f13ee2848d
include/nuttx/clock.h:
* USEC_PER_TICK: The docstring for this define mistakenly said
that the default value of USEC_PER_TICK, 10000, corresponded
to 100 KHz. However, it is actually 100 Hz. Corrected the
comment. No functional changes.
489 lines
17 KiB
C
489 lines
17 KiB
C
/****************************************************************************
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* include/nuttx/clock.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NUTTX_CLOCK_H
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#define __INCLUDE_NUTTX_CLOCK_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <time.h>
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#include <nuttx/compiler.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Configuration ************************************************************/
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/* Efficient, direct access to OS global timer variables will be supported
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* if the execution environment has direct access to kernel global data.
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* The code in this execution context can access the kernel global data
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* directly if:
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*
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* 1. We are not running tick-less (in which case there is no global timer
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* data),
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* 2. This is an un-protected, non-kernel build,
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* 3. This is a protected build, but this code is being built for execution
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* within the kernel space.
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* 4. It we are building with SYSCALLs enabled, but not in a kernel build,
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* then we can't know a priori whether the code has access to the
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* global variables or not. In that case we have to assume not.
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*/
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#undef __HAVE_KERNEL_GLOBALS
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#if defined(CONFIG_SCHED_TICKLESS)
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/* Case 1: There is no global timer data */
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#elif defined(__KERNEL__)
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/* Case 3: Kernel mode of protected/kernel build */
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# define __HAVE_KERNEL_GLOBALS 1
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#elif defined(CONFIG_LIB_SYSCALL)
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/* Case 4: Building with SYSCALLs enabled, but not part of a kernel build */
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#else
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/* Case 2: Un-protected, non-kernel build */
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# define __HAVE_KERNEL_GLOBALS 1
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#endif
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/* If CONFIG_SYSTEM_TIME64 is selected and the CPU supports long long types,
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* then a 64-bit system time will be used.
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*/
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#ifndef CONFIG_HAVE_LONG_LONG
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# undef CONFIG_SYSTEM_TIME64
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#endif
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/* Timing constants *********************************************************/
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#define NSEC_PER_SEC 1000000000L /* Seconds */
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#define USEC_PER_SEC 1000000L
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#define MSEC_PER_SEC 1000L
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#define DSEC_PER_SEC 10L
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#define HSEC_PER_SEC 2L
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#define NSEC_PER_HSEC 500000000L /* Half seconds */
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#define USEC_PER_HSEC 500000L
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#define MSEC_PER_HSEC 500L
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#define DSEC_PER_HSEC 5L
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#define NSEC_PER_DSEC 100000000L /* Deciseconds */
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#define USEC_PER_DSEC 100000L
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#define MSEC_PER_DSEC 100L
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#define NSEC_PER_MSEC 1000000L /* Milliseconds */
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#define USEC_PER_MSEC 1000L
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#define NSEC_PER_USEC 1000L /* Microseconds */
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#define SEC_PER_MIN 60L
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#define NSEC_PER_MIN (NSEC_PER_SEC * SEC_PER_MIN)
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#define USEC_PER_MIN (USEC_PER_SEC * SEC_PER_MIN)
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#define MSEC_PER_MIN (MSEC_PER_SEC * SEC_PER_MIN)
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#define DSEC_PER_MIN (DSEC_PER_SEC * SEC_PER_MIN)
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#define HSEC_PER_MIN (HSEC_PER_SEC * SEC_PER_MIN)
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#define MIN_PER_HOUR 60L
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#define NSEC_PER_HOUR (NSEC_PER_MIN * MIN_PER_HOUR)
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#define USEC_PER_HOUR (USEC_PER_MIN * MIN_PER_HOUR)
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#define MSEC_PER_HOUR (MSEC_PER_MIN * MIN_PER_HOUR)
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#define DSEC_PER_HOUR (DSEC_PER_MIN * MIN_PER_HOUR)
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#define HSEC_PER_HOUR (HSEC_PER_MIN * MIN_PER_HOUR)
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#define SEC_PER_HOUR (SEC_PER_MIN * MIN_PER_HOUR)
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#define HOURS_PER_DAY 24L
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#define SEC_PER_DAY (HOURS_PER_DAY * SEC_PER_HOUR)
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/* If CONFIG_SCHED_TICKLESS is not defined, then the interrupt interval of
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* the system timer is given by USEC_PER_TICK. This is the expected number
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* of microseconds between calls from the processor-specific logic to
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* nxsched_process_timer(). The default value of USEC_PER_TICK is 10000
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* microseconds (100 Hz). However, this default setting can be overridden
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* by defining the interval in microseconds as CONFIG_USEC_PER_TICK in the
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* NuttX configuration file.
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*
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* The following calculations are only accurate when (1) there is no
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* truncation involved and (2) the underlying system timer is an even
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* multiple of microseconds. If (2) is not true, you will probably want
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* to redefine all of the following.
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*/
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#ifdef CONFIG_USEC_PER_TICK
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# define USEC_PER_TICK (CONFIG_USEC_PER_TICK)
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#else
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# define USEC_PER_TICK (10000)
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#endif
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/* MSEC_PER_TICK can be very inaccurate if CONFIG_USEC_PER_TICK is not an
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* even multiple of milliseconds. Calculations using USEC_PER_TICK are
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* preferred for that reason (at the risk of overflow)
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*/
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#define TICK_PER_HOUR (USEC_PER_HOUR / USEC_PER_TICK) /* Truncates! */
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#define TICK_PER_MIN (USEC_PER_MIN / USEC_PER_TICK) /* Truncates! */
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#define TICK_PER_SEC (USEC_PER_SEC / USEC_PER_TICK) /* Truncates! */
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#define TICK_PER_MSEC (USEC_PER_MSEC / USEC_PER_TICK) /* Truncates! */
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#define TICK_PER_DSEC (USEC_PER_DSEC / USEC_PER_TICK) /* Truncates! */
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#define TICK_PER_HSEC (USEC_PER_HSEC / USEC_PER_TICK) /* Truncates! */
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#define MSEC_PER_TICK (USEC_PER_TICK / USEC_PER_MSEC) /* Truncates! */
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#define NSEC_PER_TICK (USEC_PER_TICK * NSEC_PER_USEC) /* Exact */
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#define NSEC2TICK(nsec) (((nsec)+(NSEC_PER_TICK/2))/NSEC_PER_TICK) /* Rounds */
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#define USEC2TICK(usec) (((usec)+(USEC_PER_TICK/2))/USEC_PER_TICK) /* Rounds */
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#if (MSEC_PER_TICK * USEC_PER_MSEC) == USEC_PER_TICK
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# define MSEC2TICK(msec) (((msec)+(MSEC_PER_TICK/2))/MSEC_PER_TICK) /* Rounds */
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#else
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# define MSEC2TICK(msec) USEC2TICK((msec) * USEC_PER_MSEC) /* Rounds */
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#endif
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#define DSEC2TICK(dsec) MSEC2TICK((dsec) * MSEC_PER_DSEC) /* Rounds */
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#define HSEC2TICK(dsec) MSEC2TICK((dsec) * MSEC_PER_HSEC) /* Rounds */
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#define SEC2TICK(sec) MSEC2TICK((sec) * MSEC_PER_SEC) /* Rounds */
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#define TICK2NSEC(tick) ((tick) * NSEC_PER_TICK) /* Exact */
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#define TICK2USEC(tick) ((tick) * USEC_PER_TICK) /* Exact */
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#if (MSEC_PER_TICK * USEC_PER_MSEC) == USEC_PER_TICK
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# define TICK2MSEC(tick) ((tick)*MSEC_PER_TICK) /* Exact */
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#else
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# define TICK2MSEC(tick) (((tick)*USEC_PER_TICK)/USEC_PER_MSEC) /* Rounds */
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#endif
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#define TICK2DSEC(tick) (((tick)+(TICK_PER_DSEC/2))/TICK_PER_DSEC) /* Rounds */
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#define TICK2HSEC(tick) (((tick)+(TICK_PER_HSEC/2))/TICK_PER_HSEC) /* Rounds */
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#define TICK2SEC(tick) (((tick)+(TICK_PER_SEC/2))/TICK_PER_SEC) /* Rounds */
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#if defined(CONFIG_DEBUG_FEATURES) && defined(CONFIG_SYSTEM_TIME64) && \
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defined(CONFIG_CLOCK_MONOTONIC) && !defined(CONFIG_SCHED_TICKLESS)
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/* Initial system timer ticks value close to maximum 32-bit value, to test
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* 64-bit system-timer after going over 32-bit value. This is to make errors
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* of casting 64-bit system-timer to 32-bit variables more visible.
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*/
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# define INITIAL_SYSTEM_TIMER_TICKS \
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((uint64_t)(UINT32_MAX - (TICK_PER_SEC * 5)))
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#else
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# define INITIAL_SYSTEM_TIMER_TICKS 0
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#endif
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/****************************************************************************
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* Public Types
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****************************************************************************/
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/* This structure is used to report CPU usage for a particular thread */
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#ifdef CONFIG_SCHED_CPULOAD
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struct cpuload_s
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{
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volatile uint32_t total; /* Total number of clock ticks */
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volatile uint32_t active; /* Number of ticks while this thread was active */
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};
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#endif
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/* This non-standard type used to hold relative clock ticks that may take
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* negative values. Because of its non-portable nature the type sclock_t
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* should be used only within the OS proper and not by portable applications.
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*/
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#ifdef CONFIG_SYSTEM_TIME64
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typedef int64_t sclock_t;
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#else
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typedef int32_t sclock_t;
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#endif
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/****************************************************************************
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* Public Data
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****************************************************************************/
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#ifdef __cplusplus
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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/* Access to raw system clock ***********************************************/
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/* Direct access to the system timer/counter is supported only if (1) the
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* system timer counter is available (i.e., we are not configured to use
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* a hardware periodic timer), and (2) the execution environment has direct
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* access to kernel global data
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*/
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#ifdef __HAVE_KERNEL_GLOBALS
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EXTERN volatile clock_t g_system_timer;
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#ifndef CONFIG_SYSTEM_TIME64
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# define clock_systime_ticks() g_system_timer
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#endif
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#endif
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: clock_timespec_compare
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*
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* Description:
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* Return < 0 if time ts1 is before time ts2
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* Return > 0 if time ts2 is before time ts1
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* Return 0 if time ts1 is the same as time ts2
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*
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****************************************************************************/
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int clock_timespec_compare(FAR const struct timespec *ts1,
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FAR const struct timespec *ts2);
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/****************************************************************************
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* Name: clock_timespec_add
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*
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* Description:
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* Add timespec ts1 to to2 and return the result in ts3
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*
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* Input Parameters:
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* ts1 and ts2: The two timespecs to be added
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* t23: The location to return the result (may be ts1 or ts2)
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void clock_timespec_add(FAR const struct timespec *ts1,
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FAR const struct timespec *ts2,
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FAR struct timespec *ts3);
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/****************************************************************************
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* Name: clock_timespec_subtract
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*
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* Description:
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* Subtract timespec ts2 from to1 and return the result in ts3.
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* Zero is returned if the time difference is negative.
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*
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* Input Parameters:
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* ts1 and ts2: The two timespecs to be subtracted (ts1 - ts2)
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* t23: The location to return the result (may be ts1 or ts2)
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void clock_timespec_subtract(FAR const struct timespec *ts1,
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FAR const struct timespec *ts2,
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FAR struct timespec *ts3);
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/****************************************************************************
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* Name: clock_synchronize
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*
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* Description:
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* Synchronize the system timer to a hardware RTC. This operation is
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* normally performed automatically by the system during clock
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* initialization. However, the user may also need to explicitly re-
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* synchronize the system timer to the RTC under certain conditions where
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* the system timer is known to be in error. For example, in certain low-
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* power states, the system timer may be stopped but the RTC will continue
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* keep correct time. After recovering from such low-power state, this
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* function should be called to restore the correct system time.
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*
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* Calling this function could result in system time going "backward" in
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* time, especially with certain lower resolution RTC implementations.
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* Time going backward could have bad consequences if there are ongoing
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* timers and delays. So use this interface with care.
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* None
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*
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* Assumptions:
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*
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****************************************************************************/
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#ifdef CONFIG_RTC
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void clock_synchronize(void);
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#endif
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/****************************************************************************
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* Name: clock_resynchronize
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*
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* Description:
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* Resynchronize the system timer to a hardware RTC. The user can
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* explicitly re-synchronize the system timer to the RTC under certain
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* conditions where the system timer is known to be in error. For example,
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* in certain low-power states, the system timer may be stopped but the
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* RTC will continue keep correct time. After recovering from such
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* low-power state, this function should be called to restore the correct
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* system time. Function also keeps monotonic clock at rate of RTC.
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*
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* Calling this function will not result in system time going "backward" in
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* time. If setting system time with RTC would result time going "backward"
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* then resynchronization is not performed.
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*
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* Input Parameters:
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* diff: amount of time system-time is adjusted forward with RTC
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*
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* Returned Value:
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* None
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*
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* Assumptions:
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*
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****************************************************************************/
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#if defined(CONFIG_RTC) && !defined(CONFIG_SCHED_TICKLESS)
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void clock_resynchronize(FAR struct timespec *rtc_diff);
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#endif
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/****************************************************************************
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* Name: clock_systime_ticks
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*
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* Description:
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* Return the current value of the 32/64-bit system timer counter.
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*
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* Indirect access to the system timer counter is required through this
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* function if the execution environment does not have direct access to
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* kernel global data.
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*
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* Use of this function is also required to assure atomic access to the
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* 64-bit system timer.
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*
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* NOTE: This is an internal OS interface and should not be called from
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* application code. Rather, the functionally equivalent, standard
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* interface clock() should be used.
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* The current value of the system timer counter
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*
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****************************************************************************/
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#if !defined(__HAVE_KERNEL_GLOBALS) || defined(CONFIG_SYSTEM_TIME64)
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clock_t clock_systime_ticks(void);
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#endif
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/****************************************************************************
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* Name: clock_systime_timespec
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*
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* Description:
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* Return the current value of the system timer counter as a struct
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* timespec.
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*
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* Input Parameters:
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* ts - Location to return the time
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*
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* Returned Value:
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* OK (0) on success; a negated errno value on failure.
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*
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* Assumptions:
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*
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****************************************************************************/
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int clock_systime_timespec(FAR struct timespec *ts);
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/****************************************************************************
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* Name: clock_cpuload
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*
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* Description:
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* Return load measurement data for the select PID.
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*
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* Input Parameters:
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* pid - The task ID of the thread of interest. pid == 0 is IDLE thread.
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* cpuload - The location to return the CPU load
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*
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* Returned Value:
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* OK (0) on success; a negated errno value on failure. The only reason
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* that this function can fail is if 'pid' no longer refers to a valid
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* thread.
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*
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* Assumptions:
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*
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****************************************************************************/
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#ifdef CONFIG_SCHED_CPULOAD
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int clock_cpuload(int pid, FAR struct cpuload_s *cpuload);
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#endif
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/****************************************************************************
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* Name: nxsched_oneshot_extclk
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*
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* Description:
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* Configure to use a oneshot timer as described in
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* include/nuttx/timers/oneshot.h to provide external clocking to assess
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* the CPU load.
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*
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* Input Parameters:
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* lower - An instance of the oneshot timer interface as defined in
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* include/nuttx/timers/oneshot.h
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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#ifdef CONFIG_CPULOAD_ONESHOT
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struct oneshot_lowerhalf_s;
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void nxsched_oneshot_extclk(FAR struct oneshot_lowerhalf_s *lower);
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#endif
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/****************************************************************************
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* Name: nxsched_period_extclk
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*
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* Description:
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* Configure to use a period timer as described in
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* include/nuttx/timers/timer.h to provide external clocking to assess
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* the CPU load.
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*
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* Input Parameters:
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* lower - An instance of the period timer interface as defined in
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* include/nuttx/timers/timer.h
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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#ifdef CONFIG_CPULOAD_PERIOD
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struct timer_lowerhalf_s;
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void nxsched_period_extclk(FAR struct timer_lowerhalf_s *lower);
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#endif
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#undef EXTERN
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#ifdef __cplusplus
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}
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#endif
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#endif /* __INCLUDE_NUTTX_CLOCK_H */
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