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[sys_time] some performance improvements

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stm32 now uses AHB_CLK / 8 as clock input for systick
This commit is contained in:
Felix Ruess
2013-02-13 17:40:54 +01:00
parent 80b72f36a7
commit 999eb51e23
4 changed files with 45 additions and 18 deletions
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sw/airborne/arch/lpc21/mcu_periph/sys_time_arch.c
+7 -3
View File
@@ -138,13 +138,17 @@ void sys_time_arch_init( void ) {
// 12 hours at 100khz
//
static inline void sys_tick_irq_handler(void) {
static const uint32_t ticks_resolution = SYS_TIME_RESOLUTION_CPU_TICKS;
static const uint32_t ticks_per_sec = CPU_TICKS_OF_SEC(1.0);
/* set match register for next interrupt */
T0MR0 += SYS_TIME_RESOLUTION_CPU_TICKS - 1;
T0MR0 += ticks_resolution - 1;
sys_time.nb_tick++;
sys_time.nb_sec_rem += SYS_TIME_RESOLUTION_CPU_TICKS;
if (sys_time.nb_sec_rem >= CPU_TICKS_PER_SEC) {
sys_time.nb_sec_rem -= CPU_TICKS_PER_SEC;
if (sys_time.nb_sec_rem >= ticks_per_sec) {
sys_time.nb_sec_rem -= ticks_per_sec;
sys_time.nb_sec++;
#ifdef SYS_TIME_LED
LED_TOGGLE(SYS_TIME_LED);
sw/airborne/arch/sim/mcu_periph/sys_time_arch.c
+6 -3
View File
@@ -34,10 +34,13 @@ void sys_time_arch_init( void ) {
void sys_tick_handler( void ) {
static const unsigned int ticks_resolution = SYS_TIME_RESOLUTION_CPU_TICKS;
static const unsigned int ticks_per_sec = CPU_TICKS_OF_SEC(1.0);
sys_time.nb_tick++;
sys_time.nb_sec_rem += SYS_TIME_RESOLUTION_CPU_TICKS;
if (sys_time.nb_sec_rem >= CPU_TICKS_PER_SEC) {
sys_time.nb_sec_rem -= CPU_TICKS_PER_SEC;
sys_time.nb_sec_rem += ticks_resolution;
if (sys_time.nb_sec_rem >= ticks_per_sec) {
sys_time.nb_sec_rem -= ticks_per_sec;
sys_time.nb_sec++;
}
for (unsigned int i=0; i<SYS_TIME_NB_TIMER; i++) {
sw/airborne/arch/stm32/mcu_periph/sys_time_arch.c
+10 -4
View File
@@ -41,7 +41,10 @@
* therefore it activates every n+1 clock ticks.
*/
void sys_time_arch_init( void ) {
systick_set_clocksource(STK_CTRL_CLKSOURCE_AHB);
/* 72MHz / 8 => 9000000 counts per second */
systick_set_clocksource(STK_CTRL_CLKSOURCE_AHB_DIV8);
/* 8999 would be one interrupt every 1ms */
systick_set_reload(SYS_TIME_RESOLUTION_CPU_TICKS-1);
systick_interrupt_enable();
@@ -56,10 +59,13 @@ void sys_time_arch_init( void ) {
//
void sys_tick_handler(void) {
static const uint32_t ticks_resolution = SYS_TIME_RESOLUTION_CPU_TICKS;
static const uint32_t ticks_per_sec = CPU_TICKS_OF_SEC(1.0);
sys_time.nb_tick++;
sys_time.nb_sec_rem += SYS_TIME_RESOLUTION_CPU_TICKS;
if (sys_time.nb_sec_rem >= CPU_TICKS_PER_SEC) {
sys_time.nb_sec_rem -= CPU_TICKS_PER_SEC;
sys_time.nb_sec_rem += ticks_resolution;
if (sys_time.nb_sec_rem >= ticks_per_sec) {
sys_time.nb_sec_rem -= ticks_per_sec;
sys_time.nb_sec++;
#ifdef SYS_TIME_LED
LED_TOGGLE(SYS_TIME_LED);
sw/airborne/arch/stm32/mcu_periph/sys_time_arch.h
+22 -8
View File
@@ -41,12 +41,12 @@
extern void sys_tick_handler(void);
#define CPU_TICKS_OF_SEC(s) (uint32_t)((s) * AHB_CLK + 0.5)
#define SIGNED_CPU_TICKS_OF_SEC(s) (int32_t)((s) * AHB_CLK + 0.5)
#define CPU_TICKS_OF_SEC(s) (uint32_t)((s) * AHB_CLK / 8 + 0.5)
#define SIGNED_CPU_TICKS_OF_SEC(s) (int32_t)((s) * AHB_CLK / 8 + 0.5)
#define SEC_OF_CPU_TICKS(t) ((t) / AHB_CLK)
#define MSEC_OF_CPU_TICKS(t) ((t) / (AHB_CLK/1000))
#define USEC_OF_CPU_TICKS(t) ((t) / (AHB_CLK/1000000))
#define SEC_OF_CPU_TICKS(t) ((t) / AHB_CLK * 8)
#define MSEC_OF_CPU_TICKS(t) ((t) / AHB_CLK * 8000)
#define USEC_OF_CPU_TICKS(t) ((t) / AHB_CLK * 8000000)
#define GET_CUR_TIME_USEC() (sys_time.nb_sec * 1000000 + \
USEC_OF_CPU_TICKS(sys_time.nb_sec_rem) + \
@@ -58,11 +58,25 @@ extern void sys_tick_handler(void);
/** Busy wait in microseconds.
* FIXME: directly use the SysTick->VAL here
* Limited to ((2^24)-1)/9000000 = 1.86s
*/
static inline void sys_time_usleep(uint32_t us) {
uint32_t end = GET_CUR_TIME_USEC() + us;
while ((uint32_t)GET_CUR_TIME_USEC() < end);
uint32_t start = systick_get_value();
uint32_t ticks = CPU_TICKS_OF_USEC(us);
/* cortex systick counts backwards */
int32_t d = start - ticks;
uint32_t end = 0;
/* check if it wraps around zero */
if (d >= 0) {
end = d;
while (systick_get_value() > end);
} else {
/* wait to zero */
while (systick_get_value() > 0);
/* wrap to reload value, wait the rest */
end = STK_LOAD + d;
while (systick_get_value() > end);
}
}
#endif /* SYS_TIME_ARCH_H */