Ken Van Hoeylandt
100 lines
2.4 KiB
C++
100 lines
2.4 KiB
C++
#pragma once
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#include "../freertoscompat/PortCompat.h"
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#include "../freertoscompat/Task.h"
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#ifdef ESP_PLATFORM
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#include <esp_timer.h>
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#include <rom/ets_sys.h>
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#else
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#include <sys/time.h>
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#include <cstdint>
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#include <unistd.h>
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#endif
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#include <cassert>
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namespace tt::kernel {
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constexpr TickType_t MAX_TICKS = ~static_cast<TickType_t>(0);
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/** @return the frequency at which the kernel task schedulers operate */
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constexpr uint32_t getTickFrequency() {
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return configTICK_RATE_HZ;
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}
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/** @return the amount of ticks that has passed in the main kernel task */
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inline TickType_t getTicks() {
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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 amount of milliseconds that has passed in the main kernel tasks */
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inline size_t getMillis() {
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return getTicks() * portTICK_PERIOD_MS;
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}
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/** @return the microseconds that have passed since boot */
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inline int64_t getMicrosSinceBoot() {
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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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timeval tv;
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gettimeofday(&tv, nullptr);
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return 1000000 * tv.tv_sec + tv.tv_usec;
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#endif
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}
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/** Convert seconds to ticks */
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inline TickType_t secondsToTicks(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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inline TickType_t millisToTicks(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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/**
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* Delay the current task for the specified amount of ticks
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* @warning Does not work in ISR context
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*/
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inline void delayTicks(TickType_t ticks) {
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assert(xPortInIsrContext() == pdFALSE);
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if (ticks == 0U) {
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taskYIELD();
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} else {
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vTaskDelay(ticks);
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}
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}
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/**
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* Delay the current task for the specified amount of milliseconds
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* @warning Does not work in ISR context
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*/
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inline void delayMillis(uint32_t milliSeconds) {
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delayTicks(millisToTicks(milliSeconds));
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}
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/**
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* Stall the currently active CPU core for the specified amount of microseconds.
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* This does not allow other tasks to run on the stalled CPU core.
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*/
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inline void delayMicros(uint32_t microseconds) {
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#ifdef ESP_PLATFORM
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ets_delay_us(microseconds);
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#else
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usleep(microseconds);
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#endif
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}
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} // namespace
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