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https://github.com/ByteWelder/Tactility.git
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d551e467b8
* **Documentation** * Added new C coding style guide detailing naming conventions for files, directories, macros, constants, variables, functions, and type definitions with illustrative examples. * Updated C++ coding style documentation with clarifications on C naming conventions and header directory organization patterns. * **Refactor** * Updated header include paths throughout the codebase to use lowercase naming conventions consistently.
66 lines
1.8 KiB
C
66 lines
1.8 KiB
C
#pragma once
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#include <stdint.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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/** @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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