From 6acca898d7eb9d2e5855d6596cf314decf362e29 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Wed, 3 Apr 2024 21:08:44 +0200
Subject: [PATCH] [TimestampTimer] Migrate to `miosix::getTime()` and deprecate
it
---
CMakeLists.txt | 2 +-
src/shared/drivers/timer/TimestampTimer.cpp | 47 ++--------
src/shared/drivers/timer/TimestampTimer.h | 86 ++++---------------
src/shared/utils/TimeUtils.h | 9 ++
.../algorithms/NAS/test-nas-with-triad.cpp | 1 -
...st-timestamptimer.cpp => test-gptimer.cpp} | 2 +-
.../drivers/timer/test-timestamptimer.cpp | 4 -
src/tests/sensors/test-l3gd20-fifo.cpp | 15 ++--
src/tests/sensors/test-l3gd20.cpp | 6 +-
9 files changed, 43 insertions(+), 129 deletions(-)
rename src/tests/catch/{test-timestamptimer.cpp => test-gptimer.cpp} (98%)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index cc3e9d964..bdc4f924b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -128,7 +128,7 @@ add_executable(catch-tests-boardcore
# src/tests/catch/test-buttonhandler.cpp
src/tests/catch/test-circularbuffer.cpp
src/tests/catch/test-eventbroker.cpp
- src/tests/catch/test-timestamptimer.cpp
+ src/tests/catch/test-gptimer.cpp
src/tests/catch/test-kalman.cpp
src/tests/catch/test-packetqueue.cpp
src/tests/catch/test-sensormanager-catch.cpp
diff --git a/src/shared/drivers/timer/TimestampTimer.cpp b/src/shared/drivers/timer/TimestampTimer.cpp
index 993949a8d..2bd519efd 100644
--- a/src/shared/drivers/timer/TimestampTimer.cpp
+++ b/src/shared/drivers/timer/TimestampTimer.cpp
@@ -1,5 +1,5 @@
/* Copyright (c) 2020-2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio, Davide Mor, Alberto Nidasio
+ * Authors: Luca Conterio, Davide Mor, Alberto Nidasio, Niccolò Betto
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -22,51 +22,16 @@
#include "TimestampTimer.h"
-#include <diagnostic/PrintLogger.h>
+#include <miosix.h>
+#include <utils/TimeUtils.h>
namespace Boardcore
{
-
-#ifndef COMPILE_FOR_HOST
-
namespace TimestampTimer
{
-
-GP32bitTimer timestampTimer = initTimestampTimer();
-
-} // namespace TimestampTimer
-
-void TimestampTimer::resetTimestamp() { timestampTimer.setCounter(0); }
-
-// TODO: Keep support for STM32F103
-GP32bitTimer TimestampTimer::initTimestampTimer()
+unsigned long long getTimestamp()
{
- GP32bitTimer timer = GP32bitTimer{TIM2};
- {
- miosix::FastInterruptDisableLock dLock;
- // Enable TIM2 peripheral clock
- RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;
- }
-
- timer.reset();
-
- timer.setFrequency(TIMER_FREQUENCY);
-
- // Generate an update event to apply the new prescaler value
- timer.generateUpdate();
-
- timestampTimer.enable();
-
- PrintLogger logger = Logging::getLogger("timestamptimer");
- LOG_INFO(logger, "Initialized timestamp timer");
-
- return timer;
+ return static_cast<unsigned long long>(nsToUs(miosix::getTime()));
}
-
-#else
-
-void TimestampTimer::resetTimestamp() {}
-
-#endif
-
+} // namespace TimestampTimer
} // namespace Boardcore
diff --git a/src/shared/drivers/timer/TimestampTimer.h b/src/shared/drivers/timer/TimestampTimer.h
index f2fdbee84..eef81b209 100644
--- a/src/shared/drivers/timer/TimestampTimer.h
+++ b/src/shared/drivers/timer/TimestampTimer.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2020-2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio, Davide Mor, Alberto Nidasio
+ * Authors: Luca Conterio, Davide Mor, Alberto Nidasio, Niccolò Betto
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -22,84 +22,32 @@
#pragma once
-#include <Singleton.h>
-#include <kernel/kernel.h>
-
-#ifndef COMPILE_FOR_HOST
-#include "GeneralPurposeTimer.h"
-#include "TimerUtils.h"
-#endif
-
namespace Boardcore
{
/**
- * @brief Utility for precise timestamp values.
- *
- * TimestanTimer works with 32bit timers, TIM2 or TIM5.
- *
- * TIM2 is used, if we'll need to use TIM5 or both works need to be done to
- * implement timer selection.
- *
- * The preferred configuration is to use a timer frequency of 250KHz. This way
- * the timer has a resolution of 4us, a reload timer of 4.7 hours and for tick
- * to time conversion require only a shift operation.
- *
- * For timer resolution and duration refer to :
- * https://docs.google.com/spreadsheets/d/1FiNDVU7Rg98yZzz1dZ4GDAq3-nEg994ziezCawJ-OK4/edit?usp=sharing
+ * @brief Utility for microsecond timestamp values.
+ *
+ * @deprecated
+ * This namespace provided access to sub-millisecond timestamp values for
+ * precise timing requirements before Miosix 2.7, since at that time Miosix only
+ * had millisecond-accurate tick values. It has now been deprecated in favor of
+ * `miosix::getTime()` which has nanosecond resolution. The class is kept
+ * for compatibility reasons and should be removed in the future.
+ *
+ * The old timer used a 32bit value and the TIM2 or TIM5 hardware peripherals,
+ * at a frequency of 250KHz. This way the timer had a resolution of 4us, it
+ * would overflow after 4.7 hours and only required a 2-bit shift left
+ * operation to convert from counter tick to microseconds.
*/
namespace TimestampTimer
{
-
/**
- * @brief Preferred timer clock frequency.
- */
-static constexpr uint32_t TIMER_FREQUENCY = 250000;
-
-/**
- * @brief Resets the timestamp timer to 0.
- */
-void resetTimestamp();
-
-/**
- * @brief Compute the current timer value in microseconds.
+ * @brief Returns the current timer value in microseconds.
+ * @deprecated Use miosix::getTime() instead and update the code to nanoseconds.
*
* @return Current timestamp in microseconds.
*/
-uint64_t getTimestamp();
-
-#ifndef COMPILE_FOR_HOST
-
-/**
- * @brief Initialize the timer.
- *
- * Enables the timer clock, resets the timer registers and sets che correct
- * timer configuration.
- */
-GP32bitTimer initTimestampTimer();
-
-/**
- * @brief TimestampTimer defaults to TIM2.
- */
-extern GP32bitTimer timestampTimer;
-
-#endif
-
+unsigned long long getTimestamp();
}; // namespace TimestampTimer
-
-inline uint64_t TimestampTimer::getTimestamp()
-{
-#ifdef COMPILE_FOR_HOST
- return time(NULL);
-#else
- // With a timer frequency of 250KHz, the conversion from timer ticks to
- // microseconds only take a 2 byte shift (x4)
- return static_cast<uint64_t>(timestampTimer.readCounter()) << 2;
-
- // If the timer frequency is not a multiple of 2 you must compute the value
- // this way:
- // return TimerUtils::toIntMicroSeconds(timestampTimer.getTimer());
-#endif
-}
-
} // namespace Boardcore
diff --git a/src/shared/utils/TimeUtils.h b/src/shared/utils/TimeUtils.h
index f2009cd8d..e50469a40 100644
--- a/src/shared/utils/TimeUtils.h
+++ b/src/shared/utils/TimeUtils.h
@@ -26,10 +26,19 @@ namespace Boardcore
{
namespace Constants
{
+constexpr long long NS_IN_US = 1000ll; // Nanoseconds in 1 us
constexpr long long NS_IN_MS = 1000000ll; // Nanoseconds in 1 ms
constexpr long long NS_IN_S = 1000000000ll; // Nanoseconds in 1 s
} // namespace Constants
+/**
+ * @brief Convert nanoseconds to microseconds.
+ *
+ * @param ns Nanoseconds.
+ * @return Microseconds.
+ */
+constexpr long long nsToUs(long long ns) { return ns / Constants::NS_IN_US; }
+
/**
* @brief Convert nanoseconds to milliseconds.
*
diff --git a/src/tests/algorithms/NAS/test-nas-with-triad.cpp b/src/tests/algorithms/NAS/test-nas-with-triad.cpp
index fb5c1c20f..372a4137b 100644
--- a/src/tests/algorithms/NAS/test-nas-with-triad.cpp
+++ b/src/tests/algorithms/NAS/test-nas-with-triad.cpp
@@ -59,7 +59,6 @@ int main()
nas = new NAS(getEKConfig());
// Logger::getInstance().start();
- TimestampTimer::resetTimestamp();
sensorManager->start();
while (true)
diff --git a/src/tests/catch/test-timestamptimer.cpp b/src/tests/catch/test-gptimer.cpp
similarity index 98%
rename from src/tests/catch/test-timestamptimer.cpp
rename to src/tests/catch/test-gptimer.cpp
index 5c385ae81..e057c9049 100644
--- a/src/tests/catch/test-timestamptimer.cpp
+++ b/src/tests/catch/test-gptimer.cpp
@@ -27,7 +27,7 @@
#include "catch-tests-entry.cpp"
#endif
-#include <drivers/timer/TimestampTimer.h>
+#include <drivers/timer/GeneralPurposeTimer.h>
#include <miosix.h>
#include <catch2/catch.hpp>
diff --git a/src/tests/drivers/timer/test-timestamptimer.cpp b/src/tests/drivers/timer/test-timestamptimer.cpp
index 3580a59f0..de3ed4696 100644
--- a/src/tests/drivers/timer/test-timestamptimer.cpp
+++ b/src/tests/drivers/timer/test-timestamptimer.cpp
@@ -55,10 +55,6 @@ int main()
Kernel::Thread::sleepUntil(prevTick + 1000);
}
- printf("Now resetting the TimestampTimer\n");
-
- TimestampTimer::resetTimestamp();
-
while (true)
{
long long prevTick = Kernel::getOldTick();
diff --git a/src/tests/sensors/test-l3gd20-fifo.cpp b/src/tests/sensors/test-l3gd20-fifo.cpp
index ffd75c040..2800a87e7 100644
--- a/src/tests/sensors/test-l3gd20-fifo.cpp
+++ b/src/tests/sensors/test-l3gd20-fifo.cpp
@@ -186,15 +186,12 @@ int main()
for (int i = 0; i < level; i++)
{
// data[dataCounter++] = fifo[i];
- data[dataCounter++] = {
- fifoNum,
- fifo[i],
- level,
- TimerUtils::toIntMicroSeconds(
- TimestampTimer::timestampTimer.getTimer(), watermarkDelta),
- CpuMeter::getCpuStats().mean,
- TimerUtils::toIntMicroSeconds(
- TimestampTimer::timestampTimer.getTimer(), update)};
+ data[dataCounter++] = {fifoNum,
+ fifo[i],
+ level,
+ watermarkDelta,
+ CpuMeter::getCpuStats().mean,
+ update};
// Stop if we have enough data
if (dataCounter >= NUM_SAMPLES)
diff --git a/src/tests/sensors/test-l3gd20.cpp b/src/tests/sensors/test-l3gd20.cpp
index 8d5b57384..8e9dad81f 100644
--- a/src/tests/sensors/test-l3gd20.cpp
+++ b/src/tests/sensors/test-l3gd20.cpp
@@ -31,6 +31,7 @@
#include <diagnostic/CpuMeter/CpuMeter.h>
#include <drivers/interrupt/external_interrupts.h>
#include <drivers/spi/SPIDriver.h>
+#include <drivers/timer/TimerUtils.h>
#include <drivers/timer/TimestampTimer.h>
#include <sensors/L3GD20/L3GD20.h>
#include <utils/KernelTime.h>
@@ -162,10 +163,9 @@ int main()
{
// clang-format off
printf("%d,%llu,%llu,%llu,%f,%f,%f,%.2f\n",
- 0,
+ i,
data[i].timestamp,
- TimerUtils::toIntMicroSeconds(
- TimestampTimer::timestampTimer.getTimer(), data[i].sampleDelta),
+ data[i].sampleDelta,
(data[i].timestamp - data[i - 1].timestamp),
data[i].data.angularSpeedX,
data[i].data.angularSpeedY,
--
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