77 lines
2.3 KiB
C++
77 lines
2.3 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#include <stdint.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <signal.h>
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#include <time.h>
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#include <stdio.h>
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#include "Clock.h"
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class Timer {
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public:
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Timer();
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virtual ~Timer();
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typedef void (callback_fn)();
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void init(uint32_t sig_id, uint32_t sim_freq, callback_fn* fn);
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void start(uint32_t frequency);
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void enable();
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bool enabled() {return active;}
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void disable();
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void setCompare(uint32_t compare);
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uint32_t getCount();
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uint32_t getCompare() {return compare;}
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uint32_t getOverruns() {return overruns;}
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uint32_t getAvgError() {return avg_error;}
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intptr_t getID() {
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return (*(intptr_t*)timerid);
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}
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static void handler(int sig, siginfo_t *si, void *uc){
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Timer* _this = (Timer*)si->si_value.sival_ptr;
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_this->avg_error += (Clock::nanos() - _this->start_time) - _this->period; //high_resolution_clock is also limited in precision, but best we have
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_this->avg_error /= 2; //very crude precision analysis (actually within +-500ns usually)
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_this->start_time = Clock::nanos(); // wrap
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_this->cbfn();
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_this->overruns += timer_getoverrun(_this->timerid); // even at 50Khz this doesn't stay zero, again demonstrating the limitations
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// using a realtime linux kernel would help somewhat
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}
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private:
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bool active;
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uint32_t compare;
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uint32_t frequency;
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uint32_t overruns;
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timer_t timerid;
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sigset_t mask;
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callback_fn* cbfn;
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uint64_t period;
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uint64_t avg_error;
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uint64_t start_time;
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};
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