mirror of
https://github.com/ByteWelder/Tactility.git
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71f8369377
* **New Features** * Thread API with lifecycle, priority, affinity and state monitoring * Timer subsystem: one-shot/periodic timers, reset, pending callbacks, expiry queries * Expanded I²C: register-level ops, bulk writes, presence checks, ESP32 integration and new config properties * GPIO controller: pin level and options APIs * Error utilities: new error code, error-to-string, timeout helper and common macros * Device construction helpers (construct+start) * **Tests** * New unit tests for thread and timer behavior * **Documentation** * Expanded coding style guide (files/folders, C conventions)
80 lines
2.2 KiB
C
80 lines
2.2 KiB
C
// SPDX-License-Identifier: Apache-2.0
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/**
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* Time-keeping related functionality.
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* This includes functionality for both ticks and seconds.
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*/
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#pragma once
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#include <stdint.h>
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#include "defines.h"
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#include "tactility/freertos/task.h"
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#ifdef ESP_PLATFORM
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#include <esp_timer.h>
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#else
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#include <sys/time.h>
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#include <time.h>
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#endif
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// Projects that include this header must align with Tactility's frequency (e.g. apps)
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static_assert(configTICK_RATE_HZ == 1000);
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static inline uint32_t get_tick_frequency() {
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return configTICK_RATE_HZ;
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}
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/** @return the amount of ticks that have passed since FreeRTOS' main task started */
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static inline TickType_t get_ticks() {
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if (xPortInIsrContext() == pdTRUE) {
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return xTaskGetTickCountFromISR();
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} else {
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return xTaskGetTickCount();
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}
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}
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/** @return the milliseconds that have passed since FreeRTOS' main task started */
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static inline size_t get_millis() {
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return get_ticks() * portTICK_PERIOD_MS;
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}
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static inline TickType_t get_timeout_remaining_ticks(TickType_t timeout, TickType_t start_time) {
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TickType_t ticks_passed = get_ticks() - start_time;
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if (ticks_passed >= timeout) {
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return 0;
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}
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return timeout - ticks_passed;
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}
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/** @return the frequency at which the kernel task schedulers operate */
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uint32_t kernel_get_tick_frequency();
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/** @return the microseconds that have passed since boot */
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static inline int64_t get_micros_since_boot() {
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#ifdef ESP_PLATFORM
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return esp_timer_get_time();
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#else
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timespec ts;
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if (clock_gettime(CLOCK_MONOTONIC, &ts) == 0) {
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return (static_cast<int64_t>(ts.tv_sec) * 1000000LL) + (ts.tv_nsec / 1000);
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}
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timeval tv;
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gettimeofday(&tv, nullptr);
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return (static_cast<int64_t>(tv.tv_sec) * 1000000LL) + tv.tv_usec;
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#endif
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}
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/** Convert seconds to ticks */
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static inline TickType_t seconds_to_ticks(uint32_t seconds) {
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return static_cast<uint64_t>(seconds) * 1000U / portTICK_PERIOD_MS;
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}
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/** Convert milliseconds to ticks */
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static inline TickType_t millis_to_ticks(uint32_t milliSeconds) {
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#if configTICK_RATE_HZ == 1000
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return static_cast<TickType_t>(milliSeconds);
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#else
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return static_cast<TickType_t>(((float)configTICK_RATE_HZ) / 1000.0f * (float)milliSeconds);
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#endif
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}
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