690 lines
23 KiB
C
690 lines
23 KiB
C
/****************************************************************************
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* include/nuttx/clock.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NUTTX_CLOCK_H
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#define __INCLUDE_NUTTX_CLOCK_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdbool.h>
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#include <stdint.h>
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#include <time.h>
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#include <nuttx/compiler.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Configuration ************************************************************/
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/* Efficient, direct access to OS global timer variables will be supported
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* if the execution environment has direct access to kernel global data.
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* The code in this execution context can access the kernel global data
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* directly if:
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*
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* 1. We are not running tick-less (in which case there is no global timer
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* data),
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* 2. This is an un-protected, non-kernel build,
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* 3. This is a protected build, but this code is being built for execution
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* within the kernel space.
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* 4. It we are building with SYSCALLs enabled, but not in a kernel build,
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* then we can't know a priori whether the code has access to the
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* global variables or not. In that case we have to assume not.
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*/
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#undef __HAVE_KERNEL_GLOBALS
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#if defined(CONFIG_SCHED_TICKLESS)
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/* Case 1: There is no global timer data */
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#elif defined(__KERNEL__)
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/* Case 3: Kernel mode of protected/kernel build */
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# define __HAVE_KERNEL_GLOBALS 1
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#elif defined(CONFIG_LIB_SYSCALL)
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/* Case 4: Building with SYSCALLs enabled, but not part of a kernel build */
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#else
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/* Case 2: Un-protected, non-kernel build */
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# define __HAVE_KERNEL_GLOBALS 1
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#endif
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/* If CONFIG_SYSTEM_TIME64 is selected and the CPU supports long long types,
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* then a 64-bit system time will be used.
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*/
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#ifndef CONFIG_HAVE_LONG_LONG
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# undef CONFIG_SYSTEM_TIME64
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#endif
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/* The following are the bit fields of the clockid_t
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* bit 0~2: the clock type
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* CLOCK_REALTIME - 0
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* CLOCK_MONOTONIC - 1
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* CLOCK_PROCESS_CPUTIME_ID - 2
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* CLOCK_THREAD_CPUTIME_ID - 3
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* CLOCK_BOOTTIME - 4
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* bit 3~32: the pid or tid value
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*
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* The CLOCK_MASK are using to extract the clock_type from the clockid_t
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*/
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#define CLOCK_MASK 7
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#define CLOCK_SHIFT 3
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/* Timing constants *********************************************************/
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#define NSEC_PER_SEC 1000000000L /* Seconds */
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#define USEC_PER_SEC 1000000L
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#define MSEC_PER_SEC 1000
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#define DSEC_PER_SEC 10
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#define HSEC_PER_SEC 2
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#define NSEC_PER_HSEC 500000000L /* Half seconds */
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#define USEC_PER_HSEC 500000L
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#define MSEC_PER_HSEC 500
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#define DSEC_PER_HSEC 5
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#define NSEC_PER_DSEC 100000000L /* Deciseconds */
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#define USEC_PER_DSEC 100000L
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#define MSEC_PER_DSEC 100
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#define NSEC_PER_MSEC 1000000L /* Milliseconds */
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#define USEC_PER_MSEC 1000
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#define NSEC_PER_USEC 1000 /* Microseconds */
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#define SEC_PER_MIN 60
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#define NSEC_PER_MIN (NSEC_PER_SEC * SEC_PER_MIN)
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#define USEC_PER_MIN (USEC_PER_SEC * SEC_PER_MIN)
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#define MSEC_PER_MIN (MSEC_PER_SEC * SEC_PER_MIN)
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#define DSEC_PER_MIN (DSEC_PER_SEC * SEC_PER_MIN)
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#define HSEC_PER_MIN (HSEC_PER_SEC * SEC_PER_MIN)
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#define MIN_PER_HOUR 60
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#define NSEC_PER_HOUR (NSEC_PER_MIN * MIN_PER_HOUR)
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#define USEC_PER_HOUR (USEC_PER_MIN * MIN_PER_HOUR)
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#define MSEC_PER_HOUR (MSEC_PER_MIN * MIN_PER_HOUR)
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#define DSEC_PER_HOUR (DSEC_PER_MIN * MIN_PER_HOUR)
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#define HSEC_PER_HOUR (HSEC_PER_MIN * MIN_PER_HOUR)
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#define SEC_PER_HOUR (SEC_PER_MIN * MIN_PER_HOUR)
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#define HOURS_PER_DAY 24
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#define SEC_PER_DAY (HOURS_PER_DAY * SEC_PER_HOUR)
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/* If CONFIG_SCHED_TICKLESS is not defined, then the interrupt interval of
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* the system timer is given by USEC_PER_TICK. This is the expected number
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* of microseconds between calls from the processor-specific logic to
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* nxsched_process_timer(). The default value of USEC_PER_TICK is 10000
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* microseconds (100 Hz). However, this default setting can be overridden
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* by defining the interval in microseconds as CONFIG_USEC_PER_TICK in the
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* NuttX configuration file.
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*
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* The following calculations are only accurate when (1) there is no
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* truncation involved and (2) the underlying system timer is an even
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* multiple of microseconds. If (2) is not true, you will probably want
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* to redefine all of the following.
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*/
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#ifdef CONFIG_USEC_PER_TICK
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# define USEC_PER_TICK (CONFIG_USEC_PER_TICK)
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#else
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# define USEC_PER_TICK (10000)
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#endif
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/* MSEC_PER_TICK can be very inaccurate if CONFIG_USEC_PER_TICK is not an
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* even multiple of milliseconds. Calculations using USEC_PER_TICK are
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* preferred for that reason (at the risk of overflow)
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*/
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/* TICK_PER_* truncates! */
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#define TICK_PER_HOUR (USEC_PER_HOUR / USEC_PER_TICK)
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#define TICK_PER_MIN (USEC_PER_MIN / USEC_PER_TICK)
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#define TICK_PER_SEC (USEC_PER_SEC / USEC_PER_TICK)
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#define TICK_PER_MSEC (USEC_PER_MSEC / USEC_PER_TICK)
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#define TICK_PER_DSEC (USEC_PER_DSEC / USEC_PER_TICK)
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#define TICK_PER_HSEC (USEC_PER_HSEC / USEC_PER_TICK)
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/* MSEC_PER_TICK truncates! */
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#define MSEC_PER_TICK (USEC_PER_TICK / USEC_PER_MSEC)
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#define NSEC_PER_TICK (USEC_PER_TICK * NSEC_PER_USEC)
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/* ?SEC2TIC rounds up */
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#define NSEC2TICK(nsec) (((nsec) + (NSEC_PER_TICK - 1)) / NSEC_PER_TICK)
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#define USEC2TICK(usec) (((usec) + (USEC_PER_TICK - 1)) / USEC_PER_TICK)
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#if (MSEC_PER_TICK * USEC_PER_MSEC) == USEC_PER_TICK
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# define MSEC2TICK(msec) (((msec) + (MSEC_PER_TICK - 1)) / MSEC_PER_TICK)
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#else
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# define MSEC2TICK(msec) USEC2TICK((msec) * USEC_PER_MSEC)
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#endif
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#define DSEC2TICK(dsec) MSEC2TICK((dsec) * MSEC_PER_DSEC)
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#define HSEC2TICK(dsec) MSEC2TICK((dsec) * MSEC_PER_HSEC)
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#define SEC2TICK(sec) MSEC2TICK((sec) * MSEC_PER_SEC)
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#define TICK2NSEC(tick) ((tick) * NSEC_PER_TICK)
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#define TICK2USEC(tick) ((tick) * USEC_PER_TICK)
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#if (MSEC_PER_TICK * USEC_PER_MSEC) == USEC_PER_TICK
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# define TICK2MSEC(tick) ((tick) * MSEC_PER_TICK)
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#else
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# define TICK2MSEC(tick) (((tick) * USEC_PER_TICK) / USEC_PER_MSEC)
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#endif
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/* TIC2?SEC rounds to nearest */
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#define TICK2DSEC(tick) (((tick) + (TICK_PER_DSEC / 2)) / TICK_PER_DSEC)
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#define TICK2HSEC(tick) (((tick) + (TICK_PER_HSEC / 2)) / TICK_PER_HSEC)
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#define TICK2SEC(tick) (((tick) + (TICK_PER_SEC / 2)) / TICK_PER_SEC)
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#if defined(CONFIG_DEBUG_FEATURES) && defined(CONFIG_SYSTEM_TIME64) && \
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!defined(CONFIG_SCHED_TICKLESS)
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/* Initial system timer ticks value close to maximum 32-bit value, to test
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* 64-bit system-timer after going over 32-bit value. This is to make errors
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* of casting 64-bit system-timer to 32-bit variables more visible.
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*/
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# define INITIAL_SYSTEM_TIMER_TICKS \
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((uint64_t)(UINT32_MAX - (TICK_PER_SEC * 5)))
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#else
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# define INITIAL_SYSTEM_TIMER_TICKS 0
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#endif
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/* If Gregorian time is not supported, then neither is Julian */
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#ifndef CONFIG_GREGORIAN_TIME
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# undef CONFIG_JULIAN_TIME
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#else
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# define JD_OF_EPOCH 2440588 /* Julian Date of noon, J1970 */
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# ifdef CONFIG_JULIAN_TIME
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# define GREG_DUTC -141427 /* Default is October 15, 1582 */
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# define GREG_YEAR 1582
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# define GREG_MONTH 10
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# define GREG_DAY 15
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# endif /* CONFIG_JULIAN_TIME */
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#endif /* !CONFIG_GREGORIAN_TIME */
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#define SECSPERMIN 60
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#define MINSPERHOUR 60
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#define HOURSPERDAY 24
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#define DAYSPERWEEK 7
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#define DAYSPERNYEAR 365
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#define DAYSPERLYEAR 366
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#define MONSPERYEAR 12
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#define TM_SUNDAY 0
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#define TM_MONDAY 1
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#define TM_TUESDAY 2
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#define TM_WEDNESDAY 3
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#define TM_THURSDAY 4
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#define TM_FRIDAY 5
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#define TM_SATURDAY 6
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#define TM_JANUARY 0
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#define TM_FEBRUARY 1
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#define TM_MARCH 2
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#define TM_APRIL 3
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#define TM_MAY 4
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#define TM_JUNE 5
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#define TM_JULY 6
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#define TM_AUGUST 7
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#define TM_SEPTEMBER 8
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#define TM_OCTOBER 9
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#define TM_NOVEMBER 10
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#define TM_DECEMBER 11
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#define TM_YEAR_BASE (1900)
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#define TM_WDAY_BASE TM_MONDAY
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#define EPOCH_YEAR 1970
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#define EPOCH_WDAY TM_THURSDAY
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/****************************************************************************
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* Public Types
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****************************************************************************/
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/* This structure is used to report CPU usage for a particular thread */
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#ifdef CONFIG_SCHED_CPULOAD
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struct cpuload_s
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{
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volatile uint32_t total; /* Total number of clock ticks */
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volatile uint32_t active; /* Number of ticks while this thread was active */
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};
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#endif
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/* This non-standard type used to hold relative clock ticks that may take
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* negative values. Because of its non-portable nature the type sclock_t
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* should be used only within the OS proper and not by portable applications.
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*/
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#ifdef CONFIG_SYSTEM_TIME64
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typedef int64_t sclock_t;
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#else
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typedef int32_t sclock_t;
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#endif
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/****************************************************************************
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* Public Data
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****************************************************************************/
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#ifdef __cplusplus
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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/* Access to raw system clock ***********************************************/
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/* Direct access to the system timer/counter is supported only if (1) the
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* system timer counter is available (i.e., we are not configured to use
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* a hardware periodic timer), and (2) the execution environment has direct
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* access to kernel global data
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*/
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#ifdef __HAVE_KERNEL_GLOBALS
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EXTERN volatile clock_t g_system_ticks;
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# ifndef CONFIG_SYSTEM_TIME64
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# define clock_systime_ticks() g_system_ticks
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# endif
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#endif
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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#define timespec_from_tick(ts, tick) \
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do \
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{ \
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clock_t _tick = (tick); \
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(ts)->tv_sec = _tick / TICK_PER_SEC; \
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_tick -= (clock_t)(ts)->tv_sec * TICK_PER_SEC; \
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(ts)->tv_nsec = _tick * NSEC_PER_TICK; \
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} \
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while (0)
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#define timespec_to_tick(ts) \
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((clock_t)(ts)->tv_sec * TICK_PER_SEC + (ts)->tv_nsec / NSEC_PER_TICK)
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/****************************************************************************
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* Name: clock_timespec_compare
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*
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* Description:
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* Return < 0 if time ts1 is before time ts2
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* Return > 0 if time ts2 is before time ts1
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* Return 0 if time ts1 is the same as time ts2
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*
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****************************************************************************/
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int clock_timespec_compare(FAR const struct timespec *ts1,
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FAR const struct timespec *ts2);
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/****************************************************************************
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* Name: clock_timespec_add
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*
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* Description:
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* Add timespec ts1 to to2 and return the result in ts3
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*
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* Input Parameters:
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* ts1 and ts2: The two timespecs to be added
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* t23: The location to return the result (may be ts1 or ts2)
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void clock_timespec_add(FAR const struct timespec *ts1,
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FAR const struct timespec *ts2,
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FAR struct timespec *ts3);
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/****************************************************************************
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* Name: clock_timespec_subtract
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*
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* Description:
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* Subtract timespec ts2 from to1 and return the result in ts3.
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* Zero is returned if the time difference is negative.
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*
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* Input Parameters:
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* ts1 and ts2: The two timespecs to be subtracted (ts1 - ts2)
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* t23: The location to return the result (may be ts1 or ts2)
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void clock_timespec_subtract(FAR const struct timespec *ts1,
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FAR const struct timespec *ts2,
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FAR struct timespec *ts3);
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/****************************************************************************
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* Name: clock_isleapyear
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*
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* Description:
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* Return true if the specified year is a leap year
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*
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****************************************************************************/
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int clock_isleapyear(int year);
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/****************************************************************************
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* Name: clock_daysbeforemonth
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*
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* Description:
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* Get the number of days that occurred before the beginning of the month.
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*
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****************************************************************************/
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int clock_daysbeforemonth(int month, bool leapyear);
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/****************************************************************************
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* Name: clock_dayoftheweek
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*
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* Description:
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* Get the day of the week
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*
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* Input Parameters:
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* mday - The day of the month 1 - 31
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* month - The month of the year 1 - 12
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* year - the year including the 1900
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*
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* Returned Value:
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* Zero based day of the week 0-6, 0 = Sunday, 1 = Monday... 6 = Saturday
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*
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****************************************************************************/
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int clock_dayoftheweek(int mday, int month, int year);
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/****************************************************************************
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* Name: clock_calendar2utc
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*
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* Description:
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* Calendar/UTC conversion based on algorithms from p. 604
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* of Seidelman, P. K. 1992. Explanatory Supplement to
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* the Astronomical Almanac. University Science Books,
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* Mill Valley.
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*
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****************************************************************************/
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time_t clock_calendar2utc(int year, int month, int day);
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/****************************************************************************
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* Name: clock_synchronize
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*
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* Description:
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* Synchronize the system timer to a hardware RTC. This operation is
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* normally performed automatically by the system during clock
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* initialization. However, the user may also need to explicitly re-
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* synchronize the system timer to the RTC under certain conditions where
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* the system timer is known to be in error. For example, in certain low-
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* power states, the system timer may be stopped but the RTC will continue
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* keep correct time. After recovering from such low-power state, this
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* function should be called to restore the correct system time.
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*
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* Calling this function could result in system time going "backward" in
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* time, especially with certain lower resolution RTC implementations.
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* Time going backward could have bad consequences if there are ongoing
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* timers and delays. So use this interface with care.
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*
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* Input Parameters:
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* tp: rtc time should be synced, set NULL to re-get time
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*
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* Returned Value:
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* None
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*
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* Assumptions:
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*
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****************************************************************************/
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#ifdef CONFIG_RTC
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void clock_synchronize(FAR const struct timespec *tp);
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#endif
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/****************************************************************************
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* Name: clock_resynchronize
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*
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* Description:
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* Resynchronize the system timer to a hardware RTC. The user can
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* explicitly re-synchronize the system timer to the RTC under certain
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* conditions where the system timer is known to be in error. For example,
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* in certain low-power states, the system timer may be stopped but the
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* RTC will continue keep correct time. After recovering from such
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* low-power state, this function should be called to restore the correct
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* system time. Function also keeps monotonic clock at rate of RTC.
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*
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* Calling this function will not result in system time going "backward" in
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* time. If setting system time with RTC would result time going "backward"
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* then resynchronization is not performed.
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*
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* Input Parameters:
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* diff: amount of time system-time is adjusted forward with RTC
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*
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* Returned Value:
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* None
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*
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* Assumptions:
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*
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****************************************************************************/
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#if defined(CONFIG_RTC) && !defined(CONFIG_SCHED_TICKLESS)
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void clock_resynchronize(FAR struct timespec *rtc_diff);
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#endif
|
|
|
|
/****************************************************************************
|
|
* Name: clock_systime_ticks
|
|
*
|
|
* Description:
|
|
* Return the current value of the 32/64-bit system timer counter.
|
|
*
|
|
* Indirect access to the system timer counter is required through this
|
|
* function if the execution environment does not have direct access to
|
|
* kernel global data.
|
|
*
|
|
* Use of this function is also required to assure atomic access to the
|
|
* 64-bit system timer.
|
|
*
|
|
* NOTE: This is an internal OS interface and should not be called from
|
|
* application code. Rather, the functionally equivalent, standard
|
|
* interface clock() should be used.
|
|
*
|
|
* Input Parameters:
|
|
* None
|
|
*
|
|
* Returned Value:
|
|
* The current value of the system timer counter
|
|
*
|
|
****************************************************************************/
|
|
|
|
#if !defined(__HAVE_KERNEL_GLOBALS) || defined(CONFIG_SYSTEM_TIME64)
|
|
clock_t clock_systime_ticks(void);
|
|
#endif
|
|
|
|
/****************************************************************************
|
|
* Name: clock_time2ticks
|
|
*
|
|
* Description:
|
|
* Return the given struct timespec as systime ticks.
|
|
*
|
|
* NOTE: This is an internal OS interface and should not be called from
|
|
* application code.
|
|
*
|
|
* Input Parameters:
|
|
* reltime - Pointer to the time presented as struct timespec
|
|
*
|
|
* Output Parameters:
|
|
* ticks - Pointer to receive the time value presented as systime ticks
|
|
*
|
|
* Returned Value:
|
|
* Always returns OK (0)
|
|
*
|
|
****************************************************************************/
|
|
|
|
int clock_time2ticks(FAR const struct timespec *reltime,
|
|
FAR sclock_t *ticks);
|
|
|
|
/****************************************************************************
|
|
* Name: clock_ticks2time
|
|
*
|
|
* Description:
|
|
* Return the given systime ticks as a struct timespec.
|
|
*
|
|
* NOTE: This is an internal OS interface and should not be called from
|
|
* application code.
|
|
*
|
|
* Input Parameters:
|
|
* ticks - Time presented as systime ticks
|
|
*
|
|
* Output Parameters:
|
|
* reltime - Pointer to receive the time value presented as struct timespec
|
|
*
|
|
* Returned Value:
|
|
* Always returns OK (0)
|
|
*
|
|
****************************************************************************/
|
|
|
|
int clock_ticks2time(sclock_t ticks, FAR struct timespec *reltime);
|
|
|
|
/****************************************************************************
|
|
* Name: clock_systime_timespec
|
|
*
|
|
* Description:
|
|
* Return the current value of the system timer counter as a struct
|
|
* timespec.
|
|
*
|
|
* Input Parameters:
|
|
* ts - Location to return the time
|
|
*
|
|
* Returned Value:
|
|
* OK (0) on success; a negated errno value on failure.
|
|
*
|
|
* Assumptions:
|
|
*
|
|
****************************************************************************/
|
|
|
|
int clock_systime_timespec(FAR struct timespec *ts);
|
|
|
|
/****************************************************************************
|
|
* Name: clock_cpuload
|
|
*
|
|
* Description:
|
|
* Return load measurement data for the select PID.
|
|
*
|
|
* Input Parameters:
|
|
* pid - The task ID of the thread of interest. pid == 0 is IDLE thread.
|
|
* cpuload - The location to return the CPU load
|
|
*
|
|
* Returned Value:
|
|
* OK (0) on success; a negated errno value on failure. The only reason
|
|
* that this function can fail is if 'pid' no longer refers to a valid
|
|
* thread.
|
|
*
|
|
* Assumptions:
|
|
*
|
|
****************************************************************************/
|
|
|
|
#ifdef CONFIG_SCHED_CPULOAD
|
|
int clock_cpuload(int pid, FAR struct cpuload_s *cpuload);
|
|
#endif
|
|
|
|
/****************************************************************************
|
|
* Name: nxsched_oneshot_extclk
|
|
*
|
|
* Description:
|
|
* Configure to use a oneshot timer as described in
|
|
* include/nuttx/timers/oneshot.h to provide external clocking to assess
|
|
* the CPU load.
|
|
*
|
|
* Input Parameters:
|
|
* lower - An instance of the oneshot timer interface as defined in
|
|
* include/nuttx/timers/oneshot.h
|
|
*
|
|
* Returned Value:
|
|
* None
|
|
*
|
|
****************************************************************************/
|
|
|
|
#ifdef CONFIG_CPULOAD_ONESHOT
|
|
struct oneshot_lowerhalf_s;
|
|
void nxsched_oneshot_extclk(FAR struct oneshot_lowerhalf_s *lower);
|
|
#endif
|
|
|
|
/****************************************************************************
|
|
* Name: nxsched_period_extclk
|
|
*
|
|
* Description:
|
|
* Configure to use a period timer as described in
|
|
* include/nuttx/timers/timer.h to provide external clocking to assess
|
|
* the CPU load.
|
|
*
|
|
* Input Parameters:
|
|
* lower - An instance of the period timer interface as defined in
|
|
* include/nuttx/timers/timer.h
|
|
*
|
|
* Returned Value:
|
|
* None
|
|
*
|
|
****************************************************************************/
|
|
|
|
#ifdef CONFIG_CPULOAD_PERIOD
|
|
struct timer_lowerhalf_s;
|
|
void nxsched_period_extclk(FAR struct timer_lowerhalf_s *lower);
|
|
#endif
|
|
|
|
/****************************************************************************
|
|
* perf_gettime
|
|
****************************************************************************/
|
|
|
|
clock_t perf_gettime(void);
|
|
|
|
/****************************************************************************
|
|
* perf_convert
|
|
****************************************************************************/
|
|
|
|
void perf_convert(clock_t elapsed, FAR struct timespec *ts);
|
|
|
|
/****************************************************************************
|
|
* perf_gettfreq
|
|
****************************************************************************/
|
|
|
|
unsigned long perf_getfreq(void);
|
|
|
|
#undef EXTERN
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* __INCLUDE_NUTTX_CLOCK_H */
|