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[arch/linux] sys_time: get time from CLOCK_MONOTONIC

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Instead of simply adding up the sys_time ticks, seconds, get curent time from CLOCK_MONOTONIC and directly set sys_time from that
(difference to clock monotonic time at startup).
This commit is contained in:
Felix Ruess
2015-03-03 19:19:40 +01:00
parent 2fedf8a46d
commit b1493c416c
1 changed files with 29 additions and 11 deletions
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sw/airborne/arch/linux/mcu_periph/sys_time_arch.c
+29 -11
View File
@@ -28,6 +28,7 @@
#include <stdio.h>
#include <pthread.h>
#include <sys/timerfd.h>
#include <time.h>
#include "rt_priority.h"
#ifdef SYS_TIME_LED
@@ -39,6 +40,8 @@
#endif
pthread_t sys_time_thread;
static struct timespec startup_time;
static void sys_tick_handler(void);
void *sys_time_thread_main(void *data);
@@ -82,11 +85,8 @@ void *sys_time_thread_main(void *data)
if (missed > 1) {
fprintf(stderr, "Missed %lld timer events!\n", missed);
}
/* advance sys_time, in case we missed some events: call it more than once */
unsigned int i;
for (i = 0; i < missed; i++) {
sys_tick_handler();
}
/* set current sys_time */
sys_tick_handler();
}
return NULL;
}
@@ -96,6 +96,8 @@ void sys_time_arch_init(void)
sys_time.cpu_ticks_per_sec = 1e6;
sys_time.resolution_cpu_ticks = (uint32_t)(sys_time.resolution * sys_time.cpu_ticks_per_sec + 0.5);
clock_gettime(CLOCK_MONOTONIC, &startup_time);
int ret = pthread_create(&sys_time_thread, NULL, sys_time_thread_main, NULL);
if (ret) {
perror("Could not setup sys_time_thread");
@@ -105,21 +107,37 @@ void sys_time_arch_init(void)
static void sys_tick_handler(void)
{
sys_time.nb_tick++;
sys_time.nb_sec_rem += sys_time.resolution_cpu_ticks;;
if (sys_time.nb_sec_rem >= sys_time.cpu_ticks_per_sec) {
sys_time.nb_sec_rem -= sys_time.cpu_ticks_per_sec;
sys_time.nb_sec++;
/* get current time */
struct timespec now;
clock_gettime(CLOCK_MONOTONIC, &now);
/* time difference to startup */
time_t d_sec = now.tv_sec - startup_time.tv_sec;
long d_nsec = now.tv_nsec - startup_time.tv_nsec;
/* wrap if negative nanoseconds */
if (d_nsec < 0) {
d_sec -= 1;
d_nsec += 1000000000L;
}
#ifdef SYS_TIME_LED
if (d_sec > sys_time.nb_sec) {
LED_TOGGLE(SYS_TIME_LED);
}
#endif
}
sys_time.nb_sec = d_sec;
sys_time.nb_sec_rem = cpu_ticks_of_nsec(d_nsec);
sys_time.nb_tick = sys_time_ticks_of_sec(d_sec) + sys_time_ticks_of_usec(d_nsec / 1000);
/* advance virtual timers */
for (unsigned int i = 0; i < SYS_TIME_NB_TIMER; i++) {
if (sys_time.timer[i].in_use &&
sys_time.nb_tick >= sys_time.timer[i].end_time) {
sys_time.timer[i].end_time += sys_time.timer[i].duration;
sys_time.timer[i].elapsed = TRUE;
/* call registered callbacks, WARNING: they will be executed in the sys_time thread! */
if (sys_time.timer[i].cb) {
sys_time.timer[i].cb(i);
}