From 4dfe7f3c1547c1dd0c35e5dfc9e2cf63c2330a55 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Mon, 4 Mar 2024 16:30:33 +0100
Subject: [PATCH] [Miosix] Update usages of kernel time functions to equivalent
boardcore wrappers
Wrappers of
- `miosix::getTick()`
- `miosix::Thread::sleepUntil()`
- `miosix::Thread::IRQenableIrqAndTimedWaitMs`
have been created in the `Boardcore::Kernel` namespace.
---
src/entrypoints/imu-calibration.cpp | 9 +++---
src/shared/diagnostic/CpuMeter/CpuMeter.cpp | 4 +--
src/shared/diagnostic/PrintLogger.cpp | 4 ++-
src/shared/diagnostic/StackLogger.h | 3 +-
src/shared/drivers/WIZ5500/WIZ5500.cpp | 12 ++++----
.../drivers/canbus/CanDriver/CanDriver.cpp | 3 +-
src/shared/events/EventBroker.cpp | 13 ++++-----
src/shared/events/EventBroker.h | 1 -
src/shared/logger/Logger.cpp | 10 ++++---
.../radio/MavlinkDriver/MavlinkDriver.h | 2 ++
src/shared/radio/SX1278/SX1278Common.cpp | 9 +++---
src/shared/radio/SX1278/SX1278Fsk.cpp | 3 +-
src/shared/radio/Xbee/Xbee.cpp | 20 ++++++-------
src/shared/scheduler/TaskScheduler.cpp | 24 +++++----------
src/shared/scheduler/TaskScheduler.h | 3 +-
src/shared/sensors/UBXGPS/UBXGPSSpi.cpp | 9 +++---
src/shared/sensors/UBXGPS/UBXGPSSpi.h | 2 --
src/shared/sensors/VN100/VN100.cpp | 5 ++--
.../SoftwareDifferentialPressureSensor.h | 3 +-
src/shared/utils/Debug.h | 5 ++--
src/shared/utils/TestUtils/TestHelper.cpp | 29 ++++++++++---------
src/shared/utils/TestUtils/TestHelper.h | 16 +---------
src/shared/utils/TestUtils/TestSensor.h | 10 +++----
.../utils/TestUtils/ThroughputCalculator.h | 22 ++++++++------
src/shared/utils/gui/ScreenManager.h | 7 +++--
src/tests/actuators/test-hbridge.cpp | 5 ++--
.../algorithms/NAS/test-triad-parafoil.cpp | 7 +++--
src/tests/algorithms/NAS/test-triad.cpp | 7 +++--
src/tests/catch/test-eventbroker.cpp | 7 +++--
.../canbus/CanDriver/SimpleCanManager.h | 3 +-
.../canbus/CanDriver/test-can-2way.cpp | 8 ++---
.../canbus/CanDriver/test-can-filters.cpp | 3 +-
.../canbus/CanDriver/test-can-loopback.cpp | 7 +++--
src/tests/drivers/test-dsgamma.cpp | 9 +++---
src/tests/drivers/test-mavlink.cpp | 2 +-
src/tests/drivers/timer/test-counted-pwm.cpp | 5 ++--
.../drivers/timer/test-timestamptimer.cpp | 9 +++---
src/tests/drivers/xbee/XbeeTransceiver.h | 17 +++++------
src/tests/drivers/xbee/gui/StatusScreen.h | 3 +-
src/tests/drivers/xbee/test-xbee-bidir.cpp | 9 +++---
src/tests/drivers/xbee/test-xbee-gui.cpp | 11 +++----
src/tests/logger/test-logger.cpp | 5 ++--
src/tests/logger/test-logger.h | 3 +-
.../radio/sx1278/fsk/test-sx1278-mavlink.cpp | 5 ++--
.../radio/sx1278/lora/test-sx1278-mavlink.cpp | 9 +++---
src/tests/sensors/test-l3gd20-fifo.cpp | 5 ++--
src/tests/sensors/test-l3gd20.cpp | 5 ++--
47 files changed, 193 insertions(+), 179 deletions(-)
diff --git a/src/entrypoints/imu-calibration.cpp b/src/entrypoints/imu-calibration.cpp
index d42b4977f..c26610493 100644
--- a/src/entrypoints/imu-calibration.cpp
+++ b/src/entrypoints/imu-calibration.cpp
@@ -25,6 +25,7 @@
#include <sensors/calibration/AxisOrientation.h>
#include <sensors/calibration/SoftAndHardIronCalibration/SoftAndHardIronCalibration.h>
#include <utils/Debug.h>
+#include <utils/KernelTime.h>
#include <iostream>
@@ -108,14 +109,14 @@ void calibrateMagnetometer()
scheduler.start();
// Wait and then stop the sampling
- auto startTick = getTick();
+ auto startTick = Kernel::getOldTick();
auto lastTick = startTick;
- while (getTick() - startTick < MAG_CALIBRATION_DURATION * 1e3)
+ while (Kernel::getOldTick() - startTick < MAG_CALIBRATION_DURATION * 1e3)
{
mpu.sample();
calibration.feed(mpu.getLastSample());
- Thread::sleepUntil(lastTick + IMU_SAMPLE_PERIOD);
- lastTick = getTick();
+ Kernel::Thread::sleepUntil(lastTick + IMU_SAMPLE_PERIOD);
+ lastTick = Kernel::getOldTick();
}
scheduler.stop();
diff --git a/src/shared/diagnostic/CpuMeter/CpuMeter.cpp b/src/shared/diagnostic/CpuMeter/CpuMeter.cpp
index 57990c49f..880dbaa20 100644
--- a/src/shared/diagnostic/CpuMeter/CpuMeter.cpp
+++ b/src/shared/diagnostic/CpuMeter/CpuMeter.cpp
@@ -60,9 +60,9 @@ static void cpuMeterThread(void*)
{
for (;;)
{
- long long t1 = getTick();
+ long long t1 = Kernel::getOldTick();
delayMs(period);
- long long t2 = getTick();
+ long long t2 = Kernel::getOldTick();
update++;
float delta = t2 - t1;
diff --git a/src/shared/diagnostic/PrintLogger.cpp b/src/shared/diagnostic/PrintLogger.cpp
index 0e23b4cee..2b74b1df0 100644
--- a/src/shared/diagnostic/PrintLogger.cpp
+++ b/src/shared/diagnostic/PrintLogger.cpp
@@ -22,6 +22,8 @@
#include "PrintLogger.h"
+#include <utils/KernelTime.h>
+
using miosix::Lock;
namespace Boardcore
@@ -68,7 +70,7 @@ void LogSink::log(const LogRecord& record)
using namespace fmt::literals;
if (record.level >= minimumLevel)
{
- float ts = miosix::getTick() / 1000.0f;
+ float ts = Kernel::getOldTick() / 1000.0f;
int min = ts / 60;
string tsStr = fmt::format("{:02d}:{:06.3f}", min, (ts - min * 60));
diff --git a/src/shared/diagnostic/StackLogger.h b/src/shared/diagnostic/StackLogger.h
index c7998375a..7be7d81de 100644
--- a/src/shared/diagnostic/StackLogger.h
+++ b/src/shared/diagnostic/StackLogger.h
@@ -25,6 +25,7 @@
#include <ActiveObject.h>
#include <Singleton.h>
#include <logger/Logger.h>
+#include <utils/KernelTime.h>
#include <map>
@@ -54,7 +55,7 @@ public:
void updateStack(uint8_t threadId)
{
StackData d;
- d.timestamp = miosix::getTick();
+ d.timestamp = Kernel::getOldTick();
d.threadId = threadId;
d.minimumStack = miosix::MemoryProfiling::getAbsoluteFreeStack();
diff --git a/src/shared/drivers/WIZ5500/WIZ5500.cpp b/src/shared/drivers/WIZ5500/WIZ5500.cpp
index 6b4176df2..89577709c 100644
--- a/src/shared/drivers/WIZ5500/WIZ5500.cpp
+++ b/src/shared/drivers/WIZ5500/WIZ5500.cpp
@@ -25,6 +25,7 @@
#include <drivers/interrupt/external_interrupts.h>
#include <interfaces/endianness.h>
#include <kernel/scheduler/scheduler.h>
+#include <utils/KernelTime.h>
#include "WIZ5500Defs.h"
@@ -444,14 +445,15 @@ void Wiz5500::close(int sock_n, int timeout)
void Wiz5500::waitForINTn(Lock<FastMutex> &l)
{
- long long start = getTick();
+ long long start = Kernel::getOldTick();
TimedWaitResult result = TimedWaitResult::NoTimeout;
Unlock<FastMutex> ul(l);
FastInterruptDisableLock il;
while (intn.value() != 0 && result == TimedWaitResult::NoTimeout)
{
- result = Thread::IRQenableIrqAndTimedWaitMs(il, start + INTN_TIMEOUT);
+ result = Kernel::Thread::IRQenableIrqAndTimedWaitMs(
+ il, start + INTN_TIMEOUT);
}
}
@@ -493,7 +495,7 @@ int Wiz5500::waitForSocketIrq(miosix::Lock<miosix::FastMutex> &l, int sock_n,
return 0;
}
- long long start = getTick();
+ long long start = Kernel::getOldTick();
TimedWaitResult result = TimedWaitResult::NoTimeout;
if (interrupt_service_thread != nullptr)
@@ -507,8 +509,8 @@ int Wiz5500::waitForSocketIrq(miosix::Lock<miosix::FastMutex> &l, int sock_n,
{
if (timeout != -1)
{
- result =
- Thread::IRQenableIrqAndTimedWaitMs(il, start + timeout);
+ result = Kernel::Thread::IRQenableIrqAndTimedWaitMs(
+ il, start + timeout);
}
else
{
diff --git a/src/shared/drivers/canbus/CanDriver/CanDriver.cpp b/src/shared/drivers/canbus/CanDriver/CanDriver.cpp
index 5aa54ede5..61c57cb5d 100644
--- a/src/shared/drivers/canbus/CanDriver/CanDriver.cpp
+++ b/src/shared/drivers/canbus/CanDriver/CanDriver.cpp
@@ -24,6 +24,7 @@
#include <kernel/scheduler/scheduler.h>
#include <utils/ClockUtils.h>
+#include <utils/KernelTime.h>
#include <algorithm>
#include <cmath>
@@ -377,7 +378,7 @@ void CanbusDriver::handleRXInterrupt(int fifo)
if ((*RFR & CAN_RF0R_FMP0) > 0)
{
- p.timestamp = miosix::getTick();
+ p.timestamp = Kernel::IRQgetOldTick();
status.rxStatus = *RFR & (CAN_RF0R_FULL0 | CAN_RF0R_FOVR0) >> 3;
status.errCode = (can->ESR | CAN_ESR_LEC) >> 4;
diff --git a/src/shared/events/EventBroker.cpp b/src/shared/events/EventBroker.cpp
index 96fe93c76..c4f1db75c 100644
--- a/src/shared/events/EventBroker.cpp
+++ b/src/shared/events/EventBroker.cpp
@@ -67,10 +67,10 @@ uint16_t EventBroker::postDelayed(const Event& ev, uint8_t topic,
Lock<FastMutex> lock(mtxDelayedEvents);
// Delay in system ticks
- long long delayTicks =
- static_cast<long long>(delayMs * miosix::TICK_FREQ / 1000);
+ long long delayTicks = static_cast<long long>(delayMs);
- DelayedEvent dev{eventCounter++, ev, topic, getTick() + delayTicks};
+ DelayedEvent dev{eventCounter++, ev, topic,
+ Kernel::getOldTick() + delayTicks};
bool added = false;
// Add the new event in the list, ordered by deadline (first = nearest
@@ -141,7 +141,7 @@ void EventBroker::run()
while (!shouldStop())
{
while (delayedEvents.size() > 0 &&
- delayedEvents.front().deadline <= getTick())
+ delayedEvents.front().deadline <= Kernel::getOldTick())
{
// Pop the first element
DelayedEvent dev = delayedEvents.front();
@@ -156,8 +156,7 @@ void EventBroker::run()
}
// When to wakeup for the next cycle
- long long sleepUntil =
- getTick() + EVENT_BROKER_MIN_DELAY * miosix::TICK_FREQ / 1000;
+ long long sleepUntil = Kernel::getOldTick() + EVENT_BROKER_MIN_DELAY;
if (delayedEvents.size() > 0)
{
@@ -173,7 +172,7 @@ void EventBroker::run()
Unlock<FastMutex> unlock(lock);
StackLogger::getInstance().updateStack(THID_EVT_BROKER);
- Thread::sleepUntil(sleepUntil);
+ Kernel::Thread::sleepUntil(sleepUntil);
}
}
}
diff --git a/src/shared/events/EventBroker.h b/src/shared/events/EventBroker.h
index 7437d6230..e9e51f1a0 100644
--- a/src/shared/events/EventBroker.h
+++ b/src/shared/events/EventBroker.h
@@ -39,7 +39,6 @@ using std::map;
using std::vector;
using miosix::FastMutex;
-using miosix::getTick;
using miosix::Lock;
using miosix::Thread;
using miosix::Unlock;
diff --git a/src/shared/logger/Logger.cpp b/src/shared/logger/Logger.cpp
index a1c1da5ea..714719d89 100644
--- a/src/shared/logger/Logger.cpp
+++ b/src/shared/logger/Logger.cpp
@@ -33,6 +33,7 @@
#include <tscpp/buffer.h>
#include <utils/Debug.h>
+#include <chrono>
#include <fstream>
#include <stdexcept>
@@ -287,8 +288,8 @@ void Logger::writeThread()
return;
// Write data to disk
- Timer timer;
- timer.start();
+ using namespace std::chrono;
+ auto start = system_clock::now();
size_t result = fwrite(buffer->data, 1, buffer->size, file);
if (result != buffer->size)
@@ -301,8 +302,9 @@ void Logger::writeThread()
else
stats.buffersWritten++;
- timer.stop();
- stats.averageWriteTime = timer.interval();
+ auto interval = system_clock::now() - start;
+ stats.averageWriteTime =
+ duration_cast<milliseconds>(interval).count();
stats.maxWriteTime =
max(stats.maxWriteTime, stats.averageWriteTime);
diff --git a/src/shared/radio/MavlinkDriver/MavlinkDriver.h b/src/shared/radio/MavlinkDriver/MavlinkDriver.h
index 81607862c..a1186fc25 100644
--- a/src/shared/radio/MavlinkDriver/MavlinkDriver.h
+++ b/src/shared/radio/MavlinkDriver/MavlinkDriver.h
@@ -42,6 +42,8 @@ implementation before including MavlinkDriver.h"
#include <radio/Transceiver.h>
#include <utils/collections/SyncPacketQueue.h>
+#include <functional>
+
#include "MavlinkStatus.h"
namespace Boardcore
diff --git a/src/shared/radio/SX1278/SX1278Common.cpp b/src/shared/radio/SX1278/SX1278Common.cpp
index a4cc12d11..2628cf7a4 100644
--- a/src/shared/radio/SX1278/SX1278Common.cpp
+++ b/src/shared/radio/SX1278/SX1278Common.cpp
@@ -23,6 +23,7 @@
#include "SX1278Common.h"
#include <kernel/scheduler/scheduler.h>
+#include <utils/KernelTime.h>
namespace Boardcore
{
@@ -107,10 +108,10 @@ ISX1278::IrqFlags SX1278Common::waitForIrqBusy(LockMode &_guard,
// otherwise don't do anything with it
(void)_guard;
- long long start = miosix::getTick();
+ long long start = Kernel::getOldTick();
IrqFlags ret_irq = 0;
- while ((miosix::getTick() - start) < timeout)
+ while ((Kernel::getOldTick() - start) < timeout)
{
// Delay between polls
const unsigned int DELAY = 100;
@@ -143,7 +144,7 @@ bool SX1278Common::waitForIrqInner(LockMode &_guard, bool unlock)
mutex.unlock();
}
- int start = miosix::getTick();
+ int start = Kernel::getOldTick();
miosix::TimedWaitResult result = miosix::TimedWaitResult::NoTimeout;
{
@@ -151,7 +152,7 @@ bool SX1278Common::waitForIrqInner(LockMode &_guard, bool unlock)
while (state.irq_wait_thread &&
result == miosix::TimedWaitResult::NoTimeout)
{
- result = miosix::Thread::IRQenableIrqAndTimedWaitMs(
+ result = Kernel::Thread::IRQenableIrqAndTimedWaitMs(
lock, start + IRQ_TIMEOUT);
}
}
diff --git a/src/shared/radio/SX1278/SX1278Fsk.cpp b/src/shared/radio/SX1278/SX1278Fsk.cpp
index 1cf29fcee..4ec53f2d6 100644
--- a/src/shared/radio/SX1278/SX1278Fsk.cpp
+++ b/src/shared/radio/SX1278/SX1278Fsk.cpp
@@ -24,6 +24,7 @@
#include <kernel/scheduler/scheduler.h>
#include <utils/Debug.h>
+#include <utils/KernelTime.h>
#include <cassert>
#include <cmath>
@@ -34,7 +35,7 @@ namespace Boardcore
using namespace SX1278;
using namespace SX1278::Fsk;
-long long now() { return miosix::getTick() * 1000 / miosix::TICK_FREQ; }
+long long now() { return Kernel::getOldTick(); }
// Enable:
// - PayloadReady, PacketSent on DIO0 (mode 00)
diff --git a/src/shared/radio/Xbee/Xbee.cpp b/src/shared/radio/Xbee/Xbee.cpp
index 35553d134..1f698c1ee 100644
--- a/src/shared/radio/Xbee/Xbee.cpp
+++ b/src/shared/radio/Xbee/Xbee.cpp
@@ -64,7 +64,7 @@ bool Xbee::send(uint8_t* pkt, size_t packetLength)
MAX_PACKET_PAYLOAD_LENGTH);
return false;
}
- long long startTick = miosix::getTick();
+ long long startTick = Kernel::getOldTick();
TXRequestFrame txReq;
uint8_t txFrameId = buildTXRequestFrame(txReq, pkt, packetLength);
@@ -75,7 +75,7 @@ bool Xbee::send(uint8_t* pkt, size_t packetLength)
writeFrame(txReq);
// Wait for a TX Status frame
- long long timeoutTick = miosix::getTick() + txTimeout;
+ long long timeoutTick = Kernel::getOldTick() + txTimeout;
while (waitForFrame(FTYPE_TX_STATUS, FRAME_POLL_INTERVAL, timeoutTick))
{
@@ -106,7 +106,7 @@ bool Xbee::send(uint8_t* pkt, size_t packetLength)
++status.txTimeoutCount;
LOG_ERR(logger, "TX_STATUS timeout");
}
- timeToSendStats.add(miosix::getTick() - startTick);
+ timeToSendStats.add(Kernel::getOldTick() - startTick);
StackLogger::getInstance().updateStack(THID_XBEE);
@@ -160,7 +160,7 @@ ssize_t Xbee::receive(uint8_t* buf, size_t bufMaxSize)
XbeeStatus Xbee::getStatus()
{
- status.timestamp = miosix::getTick();
+ status.timestamp = Kernel::getOldTick();
status.timeToSendStats = timeToSendStats.getStats();
return status;
}
@@ -178,7 +178,7 @@ void Xbee::reset()
// When the xbee is ready, we should assert SSEL to tell it to use
// SPI, and it should provide us with a modem status frame
- long long timeout = miosix::getTick() + 1000;
+ long long timeout = Kernel::getOldTick() + 1000;
do
{
// Assert SSEL on every iteration as we don't exactly know when the
@@ -200,7 +200,7 @@ void Xbee::reset()
break;
}
miosix::Thread::sleep(5);
- } while (miosix::getTick() < timeout);
+ } while (Kernel::getOldTick() < timeout);
}
void Xbee::wakeReceiver(bool forceReturn)
@@ -293,7 +293,7 @@ bool Xbee::readRXFrame()
void Xbee::writeFrame(APIFrame& frame)
{
- frame.timestamp = miosix::getTick(); // Only for logging purposes
+ frame.timestamp = Kernel::getOldTick(); // Only for logging purposes
// Serialize the frame
uint8_t txBuf[MAX_API_FRAME_SIZE];
@@ -337,7 +337,7 @@ bool Xbee::waitForFrame(uint8_t frameType, unsigned int pollInterval,
{
miosix::Thread::sleep(pollInterval);
}
- } while (miosix::getTick() < timeoutTick);
+ } while (Kernel::getOldTick() < timeoutTick);
return false;
}
@@ -380,7 +380,7 @@ bool Xbee::sendATCommand(const char* cmd, ATCommandResponseFrame* response,
bool success = false;
- long long timeoutTick = miosix::getTick() + timeout;
+ long long timeoutTick = Kernel::getOldTick() + timeout;
while (waitForFrame(FTYPE_AT_COMMAND_RESPONSE, FRAME_POLL_INTERVAL,
timeoutTick))
@@ -435,7 +435,7 @@ uint8_t Xbee::sendATCommandInternal(uint8_t txFrameId, const char* cmd,
void Xbee::handleFrame(APIFrame& frame)
{
// Set the timestamp to the frame
- frame.timestamp = miosix::getTick();
+ frame.timestamp = Kernel::getOldTick();
switch (frame.frameType)
{
diff --git a/src/shared/scheduler/TaskScheduler.cpp b/src/shared/scheduler/TaskScheduler.cpp
index 6e14dfefb..eb63590d3 100644
--- a/src/shared/scheduler/TaskScheduler.cpp
+++ b/src/shared/scheduler/TaskScheduler.cpp
@@ -32,14 +32,6 @@ using namespace miosix;
namespace Boardcore
{
-namespace Constants
-{
-static constexpr unsigned int TICKS_PER_MS =
- miosix::TICK_FREQ / 1000; // Number of ticks in a millisecond
-static constexpr unsigned int MS_PER_TICK =
- 1000 / miosix::TICK_FREQ; // Number of milliseconds in a tick
-} // namespace Constants
-
TaskScheduler::EventQueue TaskScheduler::makeAgenda()
{
std::vector<Event> agendaStorage{};
@@ -122,7 +114,7 @@ void TaskScheduler::enableTask(size_t id)
}
task.enabled = true;
- agenda.emplace(id, getTick() + task.period * Constants::TICKS_PER_MS);
+ agenda.emplace(id, Kernel::getOldTick() + task.period);
mutex.unlock();
}
@@ -186,7 +178,7 @@ vector<TaskStatsResult> TaskScheduler::getTaskStats()
void TaskScheduler::populateAgenda()
{
- int64_t currentTick = getTick();
+ int64_t currentTick = Kernel::getOldTick();
for (size_t id = 1; id < tasks.size(); id++)
{
@@ -221,7 +213,7 @@ void TaskScheduler::run()
return;
}
- int64_t startTick = getTick();
+ int64_t startTick = Kernel::getOldTick();
Event nextEvent = agenda.top();
Task& nextTask = tasks[nextEvent.taskId];
@@ -254,7 +246,7 @@ void TaskScheduler::run()
}
// Enqueue only on a valid task
- updateStats(nextEvent, startTick, getTick());
+ updateStats(nextEvent, startTick, Kernel::getOldTick());
enqueue(nextEvent, startTick);
}
}
@@ -262,7 +254,7 @@ void TaskScheduler::run()
{
Unlock<FastMutex> unlock(lock);
- Thread::sleepUntil(nextEvent.nextTick);
+ Kernel::Thread::sleepUntil(nextEvent.nextTick);
}
}
}
@@ -274,12 +266,12 @@ void TaskScheduler::updateStats(const Event& event, int64_t startTick,
// Activation stats
float activationError = startTick - event.nextTick;
- task.activationStats.add(activationError * Constants::MS_PER_TICK);
+ task.activationStats.add(activationError);
// Period stats
int64_t lastCall = task.lastCall;
if (lastCall >= 0)
- task.periodStats.add((startTick - lastCall) * Constants::MS_PER_TICK);
+ task.periodStats.add((startTick - lastCall));
// Update the last call tick to the current start tick for the next
// iteration
@@ -314,7 +306,7 @@ void TaskScheduler::enqueue(Event event, int64_t startTick)
((startTick - event.nextTick) / task.period + 1) * task.period;
break;
case Policy::RECOVER:
- event.nextTick += task.period * Constants::TICKS_PER_MS;
+ event.nextTick += task.period;
break;
}
diff --git a/src/shared/scheduler/TaskScheduler.h b/src/shared/scheduler/TaskScheduler.h
index 6496eb9bf..84f5c97d7 100644
--- a/src/shared/scheduler/TaskScheduler.h
+++ b/src/shared/scheduler/TaskScheduler.h
@@ -26,6 +26,7 @@
#include <Singleton.h>
#include <debug/debug.h>
#include <diagnostic/PrintLogger.h>
+#include <utils/KernelTime.h>
#include <utils/Stats/Stats.h>
#include <cstdint>
@@ -114,7 +115,7 @@ public:
*/
size_t addTask(function_t function, uint32_t period,
Policy policy = Policy::RECOVER,
- int64_t startTick = miosix::getTick());
+ int64_t startTick = Kernel::getOldTick());
/**
* @brief Enables the task with the given id.
diff --git a/src/shared/sensors/UBXGPS/UBXGPSSpi.cpp b/src/shared/sensors/UBXGPS/UBXGPSSpi.cpp
index d62ace27f..1137164b8 100644
--- a/src/shared/sensors/UBXGPS/UBXGPSSpi.cpp
+++ b/src/shared/sensors/UBXGPS/UBXGPSSpi.cpp
@@ -24,6 +24,7 @@
#include <drivers/timer/TimestampTimer.h>
#include <interfaces/endianness.h>
+#include <utils/KernelTime.h>
using namespace miosix;
@@ -35,8 +36,6 @@ constexpr uint16_t UBXFrame::MAX_FRAME_LENGTH;
constexpr uint8_t UBXFrame::PREAMBLE[];
constexpr uint8_t UBXFrame::WAIT;
-constexpr float UBXGPSSpi::MS_TO_TICK;
-
constexpr unsigned int UBXGPSSpi::RESET_SLEEP_TIME;
constexpr unsigned int UBXGPSSpi::READ_TIMEOUT;
constexpr unsigned int UBXGPSSpi::MAX_TRIES;
@@ -241,8 +240,8 @@ bool UBXGPSSpi::setPVTMessageRate()
bool UBXGPSSpi::readUBXFrame(UBXFrame& frame)
{
- long long start = miosix::getTick();
- long long end = start + READ_TIMEOUT * MS_TO_TICK;
+ long long start = Kernel::getOldTick();
+ long long end = start + READ_TIMEOUT;
{
spiSlave.bus.configure(spiSlave.config);
@@ -253,7 +252,7 @@ bool UBXGPSSpi::readUBXFrame(UBXFrame& frame)
bool waiting = false;
while (i < 2)
{
- if (miosix::getTick() >= end)
+ if (Kernel::getOldTick() >= end)
{
// LOG_ERR(logger, "Timeout for read expired");
spiSlave.bus.deselect(spiSlave.cs);
diff --git a/src/shared/sensors/UBXGPS/UBXGPSSpi.h b/src/shared/sensors/UBXGPS/UBXGPSSpi.h
index 71739b4a6..e36b6d5b4 100644
--- a/src/shared/sensors/UBXGPS/UBXGPSSpi.h
+++ b/src/shared/sensors/UBXGPS/UBXGPSSpi.h
@@ -141,8 +141,6 @@ private:
PrintLogger logger = Logging::getLogger("ubxgps");
- static constexpr float MS_TO_TICK = miosix::TICK_FREQ / 1000.f;
-
static constexpr unsigned int RESET_SLEEP_TIME = 1000; // [ms]
static constexpr unsigned int READ_TIMEOUT = 1; // [ms]
static constexpr unsigned int MAX_TRIES = 5; // [1]
diff --git a/src/shared/sensors/VN100/VN100.cpp b/src/shared/sensors/VN100/VN100.cpp
index 7a808633d..12ebff0ee 100644
--- a/src/shared/sensors/VN100/VN100.cpp
+++ b/src/shared/sensors/VN100/VN100.cpp
@@ -23,6 +23,7 @@
#include "VN100.h"
#include <drivers/timer/TimestampTimer.h>
+#include <utils/KernelTime.h>
namespace Boardcore
{
@@ -120,14 +121,14 @@ void VN100::run()
{
while (!shouldStop())
{
- long long initialTime = miosix::getTick();
+ long long initialTime = Kernel::getOldTick();
{
// Sample the data locking the mutex
miosix::Lock<FastMutex> l(mutex);
threadSample = sampleData();
}
// Sleep for the sampling period
- miosix::Thread::sleepUntil(initialTime + samplePeriod);
+ Kernel::Thread::sleepUntil(initialTime + samplePeriod);
}
}
diff --git a/src/shared/sensors/analog/pressure/SoftwareDifferentialPressureSensor.h b/src/shared/sensors/analog/pressure/SoftwareDifferentialPressureSensor.h
index 86df2e1e7..84c9bf2e4 100644
--- a/src/shared/sensors/analog/pressure/SoftwareDifferentialPressureSensor.h
+++ b/src/shared/sensors/analog/pressure/SoftwareDifferentialPressureSensor.h
@@ -23,6 +23,7 @@
#pragma once
#include <sensors/Sensor.h>
+#include <utils/KernelTime.h>
namespace Boardcore
{
@@ -67,7 +68,7 @@ public:
float p1 = first_pressure_sensor->getLastSample().pressure;
float p2 = second_pressure_sensor->getLastSample().pressure;
- return PressureData{miosix::getTick(), p1 - p2};
+ return PressureData{Kernel::getOldTick(), p1 - p2};
}
private:
diff --git a/src/shared/utils/Debug.h b/src/shared/utils/Debug.h
index 9056bcdbd..8bcf58570 100644
--- a/src/shared/utils/Debug.h
+++ b/src/shared/utils/Debug.h
@@ -24,6 +24,7 @@
#ifdef DEBUG
#include <miosix.h>
+#include <utils/KernelTime.h>
#include <cstdarg>
#include <cstdio>
@@ -42,13 +43,13 @@ inline void TRACE(const char* format, ...)
va_list argptr;
va_start(argptr, format);
- printf("%.2f> ", miosix::getTick() / 1000.0f);
+ printf("%.2f> ", Boardcore::Kernel::getOldTick() / 1000.0f);
vprintf(format, argptr);
va_end(argptr);
}
-// #define TRACE(...) printf("%.2f> ", miosix::getTick()/1000.0f);
+// #define TRACE(...) printf("%.2f> ", Boardcore::Kernel::getOldTick()/1000.0f);
// printf(__VA_ARGS__)
#else
diff --git a/src/shared/utils/TestUtils/TestHelper.cpp b/src/shared/utils/TestUtils/TestHelper.cpp
index 6d0111bd1..ed67fccf5 100644
--- a/src/shared/utils/TestUtils/TestHelper.cpp
+++ b/src/shared/utils/TestUtils/TestHelper.cpp
@@ -22,13 +22,17 @@
#include "TestHelper.h"
-namespace Boardcore
-{
+#include <events/utils/EventCounter.h>
+#include <utils/KernelTime.h>
+
+#include <cmath>
-long long tickToMilliseconds(long long tick)
+using miosix::FastMutex;
+using miosix::getTime;
+using miosix::Lock;
+
+namespace Boardcore
{
- return tick * 1000 / miosix::TICK_FREQ;
-}
bool expectEvent(uint8_t eventId, uint8_t topic, long long when,
long long uncertainty, EventBroker& broker)
@@ -39,28 +43,25 @@ bool expectEvent(uint8_t eventId, uint8_t topic, long long when,
long long windowStart = when - uncertainty;
long long windowEnd = when + uncertainty;
- while (getTick() < windowEnd)
+ while (Kernel::getOldTick() < windowEnd)
{
if (c.getCount(eventId) > 0)
{
- long long recvTick = getTick();
+ long long recvTick = Kernel::getOldTick();
if (recvTick < windowStart)
{
TRACE(
"[expectEvent] Event %d on topic %d receveid %d ms before "
"the opening of "
"the window.\n",
- eventId, topic,
- static_cast<int>(
- tickToMilliseconds(windowStart - recvTick)));
+ eventId, topic, static_cast<int>(windowStart - recvTick));
return false;
}
TRACE(
"[expectEvent] Event %d on topic %d received inside the "
"window, %d ms from "
"the target time.\n",
- eventId, topic,
- static_cast<int>(tickToMilliseconds(abs(recvTick - when))));
+ eventId, topic, static_cast<int>(abs(recvTick - when)));
return true;
}
@@ -80,8 +81,8 @@ bool waitForEvent(uint8_t event, uint8_t topic, long long timeout,
{
EventCounter c{broker};
c.subscribe(topic);
- long long end = getTick() + timeout;
- while (timeout == 0 || getTick() < end)
+ long long end = Kernel::getOldTick() + timeout;
+ while (timeout == 0 || Kernel::getOldTick() < end)
{
if (c.getCount(event) > 0)
return true;
diff --git a/src/shared/utils/TestUtils/TestHelper.h b/src/shared/utils/TestUtils/TestHelper.h
index 2e7592f42..5c0bc7322 100644
--- a/src/shared/utils/TestUtils/TestHelper.h
+++ b/src/shared/utils/TestUtils/TestHelper.h
@@ -25,17 +25,8 @@
#include <events/EventBroker.h>
#include <events/FSM.h>
#include <events/HSM.h>
-#include <events/utils/EventCounter.h>
#include <miosix.h>
-#include <cmath>
-#include <map>
-
-using miosix::FastMutex;
-using miosix::getTick;
-using miosix::Lock;
-using std::map;
-
namespace Boardcore
{
@@ -45,11 +36,6 @@ namespace Boardcore
*/
static const int EVENT_TIMING_UNCERTAINTY = 1;
-/**
- * @brief Helper function used convert system ticks to milliseconds
- */
-long long tickToMilliseconds(long long tick);
-
/**
* Tests if a specific transition occurs in a Finite State Machine
* in response to an event.
@@ -176,7 +162,7 @@ bool testHSMAsyncTransition(HSM_type& hsm, const Event& ev, uint8_t topic,
*
* @param eventId The event to be checked
* @param topic The topic the event will be posted on
- * @param when Expected time at which the event will be posted, in system ticks
+ * @param when Absolute system time the event will be posted at
* @param uncertainty Size of the time window
* @param broker
* @return True if the event is posted inside the time window
diff --git a/src/shared/utils/TestUtils/TestSensor.h b/src/shared/utils/TestUtils/TestSensor.h
index 07b19e98b..a2eebc7cf 100644
--- a/src/shared/utils/TestUtils/TestSensor.h
+++ b/src/shared/utils/TestUtils/TestSensor.h
@@ -26,6 +26,7 @@
#include <sensors/Sensor.h>
#include <utils/Constants.h>
#include <utils/Debug.h>
+#include <utils/KernelTime.h>
#include <cmath>
@@ -37,12 +38,12 @@ struct TestData : public TimestampData
float value;
TestData(float v)
- : TimestampData{static_cast<uint64_t>(miosix::getTick())}, value(v)
+ : TimestampData{static_cast<uint64_t>(Kernel::getOldTick())}, value(v)
{
}
TestData()
- : TimestampData{static_cast<uint64_t>(miosix::getTick())}, value(0.0)
+ : TimestampData{static_cast<uint64_t>(Kernel::getOldTick())}, value(0.0)
{
}
};
@@ -60,9 +61,8 @@ public:
TestData sampleImpl() override
{
TRACE("[TestSensor] sampleImpl() \n");
- return TestData(
- 10 * sin(Constants::PI * static_cast<float>(miosix::getTick()) /
- static_cast<float>(miosix::TICK_FREQ)));
+ return TestData(10 *
+ sin(Constants::PI * (Kernel::getOldTick() / 1000.f)));
}
};
diff --git a/src/shared/utils/TestUtils/ThroughputCalculator.h b/src/shared/utils/TestUtils/ThroughputCalculator.h
index 6de5a3fe0..bc61cdaf0 100644
--- a/src/shared/utils/TestUtils/ThroughputCalculator.h
+++ b/src/shared/utils/TestUtils/ThroughputCalculator.h
@@ -23,6 +23,7 @@
#pragma once
#include <miosix.h>
+#include <utils/KernelTime.h>
#include <deque>
#include <limits>
@@ -53,9 +54,10 @@ public:
* @brief Creates a new ThroughputCalculator
*
* @param expectedPktInterval Expected packet delivery interval for packet
- * loss estimation
- * @param windowDuration Duration of the observation window. Longer windows
- * means more stable values but slow response to abrupt changes
+ * loss estimation in milliseconds
+ * @param windowDuration Duration of the observation window in milliseconds.
+ * Longer windows means more stable values but slow response to abrupt
+ * changes
*/
ThroughputCalculator(unsigned int expectedPktInterval,
unsigned int windowDuration = 2000)
@@ -74,7 +76,7 @@ public:
{
Lock<FastMutex> lock(mutexPkt);
- long long ts = miosix::getTick();
+ long long ts = Kernel::getOldTick();
unsigned int interval = 0;
if (packets.size() > 0)
@@ -95,7 +97,7 @@ public:
{
Lock<FastMutex> lock(mutexPkt);
- long long ts = miosix::getTick();
+ long long ts = Kernel::getOldTick();
removeOldPackets(ts);
float sum = 0;
@@ -113,7 +115,7 @@ public:
float getPacketLoss()
{
Lock<FastMutex> lock(mutexPkt);
- long long ts = miosix::getTick();
+ long long ts = Kernel::getOldTick();
removeOldPackets(ts);
float avgInterval = std::numeric_limits<float>::infinity();
@@ -137,7 +139,7 @@ public:
float getPacketsPerSecond()
{
Lock<FastMutex> lock(mutexPkt);
- long long ts = miosix::getTick();
+ long long ts = Kernel::getOldTick();
removeOldPackets(ts);
return (float)packets.size() / (windowDuration / 1000.0f);
@@ -170,8 +172,10 @@ private:
}
}
- unsigned int expectedPktInterval;
- unsigned int windowDuration;
+ unsigned int expectedPktInterval; //!< Expected packet delivery interval in
+ //!< milliseconds
+ unsigned int windowDuration; //!< Duration of the observation window in
+ //!< milliseconds
deque<Packet> packets;
FastMutex mutexPkt;
diff --git a/src/shared/utils/gui/ScreenManager.h b/src/shared/utils/gui/ScreenManager.h
index ce731f437..8e69bb22c 100644
--- a/src/shared/utils/gui/ScreenManager.h
+++ b/src/shared/utils/gui/ScreenManager.h
@@ -23,6 +23,7 @@
#pragma once
#include <miosix.h>
+#include <utils/KernelTime.h>
#include <deque>
#include <map>
@@ -82,11 +83,11 @@ protected:
screens[activeScreen]->invalidateTree();
}
- long long start = miosix::getTick();
+ long long start = Kernel::getOldTick();
drawViewTree(screens[activeScreen], dc);
- miosix::Thread::sleepUntil(start + refreshInterval);
+ Kernel::Thread::sleepUntil(start + refreshInterval);
}
}
@@ -119,7 +120,7 @@ private:
mxgui::DrawingContext dc;
- unsigned int refreshInterval;
+ unsigned int refreshInterval; ///< Refresh interval in ms
NavController controller;
std::map<uint8_t, View*> screens;
diff --git a/src/tests/actuators/test-hbridge.cpp b/src/tests/actuators/test-hbridge.cpp
index a2aa0438a..64cd57ba8 100644
--- a/src/tests/actuators/test-hbridge.cpp
+++ b/src/tests/actuators/test-hbridge.cpp
@@ -23,6 +23,7 @@
#include <actuators/HBridge/HBridge.h>
#include <miosix.h>
#include <utils/Debug.h>
+#include <utils/KernelTime.h>
#include <iostream>
#include <sstream>
@@ -45,14 +46,14 @@ long long measuredTime = 0;
void wait()
{
- long long t = getTick();
+ long long t = Kernel::getOldTick();
long long t0 = t;
while (t < t0 + PWM_DURATION)
{
Thread::sleep(50);
- t = getTick();
+ t = Kernel::getOldTick();
if (print)
{
diff --git a/src/tests/algorithms/NAS/test-triad-parafoil.cpp b/src/tests/algorithms/NAS/test-triad-parafoil.cpp
index d3dadc04f..e8b323f2e 100644
--- a/src/tests/algorithms/NAS/test-triad-parafoil.cpp
+++ b/src/tests/algorithms/NAS/test-triad-parafoil.cpp
@@ -26,6 +26,7 @@
#include <sensors/SensorManager.h>
#include <sensors/calibration/SensorDataExtra/SensorDataExtra.h>
#include <sensors/calibration/SoftAndHardIronCalibration/SoftAndHardIronCalibration.h>
+#include <utils/KernelTime.h>
#include <cmath>
#include <iostream>
@@ -47,7 +48,7 @@ int main()
mpu = new MPU9250(spi1, sensors::mpu9250::cs::getPin());
mpu->init();
- auto lastTick = getTick();
+ auto lastTick = Kernel::getOldTick();
while (true)
{
mpu->sample();
@@ -73,7 +74,7 @@ int main()
printf("w%fwa%fab%fbc%fc\n", kalmanState(9), kalmanState(6),
kalmanState(7), kalmanState(8));
- Thread::sleepUntil(lastTick + 20);
- lastTick = getTick();
+ Kernel::Thread::sleepUntil(lastTick + 20);
+ lastTick = Kernel::getOldTick();
}
}
diff --git a/src/tests/algorithms/NAS/test-triad.cpp b/src/tests/algorithms/NAS/test-triad.cpp
index af38fb856..c9f7b6d11 100644
--- a/src/tests/algorithms/NAS/test-triad.cpp
+++ b/src/tests/algorithms/NAS/test-triad.cpp
@@ -26,6 +26,7 @@
#include <sensors/SensorManager.h>
#include <sensors/calibration/SensorDataExtra/SensorDataExtra.h>
#include <sensors/calibration/SoftAndHardIronCalibration/SoftAndHardIronCalibration.h>
+#include <utils/KernelTime.h>
#include <cmath>
#include <iostream>
@@ -46,7 +47,7 @@ int main()
imuInit();
bmx->init();
- auto lastTick = getTick();
+ auto lastTick = Kernel::getOldTick();
while (true)
{
bmx->sample();
@@ -72,8 +73,8 @@ int main()
printf("w%fwa%fab%fbc%fc\n", kalmanState(9), kalmanState(6),
kalmanState(7), kalmanState(8));
- Thread::sleepUntil(lastTick + 20);
- lastTick = getTick();
+ Kernel::Thread::sleepUntil(lastTick + 20);
+ lastTick = Kernel::getOldTick();
}
}
diff --git a/src/tests/catch/test-eventbroker.cpp b/src/tests/catch/test-eventbroker.cpp
index 9590563db..f49818943 100644
--- a/src/tests/catch/test-eventbroker.cpp
+++ b/src/tests/catch/test-eventbroker.cpp
@@ -28,13 +28,14 @@
#endif
#include <events/EventBroker.h>
+#include <events/utils/EventCounter.h>
#include <miosix.h>
+#include <utils/KernelTime.h>
#include <utils/TestUtils/TestHelper.h>
#include <catch2/catch.hpp>
#include <cstdio>
-using miosix::getTick;
using miosix::Thread;
using namespace Boardcore;
@@ -208,7 +209,7 @@ protected:
TEST_CASE_METHOD(EventBrokerTestFixture, "EventBroker - Events can be dalayed")
{
Event ev{EV_A};
- long long start = getTick();
+ long long start = Kernel::getOldTick();
// Post delayed event by 1000 ms
broker.postDelayed(ev, TOPIC_1, 1000);
@@ -222,7 +223,7 @@ TEST_CASE_METHOD(EventBrokerTestFixture,
"EventBroker - Delayed events can be removed")
{
Event ev{EV_A};
- long long start = getTick();
+ long long start = Kernel::getOldTick();
// Post delayed event by 1000 ms
uint16_t delayed = broker.postDelayed(ev, TOPIC_1, 1000);
diff --git a/src/tests/drivers/canbus/CanDriver/SimpleCanManager.h b/src/tests/drivers/canbus/CanDriver/SimpleCanManager.h
index 141c5a60e..991c9b96a 100644
--- a/src/tests/drivers/canbus/CanDriver/SimpleCanManager.h
+++ b/src/tests/drivers/canbus/CanDriver/SimpleCanManager.h
@@ -26,6 +26,7 @@
#include <drivers/canbus/CanDriver/BusLoadEstimation.h>
#include <drivers/canbus/CanDriver/CanDriver.h>
#include <miosix.h>
+#include <utils/KernelTime.h>
#include <utils/collections/SyncCircularBuffer.h>
#include <cstdlib>
@@ -88,7 +89,7 @@ private:
}
Boardcore::Canbus::CanPacket p = parent.txPackets.pop();
parent.canbus.send(p);
- p.timestamp = miosix::getTick();
+ p.timestamp = Boardcore::Kernel::getOldTick();
parent.busLoad.addPacket(p);
}
}
diff --git a/src/tests/drivers/canbus/CanDriver/test-can-2way.cpp b/src/tests/drivers/canbus/CanDriver/test-can-2way.cpp
index 3fd1440dd..27a5f6190 100644
--- a/src/tests/drivers/canbus/CanDriver/test-can-2way.cpp
+++ b/src/tests/drivers/canbus/CanDriver/test-can-2way.cpp
@@ -84,7 +84,7 @@ void handleCanMessage(Canbus::CanRXPacket packet)
if (msg.id == packet.packet.id)
{
msg.id = 0;
- msg.ts = getTick() - msg.ts;
+ msg.ts = Kernel::getOldTick() - msg.ts;
break;
}
}
@@ -114,7 +114,7 @@ void sendNewRequest()
{
Lock<FastMutex> l(mutexMsgs);
- msgs.put({packet.id, (uint32_t)getTick()});
+ msgs.put({packet.id, (uint32_t)Kernel::getOldTick()});
}
canManager->send(packet);
@@ -128,7 +128,7 @@ public:
unsigned int c = 0;
while (!shouldStop())
{
- uint32_t tick = (uint32_t)getTick();
+ uint32_t tick = (uint32_t)Kernel::getOldTick();
{
Lock<FastMutex> l(mutexMsgs);
if (msgs.isFull())
@@ -184,7 +184,7 @@ public:
info.loadPercent);
}
++c;
- Thread::sleepUntil(tick + MSG_DEADLINE);
+ Kernel::Thread::sleepUntil(tick + MSG_DEADLINE);
}
}
diff --git a/src/tests/drivers/canbus/CanDriver/test-can-filters.cpp b/src/tests/drivers/canbus/CanDriver/test-can-filters.cpp
index b6c3f6b66..3be71dbab 100644
--- a/src/tests/drivers/canbus/CanDriver/test-can-filters.cpp
+++ b/src/tests/drivers/canbus/CanDriver/test-can-filters.cpp
@@ -24,6 +24,7 @@
#include <diagnostic/PrintLogger.h>
#include <drivers/canbus/CanDriver/BusLoadEstimation.h>
#include <drivers/canbus/CanDriver/CanDriver.h>
+#include <utils/KernelTime.h>
#include <string>
@@ -109,7 +110,7 @@ int main()
for (;;)
{
- p.timestamp = miosix::getTick();
+ p.timestamp = Kernel::getOldTick();
p.id = 365854720;
c->send(p);
diff --git a/src/tests/drivers/canbus/CanDriver/test-can-loopback.cpp b/src/tests/drivers/canbus/CanDriver/test-can-loopback.cpp
index 06559020e..f8ae585aa 100644
--- a/src/tests/drivers/canbus/CanDriver/test-can-loopback.cpp
+++ b/src/tests/drivers/canbus/CanDriver/test-can-loopback.cpp
@@ -24,6 +24,7 @@
#include <diagnostic/PrintLogger.h>
#include <drivers/canbus/CanDriver/BusLoadEstimation.h>
#include <drivers/canbus/CanDriver/CanDriver.h>
+#include <utils/KernelTime.h>
#include <string>
@@ -64,14 +65,14 @@ public:
{
while (!shouldStop())
{
- long long start = miosix::getTick();
+ long long start = Kernel::getOldTick();
BusLoadEstimation::BusLoadInfo info = ble.getLoadInfo();
LOG_INFO(l,
"payload rate: {:.2f} kbps, total rate: {:.2f} kbps, "
"utilization: {:.2f}%",
info.payloadBitRate / 1000.0f, info.totalBitRate / 1000.0f,
info.loadPercent);
- Thread::sleepUntil(start + 1000);
+ Kernel::Thread::sleepUntil(start + 1000);
}
}
@@ -122,7 +123,7 @@ int main()
{
// printPacket("TX", p);
- p.timestamp = miosix::getTick();
+ p.timestamp = Kernel::getOldTick();
c->send(p);
load.addPacket(p);
// Thread::sleep(1);
diff --git a/src/tests/drivers/test-dsgamma.cpp b/src/tests/drivers/test-dsgamma.cpp
index 1445ae8a6..e454bb5b0 100644
--- a/src/tests/drivers/test-dsgamma.cpp
+++ b/src/tests/drivers/test-dsgamma.cpp
@@ -25,6 +25,7 @@
#include <stdio.h>
#include <string.h>
#include <utils/Debug.h>
+#include <utils/KernelTime.h>
using namespace Boardcore;
using namespace std;
@@ -95,12 +96,12 @@ int main()
if (c == 255)
{
TRACE("Starting!\n", 0);
- startT = miosix::getTick();
+ startT = Kernel::getOldTick();
// printf("%c", c);
// inputBuf[index] = c;
++index;
state = ST_WAIT_END_FRAME;
- endT = miosix::getTick();
+ endT = Kernel::getOldTick();
}
break;
}
@@ -140,7 +141,7 @@ int main()
printf("Packet end %d. lost: %d\n", pktCount,
lostBytes);
++pktCount;
- // endT = miosix::getTick();
+ // endT = Kernel::getOldTick();
state = ST_WAIT_START_FRAME;
}
@@ -156,7 +157,7 @@ int main()
}
case ST_SEND_DATA:
{
- endT = miosix::getTick();
+ endT = Kernel::getOldTick();
end = true;
break;
/* uint8_t buf[] = {0x23, 0x23, 0x23, 0x23, 0x23};
diff --git a/src/tests/drivers/test-mavlink.cpp b/src/tests/drivers/test-mavlink.cpp
index 8e70f5a51..9ef16888f 100644
--- a/src/tests/drivers/test-mavlink.cpp
+++ b/src/tests/drivers/test-mavlink.cpp
@@ -63,7 +63,7 @@ int main()
{
// Create a Mavlink message
mavlink_message_t pingMsg;
- mavlink_msg_ping_tc_pack(1, 1, &pingMsg, miosix::getTick());
+ mavlink_msg_ping_tc_pack(1, 1, &pingMsg, Kernel::getOldTick());
// Send the message
mavlink->enqueueMsg(pingMsg);
diff --git a/src/tests/drivers/timer/test-counted-pwm.cpp b/src/tests/drivers/timer/test-counted-pwm.cpp
index 497f33a86..1338389ed 100644
--- a/src/tests/drivers/timer/test-counted-pwm.cpp
+++ b/src/tests/drivers/timer/test-counted-pwm.cpp
@@ -22,6 +22,7 @@
#include <drivers/timer/CountedPWM.h>
#include <miosix.h>
+#include <utils/KernelTime.h>
#include <thread>
@@ -56,8 +57,8 @@ int main()
while (true)
{
printf("[%.2f] Counter: %d\tTarget: %ld\tIs generating: %d\n",
- getTick() / 1000.0, pwm.getCurrentCount(), TIM4->CCR1,
- pwm.isGenerating());
+ Kernel::getOldTick() / 1000.0, pwm.getCurrentCount(),
+ TIM4->CCR1, pwm.isGenerating());
Thread::sleep(250);
}
});
diff --git a/src/tests/drivers/timer/test-timestamptimer.cpp b/src/tests/drivers/timer/test-timestamptimer.cpp
index 3ba131684..3580a59f0 100644
--- a/src/tests/drivers/timer/test-timestamptimer.cpp
+++ b/src/tests/drivers/timer/test-timestamptimer.cpp
@@ -23,6 +23,7 @@
#include <drivers/timer/TimerUtils.h>
#include <drivers/timer/TimestampTimer.h>
#include <miosix.h>
+#include <utils/KernelTime.h>
using namespace miosix;
using namespace Boardcore;
@@ -43,7 +44,7 @@ int main()
for (int i = 0; i < 10; i++)
{
- long long prevTick = getTick();
+ long long prevTick = Kernel::getOldTick();
uint64_t timestamp = TimestampTimer::getTimestamp();
@@ -51,7 +52,7 @@ int main()
printf("%12llu us, %12.3f ms, %12.6f s, %12lld tick \n", timestamp,
timestamp / 1e3, timestamp / 1e6, prevTick);
- Thread::sleepUntil(prevTick + 1000);
+ Kernel::Thread::sleepUntil(prevTick + 1000);
}
printf("Now resetting the TimestampTimer\n");
@@ -60,7 +61,7 @@ int main()
while (true)
{
- long long prevTick = getTick();
+ long long prevTick = Kernel::getOldTick();
uint64_t timestamp = TimestampTimer::getTimestamp();
@@ -68,7 +69,7 @@ int main()
printf("%12llu us, %12.3f ms, %12.6f s, %12lld tick \n", timestamp,
timestamp / 1e3, timestamp / 1e6, prevTick);
- Thread::sleepUntil(prevTick + 1000);
+ Kernel::Thread::sleepUntil(prevTick + 1000);
}
}
diff --git a/src/tests/drivers/xbee/XbeeTransceiver.h b/src/tests/drivers/xbee/XbeeTransceiver.h
index 3e41850e5..085e218a0 100644
--- a/src/tests/drivers/xbee/XbeeTransceiver.h
+++ b/src/tests/drivers/xbee/XbeeTransceiver.h
@@ -35,7 +35,6 @@
#include "ActiveObject.h"
#include "XbeeTestData.h"
-using miosix::getTick;
using std::bind;
using std::function;
@@ -111,22 +110,22 @@ public:
protected:
void run() override
{
- long long loopStartTs = miosix::getTick();
+ long long loopStartTs = Kernel::getOldTick();
while (!shouldStop())
{
- data.timeSinceLastSend = miosix::getTick() - loopStartTs;
- loopStartTs = miosix::getTick();
+ data.timeSinceLastSend = Kernel::getOldTick() - loopStartTs;
+ loopStartTs = Kernel::getOldTick();
// Create packet
memcpy(buf, &PACKET_FIRST_INT, sizeof(uint32_t));
memset32(buf + sizeof(uint32_t), packetCounter++,
data.packetSize - sizeof(uint32_t));
- long long sendStartTs = miosix::getTick();
+ long long sendStartTs = Kernel::getOldTick();
bool result = xbee.send(buf, data.packetSize);
- data.timeToSend = miosix::getTick() - sendStartTs;
+ data.timeToSend = Kernel::getOldTick() - sendStartTs;
data.timestamp = sendStartTs;
if (result)
@@ -141,7 +140,7 @@ protected:
logger.log(data);
- miosix::Thread::sleepUntil(loopStartTs + interval.getInterval());
+ Kernel::Thread::sleepUntil(loopStartTs + interval.getInterval());
}
}
@@ -183,11 +182,11 @@ protected:
{
while (!shouldStop())
{
- long long start = miosix::getTick();
+ long long start = Kernel::getOldTick();
size_t len = xbee.receive(buf, RCV_BUF_SIZE);
- data.lastPacketTimestamp = miosix::getTick();
+ data.lastPacketTimestamp = Kernel::getOldTick();
data.timestamp = start;
++data.rcvCount;
diff --git a/src/tests/drivers/xbee/gui/StatusScreen.h b/src/tests/drivers/xbee/gui/StatusScreen.h
index 1c7a40b5c..b79055d9b 100644
--- a/src/tests/drivers/xbee/gui/StatusScreen.h
+++ b/src/tests/drivers/xbee/gui/StatusScreen.h
@@ -24,6 +24,7 @@
#include <logger/Logger.h>
#include <mxgui/display.h>
+#include <utils/KernelTime.h>
#include <utils/TestUtils/ThroughputCalculator.h>
#include <utils/gui/GridLayout.h>
#include <utils/gui/OptionView.h>
@@ -255,7 +256,7 @@ struct StatusScreen
tvRxPps.setText(strBuf);
tvRxTimeSinceLastRx.setText(
- tickToHMS(miosix::getTick() - rxd.lastPacketTimestamp));
+ tickToHMS(Kernel::getOldTick() - rxd.lastPacketTimestamp));
}
VerticalLayout root{10};
diff --git a/src/tests/drivers/xbee/test-xbee-bidir.cpp b/src/tests/drivers/xbee/test-xbee-bidir.cpp
index def6764fd..2066c9bd9 100644
--- a/src/tests/drivers/xbee/test-xbee-bidir.cpp
+++ b/src/tests/drivers/xbee/test-xbee-bidir.cpp
@@ -33,6 +33,7 @@
#include <radio/Xbee/APIFramesLog.h>
#include <radio/Xbee/ATCommands.h>
#include <radio/Xbee/Xbee.h>
+#include <utils/KernelTime.h>
#include <cstdio>
#include <stdexcept>
@@ -161,7 +162,7 @@ int main()
config.packetSize = 256;
config.sendInterval = 333;
config.txEnabled = RUN_SENDER;
- config.timestamp = getTick();
+ config.timestamp = Kernel::getOldTick();
configure();
@@ -209,7 +210,7 @@ int main()
// cppcheck-suppress knownConditionTrueFalse
while (getUserBtnValue() == 0)
{
- long long loopStart = getTick();
+ long long loopStart = Kernel::getOldTick();
DataRateResult resRcv = trans->getReceiver().getDataRate();
DataRateResult resSnd = trans->getSender().getDataRate();
@@ -220,7 +221,7 @@ int main()
logger.log(xbeeDriver->getStatus());
logger.log(logger.getStats());
- long long tick = getTick();
+ long long tick = Kernel::getOldTick();
unsigned int h = tick / (1000 * 3600);
unsigned int m = (tick - h * 1000 * 3600) / (1000 * 60);
float s = (tick - h * 1000 * 3600 - m * 1000 * 60) / 1000.0f;
@@ -245,7 +246,7 @@ int main()
}
printf("\n");
- Thread::sleepUntil(loopStart + 1000);
+ Kernel::Thread::sleepUntil(loopStart + 1000);
}
trans->stop();
diff --git a/src/tests/drivers/xbee/test-xbee-gui.cpp b/src/tests/drivers/xbee/test-xbee-gui.cpp
index bc0d694aa..7a7309ae9 100644
--- a/src/tests/drivers/xbee/test-xbee-gui.cpp
+++ b/src/tests/drivers/xbee/test-xbee-gui.cpp
@@ -28,6 +28,7 @@
#include <radio/Xbee/ATCommands.h>
#include <radio/Xbee/Xbee.h>
#include <utils/ButtonHandler/ButtonHandler.h>
+#include <utils/KernelTime.h>
#include <array>
#include <cstdio>
@@ -105,7 +106,7 @@ protected:
gui->screenEnergy.updateScan(scan);
- EnergyScanData data{getTick(), scan};
+ EnergyScanData data{Kernel::getOldTick(), scan};
logger.log(data);
}
}
@@ -180,7 +181,7 @@ int main()
// Main loop: updates the information in the GUI
for (;;)
{
- long long start = getTick();
+ long long start = Kernel::getOldTick();
// Update display values
switch (gui->screenManager.getScreen())
{
@@ -209,7 +210,7 @@ int main()
}
logger.log(logger.getStats());
- Thread::sleepUntil(start + 500);
+ Kernel::Thread::sleepUntil(start + 500);
}
}
@@ -219,7 +220,7 @@ void onStartButtonClick(View* btn __attribute__((unused)), Interaction action)
{
XbeeConfig cfg = gui->screenConfig.config;
- cfg.timestamp = getTick();
+ cfg.timestamp = Kernel::getOldTick();
logger.log(cfg);
gui->screenConfig.btnStart.setText("Starting...");
@@ -265,7 +266,7 @@ void onMarkButtonClick(View* btn __attribute__((unused)), Interaction action)
{
if (action == Interaction::CLICK)
{
- Mark m{getTick(), markCounter++};
+ Mark m{Kernel::getOldTick(), markCounter++};
logger.log(m);
TextView* tvBtn = dynamic_cast<TextView*>(btn);
diff --git a/src/tests/logger/test-logger.cpp b/src/tests/logger/test-logger.cpp
index a22753780..49f61ff2e 100644
--- a/src/tests/logger/test-logger.cpp
+++ b/src/tests/logger/test-logger.cpp
@@ -24,6 +24,7 @@
#include <diagnostic/CpuMeter/CpuMeter.h>
#include <logger/Logger.h>
+#include <utils/KernelTime.h>
using namespace Boardcore;
using namespace std;
@@ -33,9 +34,9 @@ void logThread(void*)
{
Logger& log = Logger::getInstance();
const int period = 5;
- for (auto t = getTick();; t += period)
+ for (auto t = Kernel::getOldTick();; t += period)
{
- Thread::sleepUntil(t);
+ Kernel::Thread::sleepUntil(t);
for (int i = 0; i < 5; i++)
{
Dummy d;
diff --git a/src/tests/logger/test-logger.h b/src/tests/logger/test-logger.h
index 3bfddd562..0aabc6e03 100644
--- a/src/tests/logger/test-logger.h
+++ b/src/tests/logger/test-logger.h
@@ -27,6 +27,7 @@
#ifdef _MIOSIX
#include <miosix.h>
+#include <utils/KernelTime.h>
#endif //_MIOSIX
namespace Boardcore
@@ -38,7 +39,7 @@ public:
Dummy()
{
#ifdef _MIOSIX
- timestamp = miosix::getTick();
+ timestamp = Kernel::getOldTick();
#else //_MIOSIX
timestamp = 0;
#endif //_MIOSIX
diff --git a/src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp b/src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp
index 794a7378c..fcf6a8e4d 100644
--- a/src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp
+++ b/src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp
@@ -24,6 +24,7 @@
#include <drivers/timer/TimestampTimer.h>
#include <radio/SX1278/SX1278Frontends.h>
#include <radio/SX1278/SX1278Fsk.h>
+#include <utils/KernelTime.h>
#include <utils/collections/CircularBuffer.h>
#include <thread>
@@ -176,7 +177,7 @@ void flightTmLoop()
while (1)
{
- long long start = miosix::getTick;
+ long long start = Kernel::getOldTick();
{
Lock<FastMutex> l(mutex);
@@ -204,7 +205,7 @@ void flightTmLoop()
channel->enqueueMsg(msg);
- Thread::sleepUntil(start + FLIGHT_TM_PERIOD);
+ Kernel::Thread::sleepUntil(start + FLIGHT_TM_PERIOD);
i += 1;
}
}
diff --git a/src/tests/radio/sx1278/lora/test-sx1278-mavlink.cpp b/src/tests/radio/sx1278/lora/test-sx1278-mavlink.cpp
index 383980384..0ccf2f6e2 100644
--- a/src/tests/radio/sx1278/lora/test-sx1278-mavlink.cpp
+++ b/src/tests/radio/sx1278/lora/test-sx1278-mavlink.cpp
@@ -23,6 +23,7 @@
#include <drivers/interrupt/external_interrupts.h>
#include <radio/SX1278/SX1278Frontends.h>
#include <radio/SX1278/SX1278Lora.h>
+#include <utils/KernelTime.h>
#include <thread>
@@ -136,7 +137,7 @@ void flightTmLoop()
{
while (1)
{
- long long start = miosix::getTick();
+ long long start = Kernel::getOldTick();
mavlink_message_t msg;
mavlink_rocket_flight_tm_t tm = {0};
@@ -145,7 +146,7 @@ void flightTmLoop()
channel->enqueueMsg(msg);
printf("Enqueued flight_tm_tm!\n");
- Thread::sleepUntil(start + FLIGHT_TM_PERIOD);
+ Kernel::Thread::sleepUntil(start + FLIGHT_TM_PERIOD);
}
}
@@ -153,7 +154,7 @@ void statsTmLoop()
{
while (1)
{
- long long start = miosix::getTick();
+ long long start = Kernel::getOldTick();
mavlink_message_t msg;
mavlink_rocket_stats_tm_t tm = {0};
@@ -162,7 +163,7 @@ void statsTmLoop()
channel->enqueueMsg(msg);
printf("Enqueued stats_tm!\n");
- Thread::sleepUntil(start + STATS_TM_PERIOD);
+ Kernel::Thread::sleepUntil(start + STATS_TM_PERIOD);
}
}
diff --git a/src/tests/sensors/test-l3gd20-fifo.cpp b/src/tests/sensors/test-l3gd20-fifo.cpp
index faa927dbb..ffd75c040 100644
--- a/src/tests/sensors/test-l3gd20-fifo.cpp
+++ b/src/tests/sensors/test-l3gd20-fifo.cpp
@@ -54,6 +54,7 @@
#include <drivers/timer/GeneralPurposeTimer.h>
#include <drivers/timer/TimestampTimer.h>
#include <sensors/L3GD20/L3GD20.h>
+#include <utils/KernelTime.h>
#include <array>
@@ -166,7 +167,7 @@ int main()
int fifoNum = 0;
while (dataCounter < NUM_SAMPLES)
{
- long lastTick = miosix::getTick();
+ long lastTick = Kernel::getOldTick();
// Read the fifo
uint64_t update = TimestampTimer::getTimestamp();
@@ -207,7 +208,7 @@ int main()
// we have 7 samples (~ 9 ms) of wiggle room before we start losing
// data, in case we sleep a bit too much (may happen if an higher
// priority thread has a long task to perform)
- Thread::sleepUntil(lastTick + 25.5 * 1000 / SAMPLE_FREQUENCY);
+ Kernel::Thread::sleepUntil(lastTick + 25.5 * 1000 / SAMPLE_FREQUENCY);
}
// Dump buffer content as CSV on the serial (might take a while)
diff --git a/src/tests/sensors/test-l3gd20.cpp b/src/tests/sensors/test-l3gd20.cpp
index 1ce300bf7..8d5b57384 100644
--- a/src/tests/sensors/test-l3gd20.cpp
+++ b/src/tests/sensors/test-l3gd20.cpp
@@ -33,6 +33,7 @@
#include <drivers/spi/SPIDriver.h>
#include <drivers/timer/TimestampTimer.h>
#include <sensors/L3GD20/L3GD20.h>
+#include <utils/KernelTime.h>
#include <array>
@@ -138,7 +139,7 @@ int main()
// Collect NUM_SAMPLE samples
while (dataCounter < NUM_SAMPLES)
{
- long lastTick = miosix::getTick();
+ long lastTick = Kernel::getOldTick();
// Read data from the sensor
gyro->sample();
@@ -152,7 +153,7 @@ int main()
// Wait until SAMPLE_PERIOD milliseconds from the start of this
// iteration have passed (SAMPLE_PERIOD = 1000 / SAMPLE_RATE)
- Thread::sleepUntil(lastTick + 1000 / SAMPLE_RATE);
+ Kernel::Thread::sleepUntil(lastTick + 1000 / SAMPLE_RATE);
}
// Dump buffer content as CSV on the serial (might take a while)
--
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