forked from Archive/PX4-Autopilot
271 lines
8.2 KiB
C
271 lines
8.2 KiB
C
/****************************************************************************
|
|
* sched/clock_initialize.c
|
|
*
|
|
* Copyright (C) 2007, 2009, 2011-2012 Gregory Nutt. All rights reserved.
|
|
* Author: Gregory Nutt <gnutt@nuttx.org>
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name NuttX nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Included Files
|
|
****************************************************************************/
|
|
|
|
#include <nuttx/config.h>
|
|
#include <nuttx/compiler.h>
|
|
|
|
#include <stdint.h>
|
|
#include <time.h>
|
|
#include <errno.h>
|
|
#include <debug.h>
|
|
|
|
#ifdef CONFIG_RTC
|
|
# include <arch/irq.h>
|
|
#endif
|
|
|
|
#include <nuttx/clock.h>
|
|
#include <nuttx/time.h>
|
|
#include <nuttx/rtc.h>
|
|
|
|
#include "clock_internal.h"
|
|
|
|
/****************************************************************************
|
|
* Definitions
|
|
****************************************************************************/
|
|
/* Standard time definitions (in units of seconds) */
|
|
|
|
#define SEC_PER_MIN ((time_t)60)
|
|
#define SEC_PER_HOUR ((time_t)60 * SEC_PER_MIN)
|
|
#define SEC_PER_DAY ((time_t)24 * SEC_PER_HOUR)
|
|
|
|
/****************************************************************************
|
|
* Private Type Declarations
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Private Function Prototypes
|
|
****************************************************************************/
|
|
|
|
/**************************************************************************
|
|
* Public Constant Data
|
|
**************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Public Variables
|
|
****************************************************************************/
|
|
|
|
#ifdef CONFIG_SYSTEM_TIME64
|
|
volatile uint64_t g_system_timer;
|
|
uint64_t g_tickbias;
|
|
#else
|
|
volatile uint32_t g_system_timer;
|
|
uint32_t g_tickbias;
|
|
#endif
|
|
|
|
struct timespec g_basetime;
|
|
|
|
/**************************************************************************
|
|
* Private Variables
|
|
**************************************************************************/
|
|
|
|
/**************************************************************************
|
|
* Private Functions
|
|
**************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: clock_basetime
|
|
*
|
|
* Description:
|
|
* Get the initial time value from the best source available.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#ifdef CONFIG_RTC
|
|
#if defined(CONFIG_RTC_DATETIME)
|
|
/* Initialize the system time using a broken out date/time structure */
|
|
|
|
static inline void clock_basetime(FAR struct timespec *tp)
|
|
{
|
|
struct tm rtctime;
|
|
|
|
/* Get the broken-out time from the date/time RTC. */
|
|
|
|
(void)up_rtc_getdatetime(&rtctime);
|
|
|
|
/* And use the broken-out time to initialize the system time */
|
|
|
|
tp->tv_sec = mktime(&rtctime);
|
|
tp->tv_nsec = 0;
|
|
}
|
|
|
|
#elif defined(CONFIG_RTC_HIRES)
|
|
|
|
/* Initialize the system time using a high-resolution structure */
|
|
|
|
static inline void clock_basetime(FAR struct timespec *tp)
|
|
{
|
|
/* Get the complete time from the hi-res RTC. */
|
|
|
|
(void)up_rtc_gettime(tp);
|
|
}
|
|
|
|
#else
|
|
|
|
/* Initialize the system time using seconds only */
|
|
|
|
static inline void clock_basetime(FAR struct timespec *tp)
|
|
{
|
|
/* Get the seconds (only) from the lo-resolution RTC */
|
|
|
|
tp->tv_sec = up_rtc_time();
|
|
tp->tv_nsec = 0;
|
|
}
|
|
|
|
#endif /* CONFIG_RTC_HIRES */
|
|
#else /* CONFIG_RTC */
|
|
|
|
static inline void clock_basetime(FAR struct timespec *tp)
|
|
{
|
|
time_t jdn = 0;
|
|
|
|
/* Get the EPOCH-relative julian date from the calendar year,
|
|
* month, and date
|
|
*/
|
|
|
|
jdn = clock_calendar2utc(CONFIG_START_YEAR, CONFIG_START_MONTH,
|
|
CONFIG_START_DAY);
|
|
|
|
/* Set the base time as seconds into this julian day. */
|
|
|
|
tp->tv_sec = jdn * SEC_PER_DAY;
|
|
tp->tv_nsec = 0;
|
|
}
|
|
|
|
#endif /* CONFIG_RTC */
|
|
|
|
/****************************************************************************
|
|
* Name: clock_inittime
|
|
*
|
|
* Description:
|
|
* Get the initial time value from the best source available.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static void clock_inittime(void)
|
|
{
|
|
/* (Re-)initialize the time value to match the RTC*/
|
|
|
|
clock_basetime(&g_basetime);
|
|
g_system_timer = 0;
|
|
g_tickbias = 0;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Public Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: clock_initialize
|
|
*
|
|
* Description:
|
|
* Perform one-time initialization of the timing facilities.
|
|
*
|
|
****************************************************************************/
|
|
|
|
void clock_initialize(void)
|
|
{
|
|
/* Initialize the RTC hardware */
|
|
|
|
#ifdef CONFIG_RTC
|
|
up_rtcinitialize();
|
|
#endif
|
|
|
|
/* Initialize the time value to match the RTC */
|
|
|
|
clock_inittime();
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: clock_synchronize
|
|
*
|
|
* Description:
|
|
* Synchronize the system timer to a hardware RTC. This operation is
|
|
* normally performed automatically by the system during clock
|
|
* initialization. However, the user may also need to explicitly re-
|
|
* synchronize the system timer to the RTC under certain conditions where
|
|
* the system timer is known to be in error. For example, in certain low-
|
|
* power states, the system timer may be stopped but the RTC will continue
|
|
* keep correct time. After recovering from such low-power state, this
|
|
* function should be called to restore the correct system time.
|
|
*
|
|
* Calling this function could result in system time going "backward" in
|
|
* time, especially with certain lower resolution RTC implementations.
|
|
* Time going backward could have bad consequences if there are ongoing
|
|
* timers and delays. So use this interface with care.
|
|
*
|
|
* Parameters:
|
|
* None
|
|
*
|
|
* Return Value:
|
|
* None
|
|
*
|
|
* Assumptions:
|
|
*
|
|
****************************************************************************/
|
|
|
|
#ifdef CONFIG_RTC
|
|
void clock_synchronize(void)
|
|
{
|
|
irqstate_t flags;
|
|
|
|
/* Re-initialize the time value to match the RTC */
|
|
|
|
flags = irqsave();
|
|
clock_inittime();
|
|
irqrestore(flags);
|
|
}
|
|
#endif
|
|
|
|
/****************************************************************************
|
|
* Name: clock_timer
|
|
*
|
|
* Description:
|
|
* This function must be called once every time the real time clock
|
|
* interrupt occurs. The interval of this clock interrupt must be
|
|
* MSEC_PER_TICK
|
|
*
|
|
****************************************************************************/
|
|
|
|
void clock_timer(void)
|
|
{
|
|
/* Increment the per-tick system counter */
|
|
|
|
g_system_timer++;
|
|
}
|