547 lines
19 KiB
C
547 lines
19 KiB
C
/****************************************************************************
|
|
* include/nuttx/clock.h
|
|
*
|
|
* Licensed to the Apache Software Foundation (ASF) under one or more
|
|
* contributor license agreements. See the NOTICE file distributed with
|
|
* this work for additional information regarding copyright ownership. The
|
|
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
|
* "License"); you may not use this file except in compliance with the
|
|
* License. You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
|
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
|
* License for the specific language governing permissions and limitations
|
|
* under the License.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#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(__KERNEL__)
|
|
/* Case 3: Kernel mode of protected/kernel 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 1000
|
|
#define DSEC_PER_SEC 10
|
|
#define HSEC_PER_SEC 2
|
|
|
|
#define NSEC_PER_HSEC 500000000L /* Half seconds */
|
|
#define USEC_PER_HSEC 500000L
|
|
#define MSEC_PER_HSEC 500
|
|
#define DSEC_PER_HSEC 5
|
|
|
|
#define NSEC_PER_DSEC 100000000L /* Deciseconds */
|
|
#define USEC_PER_DSEC 100000L
|
|
#define MSEC_PER_DSEC 100
|
|
|
|
#define NSEC_PER_MSEC 1000000L /* Milliseconds */
|
|
#define USEC_PER_MSEC 1000
|
|
|
|
#define NSEC_PER_USEC 1000 /* Microseconds */
|
|
|
|
#define SEC_PER_MIN 60
|
|
#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 (DSEC_PER_SEC * SEC_PER_MIN)
|
|
#define HSEC_PER_MIN (HSEC_PER_SEC * SEC_PER_MIN)
|
|
|
|
#define MIN_PER_HOUR 60
|
|
#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 (DSEC_PER_MIN * MIN_PER_HOUR)
|
|
#define HSEC_PER_HOUR (HSEC_PER_MIN * MIN_PER_HOUR)
|
|
#define SEC_PER_HOUR (SEC_PER_MIN * MIN_PER_HOUR)
|
|
|
|
#define HOURS_PER_DAY 24
|
|
#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
|
|
* nxsched_process_timer(). The default value of USEC_PER_TICK is 10000
|
|
* microseconds (100 Hz). 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_SCHED_TICKLESS)
|
|
/* 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_ticks;
|
|
|
|
# ifndef CONFIG_SYSTEM_TIME64
|
|
# define clock_systime_ticks() g_system_ticks
|
|
# endif
|
|
#endif
|
|
|
|
/****************************************************************************
|
|
* Public Function Prototypes
|
|
****************************************************************************/
|
|
|
|
#define timespec_from_tick(ts, tick) \
|
|
do \
|
|
{ \
|
|
clock_t _tick = (tick); \
|
|
(ts)->tv_sec = _tick / TICK_PER_SEC; \
|
|
_tick -= (clock_t)(ts)->tv_sec * TICK_PER_SEC; \
|
|
(ts)->tv_nsec = _tick * NSEC_PER_TICK; \
|
|
} \
|
|
while (0)
|
|
|
|
#define timespec_to_tick(ts) \
|
|
((clock_t)(ts)->tv_sec * TICK_PER_SEC + (ts)->tv_nsec / NSEC_PER_TICK)
|
|
|
|
/****************************************************************************
|
|
* Name: clock_timespec_compare
|
|
*
|
|
* Description:
|
|
* Return < 0 if time ts1 is before time ts2
|
|
* Return > 0 if time ts2 is before time ts1
|
|
* Return 0 if time ts1 is the same as time ts2
|
|
*
|
|
****************************************************************************/
|
|
|
|
int clock_timespec_compare(FAR const struct timespec *ts1,
|
|
FAR const struct timespec *ts2);
|
|
|
|
/****************************************************************************
|
|
* Name: clock_timespec_add
|
|
*
|
|
* Description:
|
|
* Add timespec ts1 to to2 and return the result in ts3
|
|
*
|
|
* Input Parameters:
|
|
* ts1 and ts2: The two timespecs to be added
|
|
* t23: The location to return the result (may be ts1 or ts2)
|
|
*
|
|
* Returned Value:
|
|
* None
|
|
*
|
|
****************************************************************************/
|
|
|
|
void clock_timespec_add(FAR const struct timespec *ts1,
|
|
FAR const struct timespec *ts2,
|
|
FAR struct timespec *ts3);
|
|
|
|
/****************************************************************************
|
|
* Name: clock_timespec_subtract
|
|
*
|
|
* Description:
|
|
* Subtract timespec ts2 from to1 and return the result in ts3.
|
|
* Zero is returned if the time difference is negative.
|
|
*
|
|
* Input Parameters:
|
|
* ts1 and ts2: The two timespecs to be subtracted (ts1 - ts2)
|
|
* t23: The location to return the result (may be ts1 or ts2)
|
|
*
|
|
* Returned Value:
|
|
* None
|
|
*
|
|
****************************************************************************/
|
|
|
|
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:
|
|
* tp: rtc time should be synced, set NULL to re-get time
|
|
*
|
|
* Returned Value:
|
|
* None
|
|
*
|
|
* Assumptions:
|
|
*
|
|
****************************************************************************/
|
|
|
|
#ifdef CONFIG_RTC
|
|
void clock_synchronize(FAR const struct timespec *tp);
|
|
#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)
|
|
void clock_resynchronize(FAR struct timespec *rtc_diff);
|
|
#endif
|
|
|
|
/****************************************************************************
|
|
* Name: clock_systime_ticks
|
|
*
|
|
* 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_systime_ticks(void);
|
|
#endif
|
|
|
|
/****************************************************************************
|
|
* Name: clock_time2ticks
|
|
*
|
|
* Description:
|
|
* Return the given struct timespec as systime ticks.
|
|
*
|
|
* NOTE: This is an internal OS interface and should not be called from
|
|
* application code.
|
|
*
|
|
* Input Parameters:
|
|
* reltime - Pointer to the time presented as struct timespec
|
|
*
|
|
* Output Parameters:
|
|
* ticks - Pointer to receive the time value presented as systime ticks
|
|
*
|
|
* Returned Value:
|
|
* Always returns OK (0)
|
|
*
|
|
****************************************************************************/
|
|
|
|
int clock_time2ticks(FAR const struct timespec *reltime,
|
|
FAR sclock_t *ticks);
|
|
|
|
/****************************************************************************
|
|
* Name: clock_ticks2time
|
|
*
|
|
* Description:
|
|
* Return the given systime ticks as a struct timespec.
|
|
*
|
|
* NOTE: This is an internal OS interface and should not be called from
|
|
* application code.
|
|
*
|
|
* Input Parameters:
|
|
* ticks - Time presented as systime ticks
|
|
*
|
|
* Output Parameters:
|
|
* reltime - Pointer to receive the time value presented as struct timespec
|
|
*
|
|
* Returned Value:
|
|
* Always returns OK (0)
|
|
*
|
|
****************************************************************************/
|
|
|
|
int clock_ticks2time(sclock_t ticks, FAR struct timespec *reltime);
|
|
|
|
/****************************************************************************
|
|
* Name: clock_systime_timespec
|
|
*
|
|
* Description:
|
|
* Return the current value of the system timer counter as a struct
|
|
* timespec.
|
|
*
|
|
* Input Parameters:
|
|
* ts - Location to return the time
|
|
*
|
|
* Returned Value:
|
|
* OK (0) on success; a negated errno value on failure.
|
|
*
|
|
* Assumptions:
|
|
*
|
|
****************************************************************************/
|
|
|
|
int clock_systime_timespec(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 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: nxsched_oneshot_extclk
|
|
*
|
|
* Description:
|
|
* Configure to use a oneshot timer as described in
|
|
* include/nuttx/timers/oneshot.h to provide 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 nxsched_oneshot_extclk(FAR struct oneshot_lowerhalf_s *lower);
|
|
#endif
|
|
|
|
/****************************************************************************
|
|
* Name: nxsched_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 nxsched_period_extclk(FAR struct timer_lowerhalf_s *lower);
|
|
#endif
|
|
|
|
#undef EXTERN
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* __INCLUDE_NUTTX_CLOCK_H */
|