diff --git a/miosix/_tools/testsuite/testsuite.cpp b/miosix/_tools/testsuite/testsuite.cpp
index cbaba8afad373345a1e43276cf8fa36514964adb..baff1d61148351132b41513f3a9c82b74aa38608 100644
--- a/miosix/_tools/testsuite/testsuite.cpp
+++ b/miosix/_tools/testsuite/testsuite.cpp
@@ -797,7 +797,7 @@ static void test_2()
tests:
Thread::sleep()
Thread::sleepUntil()
-getTick()
+getTime()
also tests creation of multiple instances of the same thread
*/
@@ -808,12 +808,11 @@ static void t3_p1(void *argv)
{
if(Thread::testTerminate()) break;
//Test that Thread::sleep sleeps the desired number of ticks
- long long x1=getTick(); //getTick returns # passed quantums
+ long long x1=getTime(); //getTime returns passed time in ns
Thread::sleep(SLEEP_TIME);
- long long x2=getTick();
- //if(llabs(((SLEEP_TIME*TICK_FREQ)/1000)-(getTick()-x))>5)
- if (llabs((x2-x1)*preemptionPeriodNs/1000000-SLEEP_TIME)>5) //Max tolerated error is 5ms
- fail("Thread::sleep() or getTick()");
+ long long x2=getTime();
+ if(llabs((x2-x1)/1000000-SLEEP_TIME)>5) //Max tolerated error is 5ms
+ fail("Thread::sleep() or getTime()");
}
}
@@ -882,19 +881,19 @@ static void test_3()
if(t3_deleted==false) fail("multiple instances (4)");
//Testing Thread::sleepUntil()
long long tick;
- //const int period=static_cast<int>(TICK_FREQ*0.01); //10ms
+
const int period=10000000;//10ms
{
InterruptDisableLock lock; //Making these two operations atomic.
- tick=getTick()*preemptionPeriodNs;
+ tick=getTime();
tick+=period;
}
for(int i=0;i<4;i++)
{
- //tick is in number of quantums passed while sleepUntil requires ms
+ //tick is in number of ns passed, wakeup time should not differ by > 1ms
Thread::nanoSleepUntil(tick);
- long long t2 = getTick();
- if(tick!=t2*preemptionPeriodNs) fail("Thread::sleepUntil()");
+ long long t2 = getTime();
+ if((t2-tick)/1000000>0) fail("Thread::sleepUntil()");
tick+=period;
}
pass();
@@ -934,7 +933,7 @@ static void t4_p1(void *argv)
static void t4_p2(void *argv)
{
const int period=static_cast<int>(TICK_FREQ*0.03);
- long long tick=getTick();
+ long long tick=getTime();
for(int i=0;i<10;i++)
{
long long prevTick=tick;
@@ -942,7 +941,7 @@ static void t4_p2(void *argv)
Thread::setPriority(Priority(tick)); //Change deadline
Thread::sleepUntil(prevTick); //Make sure the task is run periodically
delayMs(14);
- if(getTick()>tick) fail("Deadline missed (A)\n");
+ if(getTime()>tick) fail("Deadline missed (A)\n");
}
}
#endif //SCHED_TYPE_EDF
@@ -961,7 +960,7 @@ static void test_4()
//Check IRQgetPriority
if(p->IRQgetPriority()!=0) fail("IRQgetPriority");
//Check that tick is not incremented and t4_v1 is not updated
- long long tick=getTick();
+ long long tick=getTime();
t4_v1=false;
for(int i=0;i<4;i++)
{
@@ -983,7 +982,7 @@ static void test_4()
fastDisableInterrupts();//
//Check that tick is not incremented and t4_v1 is not updated
- tick=getTick();
+ tick=getTime();
t4_v1=false;
for(int i=0;i<4;i++)
{
@@ -3064,11 +3063,11 @@ void t20_t2(void* arg)
t20_v1=0;
eq->post(t20_f1);
eq->post(t20_f1);
- unsigned long long t1=getTick();
+ unsigned long long t1=getTime();
eq->post(bind(t20_f2,10,4)); //This should block
- unsigned long long t2=getTick();
+ unsigned long long t2=getTime();
//The other thread sleep for 50ms before calling run()
- if((t2-t1)<static_cast<unsigned long long>(TICK_FREQ*0.04))
+ if((t2-t1)/1000000 < 40)
fail("Not blocked");
Thread::sleep(10);
if(t20_v1!=14) fail("Not called");
diff --git a/miosix/kernel/kernel.cpp b/miosix/kernel/kernel.cpp
index e1b0e5dc31e05ea2bfed6daf8f4eea4c61c9d438..8b88bfc93b0381232977b3eafacd4aec1e926ece 100644
--- a/miosix/kernel/kernel.cpp
+++ b/miosix/kernel/kernel.cpp
@@ -247,7 +247,7 @@ bool isKernelRunning()
return (kernel_running==0) && kernel_started;
}
-long long getTick()
+long long getTime()
{
return ContextSwitchTimer::instance().getCurrentTick();
}
diff --git a/miosix/kernel/kernel.h b/miosix/kernel/kernel.h
index da9d602f93570231eb790b7c4beec5010048bdd8..c19440be86ccbe24918caaa68f1e6a689983b6f6 100644
--- a/miosix/kernel/kernel.h
+++ b/miosix/kernel/kernel.h
@@ -404,11 +404,11 @@ void startKernel();
bool isKernelRunning();
/**
- * Returns the current kernel tick.<br>Can be called also with interrupts
- * disabled and/or kernel paused.
- * \return current kernel tick
+ * Returns the time passed in nanoseconds since the context switch started.<br>
+ * Can be called also with interrupts disabled and/or kernel paused.
+ * \return current time in nanoseconds
*/
-long long getTick();
+long long getTime();
//Forwrd declaration
struct SleepData;
@@ -527,9 +527,8 @@ public:
* \code
* void periodicThread()
* {
- * //Run every 90 milliseconds
- * const int period=static_cast<int>(TICK_FREQ*0.09);
- * long long tick=getTick();
+ * const int period=90; //Run every 90 milliseconds
+ * long long tick=getTime()/1000000; //convert ns to ms
* for(;;)
* {
* //Do work
diff --git a/miosix/kernel/sync.cpp b/miosix/kernel/sync.cpp
index 4f076a741b3d5be416fdb704fac8c25480effbca..733e7202a884ef4151db9501689f2b9182e8b1ce 100644
--- a/miosix/kernel/sync.cpp
+++ b/miosix/kernel/sync.cpp
@@ -478,14 +478,14 @@ void Timer::start()
{
first=false;
running=true;
- start_tick=getTick();
+ start_tick=getTime();
}
void Timer::stop()
{
if(running==false) return;
running=false;
- tick_count+=getTick()-start_tick;
+ tick_count+=getTime()-start_tick;
start_tick=0;
}
diff --git a/miosix/stdlib_integration/libc_integration.cpp b/miosix/stdlib_integration/libc_integration.cpp
index 7a99231aba8526676adfe6c366e8573b8a48cea9..200042386d0853e1e46500354311edb24515bf84 100644
--- a/miosix/stdlib_integration/libc_integration.cpp
+++ b/miosix/stdlib_integration/libc_integration.cpp
@@ -904,55 +904,38 @@ int getdents(unsigned int fd, struct dirent *dirp, unsigned int count)
#define CLOCK_MONOTONIC 4
#endif
-/// Conversion factor from ticks to nanoseconds
-/// TICK_FREQ in Miosix is either 1000 or (on older chips) 200, so a simple
-/// multiplication/division factor does not cause rounding errors
-static constexpr long tickNsFactor=1000000000/miosix::TICK_FREQ;
+static constexpr int nsPerSec = 1000000000;
/**
* Convert from timespec to the Miosix representation of time
* \param tp input timespec, must not be nullptr and be a valid pointer
- * \return Miosix ticks
+ * \return Miosix nanoseconds
*/
inline long long timespec2ll(const struct timespec *tp)
{
//NOTE: the cast is required to prevent overflow with older versions
//of the Miosix compiler where tv_sec is int and not long long
- return static_cast<long long>(tp->tv_sec)*miosix::TICK_FREQ
- + tp->tv_nsec/tickNsFactor;
+ //TODO: optimize
+ return static_cast<long long>(tp->tv_sec) * nsPerSec + tp->tv_nsec;
}
/**
- * Convert from he Miosix representation of time to a timespec
- * \param tick input Miosix ticks
+ * Convert from the Miosix representation of time to a timespec
+ * \param ns input Miosix nanoseconds
* \param tp output timespec, must not be nullptr and be a valid pointer
*/
-inline void ll2timespec(long long tick, struct timespec *tp)
+inline void ll2timespec(long long ns, struct timespec *tp)
{
- #ifdef __ARM_EABI__
- // Despite there being a single intrinsic, __aeabi_ldivmod, that computes
- // both the result of the / and % operator, GCC 9.2.0 isn't smart enough and
- // calls the intrinsic twice. This asm implementation saves ~115 cycles
- // by calling it once. Sadly, I had to use asm as the calling conventions
- // of the intrinsic appear to be nonstandard.
- // NOTE: actually a and b, by being 64 bit numbers, occupy register pairs
- register long long a asm("r0") = tick;
- register long long b asm("r2") = miosix::TICK_FREQ;
- // NOTE: clobbering lr to mark function not leaf due to the bl
- asm volatile("bl __aeabi_ldivmod" : "+r"(a), "+r"(b) :: "lr");
- tp->tv_sec = a;
- tp->tv_nsec = static_cast<long>(b) * tickNsFactor;
- #else //__ARM_EABI__
- tp->tv_sec = tick / miosix::TICK_FREQ;
- tp->tv_nsec = static_cast<long>(tick % miosix::TICK_FREQ) * tickNsFactor;
- #endif //__ARM_EABI__
+ //TODO: optimize
+ tp->tv_sec = ns / nsPerSec;
+ tp->tv_nsec = static_cast<long>(ns % nsPerSec);
}
int clock_gettime(clockid_t clock_id, struct timespec *tp)
{
if(tp==nullptr) return -1;
//TODO: support CLOCK_REALTIME
- ll2timespec(miosix::getTick(),tp);
+ ll2timespec(miosix::getTime(),tp);
return 0;
}
@@ -966,7 +949,7 @@ int clock_getres(clockid_t clock_id, struct timespec *res)
{
if(res==nullptr) return -1;
res->tv_sec=0;
- res->tv_nsec=tickNsFactor;
+ res->tv_nsec=1; //TODO: get resolution from hardware timer
return 0;
}
@@ -975,9 +958,9 @@ int clock_nanosleep(clockid_t clock_id, int flags,
{
if(req==nullptr) return -1;
//TODO: support CLOCK_REALTIME
- long long timeTick=timespec2ll(req);
- if(flags!=TIMER_ABSTIME) timeTick+=miosix::getTick();
- miosix::Thread::sleepUntil(timeTick);
+ long long timeNs=timespec2ll(req);
+ if(flags!=TIMER_ABSTIME) timeNs+=miosix::getTime();
+ miosix::Thread::nanoSleepUntil(timeNs);
return 0;
}