_PER_DAY 24L
#define SEC_PER_DAY (HOURS_PER_DAY * SEC_PER_HOUR)
/* If CONFIG_SCHED_TICKLESS is not defined, then the interrupt interval of
* the system timer is given by USEC_PER_TICK. This is the expected number
* of microseconds between calls from the processor-specific logic to
* sched_process_timer(). The default value of USEC_PER_TICK is 10000
* microseconds (100KHz). However, this default setting can be overridden
* by defining the interval in microseconds as CONFIG_USEC_PER_TICK in the
* NuttX configuration file.
*
* The following calculations are only accurate when (1) there is no
* truncation involved and (2) the underlying system timer is an even
* multiple of microseconds. If (2) is not true, you will probably want
* to redefine all of the following.
*/
#ifdef CONFIG_USEC_PER_TICK
# define USEC_PER_TICK (CONFIG_USEC_PER_TICK)
#else
# define USEC_PER_TICK (10000)
#endif
/* MSEC_PER_TICK can be very inaccurate if CONFIG_USEC_PER_TICK is not an
* even multiple of milliseconds. Calculations using USEC_PER_TICK are
* preferred for that reason (at the risk of overflow)
*/
#define TICK_PER_HOUR (USEC_PER_HOUR / USEC_PER_TICK) /* Truncates! */
#define TICK_PER_MIN (USEC_PER_MIN / USEC_PER_TICK) /* Truncates! */
#define TICK_PER_SEC (USEC_PER_SEC / USEC_PER_TICK) /* Truncates! */
#define TICK_PER_MSEC (USEC_PER_MSEC / USEC_PER_TICK) /* Truncates! */
#define TICK_PER_DSEC (USEC_PER_DSEC / USEC_PER_TICK) /* Truncates! */
#define TICK_PER_HSEC (USEC_PER_HSEC / USEC_PER_TICK) /* Truncates! */
#define MSEC_PER_TICK (USEC_PER_TICK / USEC_PER_MSEC) /* Truncates! */
#define NSEC_PER_TICK (USEC_PER_TICK * NSEC_PER_USEC) /* Exact */
#define NSEC2TICK(nsec) (((nsec)+(NSEC_PER_TICK/2))/NSEC_PER_TICK) /* Rounds */
#define USEC2TICK(usec) (((usec)+(USEC_PER_TICK/2))/USEC_PER_TICK) /* Rounds */
#if (MSEC_PER_TICK * USEC_PER_MSEC) == USEC_PER_TICK
# define MSEC2TICK(msec) (((msec)+(MSEC_PER_TICK/2))/MSEC_PER_TICK) /* Rounds */
#else
# define MSEC2TICK(msec) USEC2TICK((msec) * USEC_PER_MSEC) /* Rounds */
#endif
#define DSEC2TICK(dsec) MSEC2TICK((dsec) * MSEC_PER_DSEC) /* Rounds */
#define HSEC2TICK(dsec) MSEC2TICK((dsec) * MSEC_PER_HSEC) /* Rounds */
#define SEC2TICK(sec) MSEC2TICK((sec) * MSEC_PER_SEC) /* Rounds */
#define TICK2NSEC(tick) ((tick) * NSEC_PER_TICK) /* Exact */
#define TICK2USEC(tick) ((tick) * USEC_PER_TICK) /* Exact */
#if (MSEC_PER_TICK * USEC_PER_MSEC) == USEC_PER_TICK
# define TICK2MSEC(tick) ((tick)*MSEC_PER_TICK) /* Exact */
#else
# define TICK2MSEC(tick) (((tick)*USEC_PER_TICK)/USEC_PER_MSEC) /* Rounds */
#endif
#define TICK2DSEC(tick) (((tick)+(TICK_PER_DSEC/2))/TICK_PER_DSEC) /* Rounds */
#define TICK2HSEC(tick) (((tick)+(TICK_PER_HSEC/2))/TICK_PER_HSEC) /* Rounds */
#define TICK2SEC(tick) (((tick)+(TICK_PER_SEC/2))/TICK_PER_SEC) /* Rounds */
#if defined(CONFIG_DEBUG_FEATURES) && defined(CONFIG_SYSTEM_TIME64) && \
defined(CONFIG_CLOCK_MONOTONIC)
/* Initial system timer ticks value close to maximum 32-bit value, to test
* 64-bit system-timer after going over 32-bit value. This is to make errors
* of casting 64-bit system-timer to 32-bit variables more visible.
*/
# define INITIAL_SYSTEM_TIMER_TICKS \
((uint64_t)(UINT32_MAX - (TICK_PER_SEC * 5)))
#else
# define INITIAL_SYSTEM_TIMER_TICKS 0
#endif
/****************************************************************************
* Public Types
****************************************************************************/
/* This structure is used to report CPU usage for a particular thread */
#ifdef CONFIG_SCHED_CPULOAD
struct cpuload_s
{
volatile uint32_t total; /* Total number of clock ticks */
volatile uint32_t active; /* Number of ticks while this thread was active */
};
#endif
/* This non-standard type used to hold relative clock ticks that may take
* negative values. Because of its non-portable nature the type sclock_t
* should be used only within the OS proper and not by portable applications.
*/
#ifdef CONFIG_SYSTEM_TIME64
typedef int64_t sclock_t;
#else
typedef int32_t sclock_t;
#endif
/****************************************************************************
* Public Data
****************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/* Access to raw system clock ***********************************************/
/* Direct access to the system timer/counter is supported only if (1) the
* system timer counter is available (i.e., we are not configured to use
* a hardware periodic timer), and (2) the execution environment has direct
* access to kernel global data
*/
#ifdef __HAVE_KERNEL_GLOBALS
EXTERN volatile clock_t g_system_timer;
#ifndef CONFIG_SYSTEM_TIME64
# define clock_systimer() g_system_timer
#endif
#endif
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
void clock_timespec_add(FAR const struct timespec *ts1,
FAR const struct timespec *ts2,
FAR struct timespec *ts3);
void clock_timespec_subtract(FAR const struct timespec *ts1,
FAR const struct timespec *ts2,
FAR struct timespec *ts3);
/****************************************************************************
* Name: clock_synchronize
*
* Description:
* Synchronize the system timer to a hardware RTC. This operation is
* normally performed automatically by the system during clock
* initialization. However, the user may also need to explicitly re-
* synchronize the system timer to the RTC under certain conditions where
* the system timer is known to be in error. For example, in certain low-
* power states, the system timer may be stopped but the RTC will continue
* keep correct time. After recovering from such low-power state, this
* function should be called to restore the correct system time.
*
* Calling this function could result in system time going "backward" in
* time, especially with certain lower resolution RTC implementations.
* Time going backward could have bad consequences if there are ongoing
* timers and delays. So use this interface with care.
*
* Input Parameters:
* None
*
* Returned Value:
* None
*
* Assumptions:
*
****************************************************************************/
#ifdef CONFIG_RTC
void clock_synchronize(void);
#endif
/****************************************************************************
* Name: clock_resynchronize
*
* Description:
* Resynchronize the system timer to a hardware RTC. The user can
* explicitly re-synchronize the system timer to the RTC under certain
* conditions where the system timer is known to be in error. For example,
* in certain low-power states, the system timer may be stopped but the
* RTC will continue keep correct time. After recovering from such
* low-power state, this function should be called to restore the correct
* system time. Function also keeps monotonic clock at rate of RTC.
*
* Calling this function will not result in system time going "backward" in
* time. If setting system time with RTC would result time going "backward"
* then resynchronization is not performed.
*
* Input Parameters:
* diff: amount of time system-time is adjusted forward with RTC
*
* Returned Value:
* None
*
* Assumptions:
*
****************************************************************************/
#if defined(CONFIG_RTC) && !defined(CONFIG_SCHED_TICKLESS) && \
!defined(CONFIG_CLOCK_TIMEKEEPING)
void clock_resynchronize(FAR struct timespec *rtc_diff);
#endif
/****************************************************************************
* Name: clock_systimer
*
* Description:
* Return the current value of the 32/64-bit system timer counter.
*
* Indirect access to the system timer counter is required through this
* function if the execution environment does not have direct access to
* kernel global data.
*
* Use of this function is also required to assure atomic access to the
* 64-bit system timer.
*
* NOTE: This is an internal OS interface and should not be called from
* application code. Rather, the functionally equivalent, standard
* interface clock() should be used.
*
* Input Parameters:
* None
*
* Returned Value:
* The current value of the system timer counter
*
****************************************************************************/
#if !defined(__HAVE_KERNEL_GLOBALS) || defined(CONFIG_SYSTEM_TIME64)
clock_t clock_systimer(void);
#endif
/****************************************************************************
* Name: clock_systimespec
*
* Description:
* Return the current value of the system timer counter as a struct
* timespec.
*
* Input Parameters:
* ts - Location to return the time
*
* Returned Value:
* Current version always returns OK
*
* Assumptions:
*
****************************************************************************/
int clock_systimespec(FAR struct timespec *ts);
/****************************************************************************
* Name: clock_cpuload
*
* Description:
* Return load measurement data for the select PID.
*
* Input Parameters:
* pid - The task ID of the thread of interest. pid == 0 is the IDLE thread.
* cpuload - The location to return the CPU load
*
* Returned Value:
* OK (0) on success; a negated errno value on failure. The only reason
* that this function can fail is if 'pid' no longer refers to a valid
* thread.
*
* Assumptions:
*
****************************************************************************/
#ifdef CONFIG_SCHED_CPULOAD
int clock_cpuload(int pid, FAR struct cpuload_s *cpuload);
#endif
/****************************************************************************
* Name: sched_oneshot_extclk
*
* Description:
* Configure to use a oneshot timer as described in
* include/nuttx/timers/oneshot.h to provid external clocking to assess
* the CPU load.
*
* Input Parameters:
* lower - An instance of the oneshot timer interface as defined in
* include/nuttx/timers/oneshot.h
*
* Returned Value:
* None
*
****************************************************************************/
#ifdef CONFIG_CPULOAD_ONESHOT
struct oneshot_lowerhalf_s;
void sched_oneshot_extclk(FAR struct oneshot_lowerhalf_s *lower);
#endif
/****************************************************************************
* Name: sched_period_extclk
*
* Description:
* Configure to use a period timer as described in
* include/nuttx/timers/timer.h to provide external clocking to assess
* the CPU load.
*
* Input Parameters:
* lower - An instance of the period timer interface as defined in
* include/nuttx/timers/timer.h
*
* Returned Value:
* None
*
****************************************************************************/
#ifdef CONFIG_CPULOAD_PERIOD
struct timer_lowerhalf_s;
void sched_period_extclk(FAR struct timer_lowerhalf_s *lower);
#endif
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* __INCLUDE_NUTTX_CLOCK_H */
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