[sys_time] sys_time cleanup (#3580)

sw/airborne/arch/chibios/mcu_periph/can_arch.c

@@ -13,7 +13,7 @@
 
 #include "mcu_periph/can_arch.h"
 #include "mcu_periph/can.h"
-#include "mcu_periph/sys_time_arch.h"
+#include "mcu_periph/sys_time.h"
 #include "stdio.h"
 #include "string.h"
 

sw/airborne/arch/chibios/mcu_periph/sys_time_arch.c

@@ -32,6 +32,7 @@
  * Mostly empty functions for Paparazzi compatibility,
  * since ChibiOS uses different system time functions.
  */
+#include "mcu_periph/sys_time.h"
 #include "mcu_periph/sys_time_arch.h"
 #include BOARD_CONFIG
 #include <ch.h>
@@ -44,7 +45,8 @@ static MUTEX_DECL(sys_time_mtx);
  */
 static void thd_sys_tick(void *arg);
 static THD_WORKING_AREA(wa_thd_sys_tick, 1024);
-static void sys_tick_handler(void);
+
+void sys_tick_handler(void);
 
 static uint32_t cpu_ticks = 0;
 static uint32_t cpu_counter = 0;
@@ -130,12 +132,6 @@ void sys_time_msleep(uint32_t ms)
   chThdSleepMilliseconds(ms);
 }
 
-void sys_time_ssleep(uint8_t s)
-{
-  chThdSleepSeconds(s);
-}
-
-
 /*
  * Sys_tick thread
  */
@@ -151,7 +147,7 @@ static __attribute__((noreturn)) void thd_sys_tick(void *arg)
   }
 }
 
-static void sys_tick_handler(void)
+void sys_tick_handler(void)
 {
   chMtxLock(&sys_time_mtx);
   /* current time in sys_ticks */

sw/airborne/arch/chibios/mcu_periph/sys_time_arch.h

@@ -33,7 +33,6 @@
 #ifndef SYS_TIME_ARCH_H
 #define SYS_TIME_ARCH_H
 
-#include "mcu_periph/sys_time.h"
 #include <ch.h>
 #include <hal.h>
 
@@ -41,9 +40,4 @@
 #define STM32_SYSCLK  STM32_SYS_CK
 #endif
 
-extern uint32_t get_sys_time_usec(void);
-extern uint32_t get_sys_time_usec100(void);
-extern uint32_t get_sys_time_msec(void);
-extern void sys_time_ssleep(uint8_t s);
-
 #endif /* SYS_TIME_ARCH_H */

sw/airborne/arch/chibios/modules/actuators/dshot_rpmCapture.h

@@ -6,6 +6,7 @@
 #include "mcu_periph/hal_stm32_dma.h"
 #include "mcu_periph/timerDmaCache.h"
 #include "modules/actuators/esc_dshot_config.h"
+#include "mcu_periph/sys_time_arch.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -64,14 +65,6 @@ extern "C" {
 #endif // DSHOT_CHANNELS = X
 
 
-#if !defined STM32_SYSCLK && !defined STM32_SYS_CK
-#error neither  STM32_SYSCLK or STM32_SYS_CK defined
-#endif
-#if !defined STM32_SYSCLK
-#define STM32_SYSCLK STM32_SYS_CK
-#endif
-
-
 /**
  * @brief   structure defining dma channel
  * @note    does not apply for DMAMUX MCU

sw/airborne/arch/chibios/modules/actuators/esc_dshot.c

@@ -31,6 +31,7 @@
 #include <stdnoreturn.h>
 #include <math.h>
 #include <string.h>
+#include "mcu_periph/sys_time.h"
 #include "mcu_periph/sys_time_arch.h"
 
 /*

sw/airborne/arch/chibios/modules/core/microrl/microrlShell.c

@@ -11,6 +11,7 @@
 #include "microrl/microrl.h"
 #include "printf.h"
 //#include "stdutil.h"
+#include "mcu_periph/sys_time_arch.h"
 
 
 #define printScreen(...) {chprintf (chpg, __VA_ARGS__); chprintf (chpg, "\r\n");}

sw/airborne/arch/chibios/modules/core/rtos_mon_arch.c

@@ -26,6 +26,7 @@
  */
 
 #include "modules/core/sys_mon_rtos.h"
+#include "mcu_periph/sys_time_arch.h"
 #include <ch.h>
 
 #if !CH_DBG_STATISTICS

sw/airborne/arch/chibios/modules/light/light_ws2812_arch.c

@@ -34,6 +34,7 @@ https://github.com/joewa/WS2812-LED-Driver_ChibiOS/
 #include "modules/light/light_ws2812_arch.h"
 #include "mcu_periph/hal_stm32_dma.h"
 #include "mcu_periph/gpio.h"
+#include "mcu_periph/sys_time_arch.h"
 
 #include BOARD_CONFIG
 

sw/airborne/arch/linux/mcu_periph/can_arch.c

@@ -2,7 +2,7 @@
 
 #include "mcu_periph/can_arch.h"
 #include "mcu_periph/can.h"
-#include "mcu_periph/sys_time_arch.h"
+#include "mcu_periph/sys_time.h"
 #include "stdio.h"
 #include "string.h"
 

sw/airborne/arch/linux/mcu_periph/sys_time_arch.c

@@ -20,18 +20,20 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file arch/linux/mcu_periph/sys_time_arch.h
+/** @file arch/linux/mcu_periph/sys_time_arch.c
  * linux timing functions
  */
 
 #include "mcu_periph/sys_time.h"
-#include "mcu_periph/sys_time_arch.h"
 #include <stdio.h>
 #include <pthread.h>
 #include <sys/timerfd.h>
 #include <time.h>
 #include "rt_priority.h"
 
+#include "std.h"
+#include <unistd.h>
+
 #ifdef SYS_TIME_LED
 #include "led.h"
 #endif
@@ -42,7 +44,8 @@
 
 static struct timespec startup_time;
 
-static void sys_tick_handler(void);
+void sys_tick_handler(void);
+
 void *sys_time_thread_main(void *data);
 
 #define NSEC_OF_SEC(sec) ((sec) * 1e9)
@@ -109,7 +112,7 @@ void sys_time_arch_init(void)
 #endif
 }
 
-static void sys_tick_handler(void)
+void sys_tick_handler(void)
 {
   /* get current time */
   struct timespec now;

sw/airborne/arch/linux/mcu_periph/sys_time_arch.h

@@ -1,69 +0,0 @@
-/*
- *
- * Copyright (C) 2009-2013 The Paparazzi Team
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- */
-
-/** @file arch/linux/mcu_periph/sys_time_arch.h
- * linux timing functions
- */
-
-#ifndef SYS_TIME_ARCH_H
-#define SYS_TIME_ARCH_H
-
-#include "std.h"
-#include <unistd.h>
-#include "mcu_periph/sys_time.h"
-
-/**
- * Get the time in microseconds since startup.
- * WARNING: overflows after 71min34seconds!
- * @return current system time as uint32_t
- */
-extern uint32_t get_sys_time_usec(void);
-
-/**
- * Get the time in microseconds since startup.
- * WARNING: overflows after 7000 minutes!
- * @return current system time as uint32_t
- */
-extern uint32_t get_sys_time_usec100(void);
-
-/**
- * Get the time in milliseconds since startup.
- * @return milliseconds since startup as uint32_t
- */
-extern uint32_t get_sys_time_msec(void);
-
-
-/** elapsed time in microsecs between two timespecs */
-static inline unsigned int sys_time_elapsed_us(struct timespec *prev, struct timespec *now)
-{
-  time_t d_sec = now->tv_sec - prev->tv_sec;
-  long d_nsec = now->tv_nsec - prev->tv_nsec;
-  /* wrap if negative nanoseconds */
-  if (d_nsec < 0) {
-    d_sec -= 1;
-    d_nsec += 1000000000L;
-  }
-  return d_sec * 1000000 + d_nsec / 1000;
-}
-
-#endif /* SYS_TIME_ARCH_H */

sw/airborne/arch/sim/mcu_periph/sys_time_arch.c

@@ -26,8 +26,9 @@
  */
 
 #include "mcu_periph/sys_time.h"
-#include "mcu_periph/sys_time_arch.h"
+#include "std.h"
 
+void sys_tick_handler(void);
 
 void sys_time_arch_init(void)
 {
@@ -36,6 +37,24 @@ void sys_time_arch_init(void)
   sys_time.resolution_cpu_ticks = (uint32_t)(sys_time.resolution * sys_time.cpu_ticks_per_sec + 0.5);
 }
 
+uint32_t get_sys_time_usec(void)
+{
+  return sys_time.nb_sec * 1000000 +
+         usec_of_cpu_ticks(sys_time.nb_sec_rem);
+}
+
+uint32_t get_sys_time_usec100(void)
+{
+  return sys_time.nb_sec * 10000 +
+         usec_of_cpu_ticks(sys_time.nb_sec_rem)/100;
+}
+
+uint32_t get_sys_time_msec(void)
+{
+  return sys_time.nb_sec * 1000 +
+         msec_of_cpu_ticks(sys_time.nb_sec_rem);
+}
+
 void sys_tick_handler(void)
 {
   sys_time.nb_tick++;

sw/airborne/arch/sim/mcu_periph/sys_time_arch.h

@@ -1,66 +0,0 @@
-/*
- *
- * Copyright (C) 2009-2011 The Paparazzi Team
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- */
-
-/** @file arch/sim/mcu_periph/sys_time_arch.h
- * Simulator timing functions.
- */
-
-#ifndef SYS_TIME_ARCH_H
-#define SYS_TIME_ARCH_H
-
-#include "std.h"
-#include "mcu_periph/sys_time.h"
-
-extern void sys_tick_handler(void);
-
-/**
- * Get the time in microseconds since startup.
- * @return microseconds since startup as uint32_t
- */
-static inline uint32_t get_sys_time_usec(void)
-{
-  return sys_time.nb_sec * 1000000 +
-         usec_of_cpu_ticks(sys_time.nb_sec_rem);
-}
-
-/**
- * Get the time in 100microseconds since startup.
- * @return 100microseconds since startup as uint32_t
- */
-static inline uint32_t get_sys_time_usec100(void)
-{
-  return sys_time.nb_sec * 10000 +
-         usec_of_cpu_ticks(sys_time.nb_sec_rem)/100;
-}
-
-/**
- * Get the time in milliseconds since startup.
- * @return milliseconds since startup as uint32_t
- */
-static inline uint32_t get_sys_time_msec(void)
-{
-  return sys_time.nb_sec * 1000 +
-         msec_of_cpu_ticks(sys_time.nb_sec_rem);
-}
-
-#endif /* SYS_TIME_ARCH_H */

sw/airborne/arch/stm32/mcu_periph/sys_time_arch.c

@@ -28,7 +28,10 @@
  */
 
 #include "mcu_periph/sys_time.h"
-#include "mcu_periph/sys_time_arch.h"
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/cm3/systick.h>
+#include "std.h"
 
 #include "libopencm3/cm3/systick.h"
 
@@ -68,6 +71,27 @@ void sys_time_arch_init(void)
 }
 
 
+uint32_t get_sys_time_usec(void)
+{
+  return sys_time.nb_sec * 1000000 +
+         usec_of_cpu_ticks(sys_time.nb_sec_rem) +
+         usec_of_cpu_ticks(systick_get_reload() - systick_get_value());
+}
+
+uint32_t get_sys_time_usec100(void)
+{
+  return sys_time.nb_sec * 10000 +
+         usec_of_cpu_ticks(sys_time.nb_sec_rem)/100 +
+         usec_of_cpu_ticks(systick_get_reload() - systick_get_value())/100;
+}
+
+uint32_t get_sys_time_msec(void)
+{
+  return sys_time.nb_sec * 1000 +
+         msec_of_cpu_ticks(sys_time.nb_sec_rem) +
+         msec_of_cpu_ticks(systick_get_reload() - systick_get_value());
+}
+
 // FIXME : nb_tick rollover ???
 //
 // 97 days at 512hz

sw/airborne/arch/stm32/mcu_periph/sys_time_arch.h

@@ -1,77 +0,0 @@
-/*
- *
- * Copyright (C) 2009-2011 The Paparazzi Team
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- */
-
-/**
- * @file arch/stm32/mcu_periph/sys_time_arch.h
- * @ingroup stm32_arch
- *
- * STM32 timing functions.
- *
- */
-
-#ifndef SYS_TIME_ARCH_H
-#define SYS_TIME_ARCH_H
-
-#include "mcu_periph/sys_time.h"
-
-#include <libopencm3/stm32/gpio.h>
-#include <libopencm3/stm32/rcc.h>
-#include <libopencm3/cm3/systick.h>
-#include "std.h"
-
-/**
- * Get the time in microseconds since startup.
- * WARNING: overflows after 70min!
- * @return microseconds since startup as uint32_t
- */
-static inline uint32_t get_sys_time_usec(void)
-{
-  return sys_time.nb_sec * 1000000 +
-         usec_of_cpu_ticks(sys_time.nb_sec_rem) +
-         usec_of_cpu_ticks(systick_get_reload() - systick_get_value());
-}
-
-/**
- * Get the time in 100microseconds since startup.
- * WARNING: overflows after 7000min!
- * @return 100microseconds since startup as uint32_t
- */
-static inline uint32_t get_sys_time_usec100(void)
-{
-  return sys_time.nb_sec * 10000 +
-         usec_of_cpu_ticks(sys_time.nb_sec_rem)/100 +
-         usec_of_cpu_ticks(systick_get_reload() - systick_get_value())/100;
-}
-
-/**
- * Get the time in milliseconds since startup.
- * @return milliseconds since startup as uint32_t
- */
-static inline uint32_t get_sys_time_msec(void)
-{
-  return sys_time.nb_sec * 1000 +
-         msec_of_cpu_ticks(sys_time.nb_sec_rem) +
-         msec_of_cpu_ticks(systick_get_reload() - systick_get_value());
-}
-
-#endif /* SYS_TIME_ARCH_H */

sw/airborne/arch/stm32/usb_ser_hw.c

@@ -40,7 +40,7 @@
 
 #include "mcu_periph/usb_serial.h"
 
-#include "mcu_periph/sys_time_arch.h"
+#include "mcu_periph/sys_time.h"
 
 /* Max packet size for USB transfer */
 #define MAX_PACKET_SIZE          64

sw/airborne/mcu_periph/sys_time.h

@@ -82,6 +82,8 @@ struct sys_time {
 
 extern struct sys_time sys_time;
 
+extern void sys_time_init(void);
+
 /**
  * Sleep @param us microseconds
  */
@@ -93,7 +95,25 @@ void sys_time_usleep(uint32_t us);
 void sys_time_msleep(uint32_t ms);
 
 
-extern void sys_time_init(void);
+/**
+ * Get the time in microseconds since startup.
+ * WARNING: overflows after 70min!
+ * @return microseconds since startup as uint32_t
+ */
+uint32_t get_sys_time_usec(void);
+
+/**
+ * Get the time in 100microseconds since startup.
+ * WARNING: overflows after 7000min!
+ * @return 100microseconds since startup as uint32_t
+ */
+uint32_t get_sys_time_usec100(void);
+
+/**
+ * Get the time in milliseconds since startup.
+ * @return milliseconds since startup as uint32_t
+ */
+uint32_t get_sys_time_msec(void);
 
 /**
  * Register a new system timer.
@@ -228,10 +248,9 @@ static inline uint32_t nsec_of_cpu_ticks(uint32_t cpu_ticks)
 
 #define USEC_OF_SEC(sec) ((sec) * 1e6)
 
-#include "mcu_periph/sys_time_arch.h"
-
 /* architecture specific init implementation */
-extern void sys_time_arch_init(void);
+void sys_time_arch_init(void);
+
 
 /* Generic timer macros */
 #define SysTimeTimerStart(_t) { _t = get_sys_time_usec(); }

sw/airborne/modules/actuators/actuators_sts3032.c

@@ -28,7 +28,7 @@
 #include "string.h"
 #include "mcu_periph/uart.h"
 #include "mcu_periph/sys_time.h"
-#include "mcu_periph/sys_time_arch.h"
+#include "mcu_periph/sys_time.h"
 #include <stdint.h>
 #include "peripherals/sts3032_regs.h"
 

sw/airborne/modules/px4_flash/px4_flash.c

@@ -26,7 +26,7 @@
 
 #include "modules/px4_flash/px4_flash.h"
 #include "modules/px4_flash/protocol.h"
-#include "mcu_periph/sys_time_arch.h"
+#include "mcu_periph/sys_time.h"
 #include "modules/intermcu/intermcu_ap.h"
 
 // Serial Port

sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_ap.c

@@ -29,7 +29,7 @@
 
 #include "mcu.h"
 #include "modules/radio_control/radio_control.h"
-#include "mcu_periph/sys_time_arch.h"
+#include "mcu_periph/sys_time.h"
 
 #include "mcu_periph/uart.h"
 #include "mcu_periph/gpio.h"

sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_fbw.c

@@ -27,7 +27,7 @@
 #include "modules/intermcu/intermcu_fbw.h"
 #include "mcu.h"
 #include "modules/radio_control/radio_control.h"
-#include "mcu_periph/sys_time_arch.h"
+#include "mcu_periph/sys_time.h"
 
 #include "mcu_periph/gpio.h"
 

sw/airborne/test/mcu_periph/chibios_test_gpio.c

@@ -92,7 +92,7 @@ int main(void)
 
 
   while (TRUE) {
-	  sys_time_ssleep(1);
+	  sys_time_msleep(1000);
 	  main_periodic_2();
   }
 

sw/airborne/test/mcu_periph/chibios_test_serial.c

@@ -103,7 +103,7 @@ int main(void)
 
   while (1) {
     /* sleep for 1s */
-    sys_time_ssleep(1);
+    sys_time_msleep(1000);
     uart_transmit(&SERIAL_PORT, 'N');
     uart_transmit(&SERIAL_PORT, 'i');
     uart_transmit(&SERIAL_PORT, 'c');

sw/airborne/test/mcu_periph/chibios_test_sys_time_usleep.c

@@ -82,7 +82,7 @@ int main(void)
 
   while (1) {
     /* sleep for 1s */
-    sys_time_ssleep(1);
+    sys_time_msleep(1000);
     main_periodic_1();
 
     /* sleep for 0.42s */

sw/simulator/nps/nps_autopilot_fixedwing.c

@@ -61,6 +61,7 @@ bool nps_bypass_ins;
 #define NPS_BYPASS_INS FALSE
 #endif
 
+void sys_tick_handler(void);
 
 //#if !defined (FBW) || !defined (AP)
 //#error NPS does not currently support dual processor simulation for FBW and AP on fixedwing!

sw/simulator/nps/nps_autopilot_rotorcraft.c

@@ -73,6 +73,8 @@ bool nps_bypass_ins;
 #error "INDI_RPM_FEEDBACK can not be used in simulation!"
 #endif
 
+void sys_tick_handler(void);
+
 void nps_autopilot_init(enum NpsRadioControlType type_rc, int num_rc_script, char *rc_dev)
 {
   nps_autopilot.launch = TRUE;

sw/simulator/nps/nps_autopilot_rover.c

@@ -69,6 +69,8 @@ bool nps_bypass_ins;
 #error "INDI_RPM_FEEDBACK can not be used in simulation!"
 #endif
 
+void sys_tick_handler(void);
+
 void nps_autopilot_init(enum NpsRadioControlType type_rc, int num_rc_script, char *rc_dev)
 {
   nps_autopilot.launch = TRUE;

tests/modules/test_arch/mcu_periph/sys_time_arch.h

@@ -1,55 +0,0 @@
-/*
- *
- * Copyright (C) 2009-2011 The Paparazzi Team
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- */
-
-/** @file mcu_periph/sys_time_arch.h
- * test timing functions.
- */
-
-#ifndef SYS_TIME_ARCH_H
-#define SYS_TIME_ARCH_H
-
-#include "std.h"
-
-extern void sys_tick_handler(void);
-
-/**
- * Get the time in microseconds since startup.
- * @return microseconds since startup as uint32_t
- */
-static inline uint32_t get_sys_time_usec(void)
-{
-  return sys_time.nb_sec * 1000000 +
-         usec_of_cpu_ticks(sys_time.nb_sec_rem);
-}
-
-/**
- * Get the time in milliseconds since startup.
- * @return milliseconds since startup as uint32_t
- */
-static inline uint32_t get_sys_time_msec(void)
-{
-  return sys_time.nb_sec * 1000 +
-         msec_of_cpu_ticks(sys_time.nb_sec_rem);
-}
-
-#endif /* SYS_TIME_ARCH_H */