Add tick api to osal

include/osal.h

@@ -76,12 +76,20 @@ typedef void os_mbox_t;
 typedef void os_timer_t;
 #endif
 
+#ifndef OS_TICK
+typedef void os_tick_t;
+#endif
+
 void * os_malloc (size_t size);
 void os_free (void * ptr);
 
 void os_usleep (uint32_t us);
 uint32_t os_get_current_time_us (void);
 
+os_tick_t os_tick_current (void);
+os_tick_t os_tick_from_us (uint32_t us);
+void      os_tick_sleep (os_tick_t tick);
+
 os_thread_t * os_thread_create (
    const char * name,
    uint32_t priority,

src/freertos/osal.c

@@ -86,6 +86,21 @@ uint32_t os_get_current_time_us (void)
    return 1000 * (xTaskGetTickCount() / portTICK_PERIOD_MS);
 }
 
+os_tick_t os_tick_current (void)
+{
+   return xTaskGetTickCount();
+}
+
+os_tick_t os_tick_from_us (uint32_t us)
+{
+   return us / (1000u * portTICK_PERIOD_MS);
+}
+
+void os_tick_sleep (os_tick_t tick)
+{
+   vTaskDelay (tick);
+}
+
 os_sem_t * os_sem_create (size_t count)
 {
    SemaphoreHandle_t handle = xSemaphoreCreateCounting (UINT32_MAX, count);

src/freertos/sys/osal_sys.h

@@ -33,6 +33,7 @@ extern "C" {
 #define OS_EVENT
 #define OS_MBOX
 #define OS_TIMER
+#define OS_TICK
 
 typedef SemaphoreHandle_t os_mutex_t;
 typedef TaskHandle_t os_thread_t;
@@ -48,6 +49,8 @@ typedef struct os_timer
    uint32_t us;
 } os_timer_t;
 
+typedef TickType_t os_tick_t;
+
 #ifdef __cplusplus
 }
 #endif

src/linux/osal.c

@@ -234,6 +234,36 @@ uint32_t os_get_current_time_us (void)
    return ts.tv_sec * 1000 * 1000 + ts.tv_nsec / 1000;
 }
 
+os_tick_t os_tick_current (void)
+{
+   struct timespec ts;
+   os_tick_t       tick;
+
+   clock_gettime (CLOCK_MONOTONIC, &ts);
+   tick = ts.tv_sec;
+   tick *= NSECS_PER_SEC;
+   tick += ts.tv_nsec;
+   return tick;
+}
+
+os_tick_t os_tick_from_us (uint32_t us)
+{
+   return (os_tick_t)us * 1000;
+}
+
+void os_tick_sleep (os_tick_t tick)
+{
+   struct timespec ts;
+   struct timespec remain;
+
+   ts.tv_sec  = tick / NSECS_PER_SEC;
+   ts.tv_nsec = tick % NSECS_PER_SEC;
+   while (clock_nanosleep (CLOCK_MONOTONIC, 0, &ts, &remain) != 0)
+   {
+      ts = remain;
+   }
+}
+
 os_event_t * os_event_create (void)
 {
    os_event_t * event;

src/linux/sys/osal_sys.h

@@ -29,6 +29,7 @@ extern "C" {
 #define OS_EVENT
 #define OS_MBOX
 #define OS_TIMER
+#define OS_TICK
 
 typedef pthread_t os_thread_t;
 typedef pthread_mutex_t os_mutex_t;
@@ -70,6 +71,8 @@ typedef struct os_timer
    bool oneshot;
 } os_timer_t;
 
+typedef uint64_t os_tick_t;
+
 #ifdef __cplusplus
 }
 #endif

src/rt-kernel/osal.c

@@ -65,6 +65,21 @@ uint32_t os_get_current_time_us (void)
    return 1000 * tick_to_ms (tick_get());
 }
 
+os_tick_t os_tick_current (void)
+{
+   return tick_get();
+}
+
+os_tick_t os_tick_from_us (uint32_t us)
+{
+   return tick_from_ms (us / 1000);
+}
+
+void os_tick_sleep (os_tick_t tick)
+{
+   task_delay (tick);
+}
+
 os_sem_t * os_sem_create (size_t count)
 {
    return sem_create (count);

src/rt-kernel/sys/osal_sys.h

@@ -28,13 +28,15 @@ extern "C" {
 #define OS_EVENT
 #define OS_MBOX
 #define OS_TIMER
+#define OS_TICK
 
 typedef task_t os_thread_t;
 typedef mtx_t os_mutex_t;
 typedef sem_t os_sem_t;
 typedef flags_t os_event_t;
 typedef mbox_t os_mbox_t;
 typedef tmr_t os_timer_t;
+typedef tick_t os_tick_t;
 
 #ifdef __cplusplus
 }

src/windows/osal.c

@@ -74,24 +74,45 @@ os_thread_t * os_thread_create (
    return handle;
 }
 
-uint32_t os_get_current_time_us (void)
+static uint64_t os_get_frequency_tick (void)
 {
-   static LARGE_INTEGER performanceFrequency = {0};
-   LARGE_INTEGER currentCount;
-   uint64_t currentTime;
-
-   if (performanceFrequency.QuadPart == 0)
+   static uint64_t frequency;
+   if (frequency == 0)
    {
+      LARGE_INTEGER performanceFrequency;
       timeBeginPeriod (URESOLUTION);
       QueryPerformanceFrequency (&performanceFrequency);
-      performanceFrequency.QuadPart = performanceFrequency.QuadPart / (1000 * 1000);
+      frequency = performanceFrequency.QuadPart;
    }
+   return frequency;
+}
 
+uint32_t os_get_current_time_us (void)
+{
+   LARGE_INTEGER currentCount;
+   uint64_t currentTime;
    QueryPerformanceCounter (&currentCount);
-   currentTime = currentCount.QuadPart / performanceFrequency.QuadPart;
+   currentTime = 1000000 * currentCount.QuadPart / os_get_frequency_tick();
    return (uint32_t)(currentTime & UINT32_MAX);
 }
 
+os_tick_t os_tick_current (void)
+{
+   LARGE_INTEGER currentCount;
+   QueryPerformanceCounter (&currentCount);
+   return currentCount.QuadPart;
+}
+
+os_tick_t os_tick_from_us (uint32_t us)
+{
+   return os_get_frequency_tick() * us / 1000000;
+}
+
+void os_tick_sleep (os_tick_t tick)
+{
+   Sleep ((DWORD)(1000u * tick / os_get_frequency_tick()));
+}
+
 os_sem_t * os_sem_create (size_t count)
 {
    os_sem_t * sem;

src/windows/sys/osal_sys.h

@@ -30,6 +30,7 @@ extern "C" {
 #define OS_EVENT
 #define OS_MBOX
 #define OS_TIMER
+#define OS_TICK
 
 typedef HANDLE os_thread_t;
 typedef CRITICAL_SECTION os_mutex_t;
@@ -68,6 +69,8 @@ typedef struct os_timer
    bool oneshot;
 } os_timer_t;
 
+typedef uint64_t os_tick_t;
+
 #ifdef __cplusplus
 }
 #endif

test/test_osal.cpp

@@ -209,3 +209,18 @@ TEST_F (Osal, CurrentTime)
 
    EXPECT_NEAR (100 * 1000, t1 - t0, 1000);
 }
+
+
+TEST_F (Osal, Tick)
+{
+   os_tick_t t0, t1, sleep;
+
+   sleep = os_tick_from_us (100 * 1000);
+   t0 = os_tick_current();
+   os_tick_sleep (sleep);
+   t1 = os_tick_current();
+
+   EXPECT_NEAR ((double)sleep,
+                (double)(t1 - t0),
+                (double)os_tick_from_us (1000));
+}