SysTiming.h File Reference

ClearCore timing profiling utility functions. More...

#include <stdint.h>

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Classes
class	ClearCore::SysTiming
	ClearCore system timing class. More...

Namespaces
	ClearCore
	Namespace to encompass the ClearCore board API.

Macros
#define	CPU_CLK   120000000
#define	_CLEARCORE_SAMPLE_RATE_HZ   (5000)
#define	MS_TO_SAMPLES   (_CLEARCORE_SAMPLE_RATE_HZ / 1000)
#define	CYCLES_PER_INTERRUPT   (CPU_CLK / _CLEARCORE_SAMPLE_RATE_HZ)
#define	SAMPLE_PERIOD_MICROSECONDS   (1000000UL / _CLEARCORE_SAMPLE_RATE_HZ)
#define	CYCLES_PER_MICROSECOND   (CPU_CLK / 1000000)
#define	CYCLES_PER_MILLISECOND   (CPU_CLK / 1000)
#define	CYCLES_PER_SECOND   (CPU_CLK)

Functions
uint32_t	Milliseconds (void)
	Number of milliseconds since the ClearCore was initialized. More...
uint32_t	Microseconds (void)
	Number of microseconds since the ClearCore was initialized. More...
void	Delay_cycles (uint64_t cycles)
	Blocks for operations cycles CPU cycles. More...
void	Delay_ms (uint32_t ms)
	Blocks operations for ms milliseconds. More...
void	Delay_us (uint32_t usec)
	Blocks for operations usec microseconds. More...

Variables
const uint16_t	ClearCore::SampleRateHz = _CLEARCORE_SAMPLE_RATE_HZ

Detailed Description

ClearCore timing profiling utility functions.

Macro Definition Documentation

#define _CLEARCORE_SAMPLE_RATE_HZ   (5000)

ClearCore sample rate for main interrupt processing (5 kHz).

#define CPU_CLK   120000000

Number of CPU cycles, in Hz. (120MHz)

Examples:

DigitalIOExamples/PeriodicInterrupt/PeriodicInterrupt.cpp.

#define CYCLES_PER_INTERRUPT   (CPU_CLK / _CLEARCORE_SAMPLE_RATE_HZ)

Number of CPU cycles per interrupt time (24,000).

#define CYCLES_PER_MICROSECOND   (CPU_CLK / 1000000)

Number of CPU cycles per microsecond (120).

#define CYCLES_PER_MILLISECOND   (CPU_CLK / 1000)

Number of CPU cycles per millisecond (120,000).

#define CYCLES_PER_SECOND   (CPU_CLK)

Number of CPU cycles per second (120,000,000).

#define MS_TO_SAMPLES   (_CLEARCORE_SAMPLE_RATE_HZ / 1000)

ClearCore sample rate, expressed in sample times (5).

#define SAMPLE_PERIOD_MICROSECONDS   (1000000UL / _CLEARCORE_SAMPLE_RATE_HZ)

ClearCore sample time, expressed in microseconds (200us).

Function Documentation

void Delay_cycles

(

uint64_t

cycles

)

Blocks for operations cycles CPU cycles.

Parameters

[in]

cycles

Time in CPU cycles to delay

void Delay_ms ( uint32_t  ms )

inline

Blocks operations for ms milliseconds.

Parameters

[in]

ms

Time in milliseconds to delay

Examples:

AnalogIOExamples/ReadAnalogInput/ReadAnalogInput.cpp, AnalogIOExamples/WriteAnalogCurrentOutput/WriteAnalogCurrentOutput.cpp, CCIO8Examples/ClearCoreIOExpansionBoard/ClearCoreIOExpansionBoard.cpp, CCIO8Examples/ReadCCIODigitalInput/ReadCCIODigitalInput.cpp, CCIO8Examples/WriteCCIODigitalOutput/WriteCCIODigitalOutput.cpp, CCIO8Examples/WriteCCIODigitalOutputPulses/WriteCCIODigitalOutputPulses.cpp, ClearCoreBoardStatus/ClearCoreStatusRegister/ClearCoreStatusRegister.cpp, ClearPathModeExamples/ClearPath-MC_Series/Abs16PositionsHomeToHardStop/Abs16PositionsHomeToHardStop.cpp, ClearPathModeExamples/ClearPath-MC_Series/Abs2PositionsHomeToSwitch/Abs2PositionsHomeToSwitch.cpp, ClearPathModeExamples/ClearPath-MC_Series/Abs4PositionsHomeToHardStop/Abs4PositionsHomeToHardStop.cpp, ClearPathModeExamples/ClearPath-MC_Series/FollowDigitalPosition/FollowDigitalPosition.cpp, ClearPathModeExamples/ClearPath-MC_Series/FollowDigitalTorque/FollowDigitalTorque.cpp, ClearPathModeExamples/ClearPath-MC_Series/FollowDigitalVelocity/FollowDigitalVelocity.cpp, ClearPathModeExamples/ClearPath-MC_Series/FollowDigitalVelocityWithVariableTorque/FollowDigitalVelocityWithVariableTorque.cpp, ClearPathModeExamples/ClearPath-MC_Series/ManualVelocity/ManualVelocity.cpp, ClearPathModeExamples/ClearPath-MC_Series/Move2IncrementsHomeToSwitch/Move2IncrementsHomeToSwitch.cpp, ClearPathModeExamples/ClearPath-MC_Series/Move4IncrementsHomeToHardStop/Move4IncrementsHomeToHardStop.cpp, ClearPathModeExamples/ClearPath-MC_Series/PulseBurstPositioning/PulseBurstPositioning.cpp, ClearPathModeExamples/ClearPath-MC_Series/RampUpDownToSelectedVelocity/RampUpDownToSelectedVelocity.cpp, ClearPathModeExamples/ClearPath-SD_Series/DualAxisSynchronized/DualAxisSynchronized.cpp, ClearPathModeExamples/ClearPath-SD_Series/MotorStatusRegister/MotorStatusRegister.cpp, ClearPathModeExamples/ClearPath-SD_Series/MovePositionAbsolute/MovePositionAbsolute.cpp, ClearPathModeExamples/ClearPath-SD_Series/MovePositionRelative/MovePositionRelative.cpp, ClearPathModeExamples/ClearPath-SD_Series/MoveVelocity/MoveVelocity.cpp, ClearPathModeExamples/ClearPath-SD_Series/UserSeeksHome/UserSeeksHome.cpp, ClearPathModeExamples/High-Level_Feedback_HLFB/AsgWithMeasuredTorque/AsgWithMeasuredTorque.cpp, ClearPathModeExamples/High-Level_Feedback_HLFB/SpeedOutput/SpeedOutput.cpp, DigitalIOExamples/InputInterrupts/InputInterrupts.cpp, DigitalIOExamples/PlayTone/PlayTone.cpp, DigitalIOExamples/ReadDigitalInput/ReadDigitalInput.cpp, DigitalIOExamples/ReadDigitalInputRiseFall/ReadDigitalInputRiseFall.cpp, DigitalIOExamples/WriteDigitalOutput/WriteDigitalOutput.cpp, DigitalIOExamples/WriteHBridgeOutput/WriteHBridgeOutput.cpp, DigitalIOExamples/WritePwmOutput/WritePwmOutput.cpp, EthernetExamples/EthernetTcpClientHelloWorld/EthernetTcpClientHelloWorld.cpp, EthernetExamples/EthernetTcpServerHelloWorld_automatic/EthernetTcpServerHelloWorld_automatic.cpp, EthernetExamples/EthernetTcpServerHelloWorld_manual/EthernetTcpServerHelloWorld_manual.cpp, EthernetExamples/EthernetUdpHelloWorld/EthernetUdpHelloWorld.cpp, SerialCommExamples/ClearCoreCommandProtocol/ClearCoreCommandProtocol.cpp, SerialCommExamples/ReadSerialInput/ReadSerialInput.cpp, and StepAndDirectionExamplesNonClearPath/StepAndDirectionNonClearPath/StepAndDirection.cpp.

void Delay_us ( uint32_t  usec )

inline

Blocks for operations usec microseconds.

Parameters

[in]

usec

Time in microseconds to delay

Examples:

ClearPathModeExamples/ClearPath-MC_Series/ManualVelocity/ManualVelocity.cpp, and DigitalIOExamples/WriteHBridgeOutput/WriteHBridgeOutput.cpp.

uint32_t Microseconds

(

void

)

Number of microseconds since the ClearCore was initialized.

Uses the processor's cycle counter register to calculate the number of microseconds elapsed.

Returns

Microseconds

Note

Rolls over every ~71.5 minutes (at UINT32_MAX microseconds)

uint32_t Milliseconds

(

void

)

Number of milliseconds since the ClearCore was initialized.

Uses the fast update interrupt counter to retrieve the number of milliseconds elapsed.

Returns

milliseconds

Note

Rolls over every ~49.7 days (at UINT32_MAX milliseconds)

Examples:

AnalogIOExamples/ReadAnalogInput/ReadAnalogInput.cpp, CCIO8Examples/ClearCoreIOExpansionBoard/ClearCoreIOExpansionBoard.cpp, CCIO8Examples/ReadCCIODigitalInput/ReadCCIODigitalInput.cpp, ClearCoreBoardStatus/ClearCoreStatusRegister/ClearCoreStatusRegister.cpp, ClearPathModeExamples/ClearPath-MC_Series/Abs16PositionsHomeToHardStop/Abs16PositionsHomeToHardStop.cpp, ClearPathModeExamples/ClearPath-MC_Series/Abs2PositionsHomeToSwitch/Abs2PositionsHomeToSwitch.cpp, ClearPathModeExamples/ClearPath-MC_Series/Abs4PositionsHomeToHardStop/Abs4PositionsHomeToHardStop.cpp, ClearPathModeExamples/ClearPath-MC_Series/FollowDigitalPosition/FollowDigitalPosition.cpp, ClearPathModeExamples/ClearPath-MC_Series/FollowDigitalTorque/FollowDigitalTorque.cpp, ClearPathModeExamples/ClearPath-MC_Series/FollowDigitalVelocity/FollowDigitalVelocity.cpp, ClearPathModeExamples/ClearPath-MC_Series/FollowDigitalVelocityWithVariableTorque/FollowDigitalVelocityWithVariableTorque.cpp, ClearPathModeExamples/ClearPath-MC_Series/ManualVelocity/ManualVelocity.cpp, ClearPathModeExamples/ClearPath-MC_Series/Move2IncrementsHomeToSwitch/Move2IncrementsHomeToSwitch.cpp, ClearPathModeExamples/ClearPath-MC_Series/Move4IncrementsHomeToHardStop/Move4IncrementsHomeToHardStop.cpp, ClearPathModeExamples/ClearPath-MC_Series/PulseBurstPositioning/PulseBurstPositioning.cpp, ClearPathModeExamples/ClearPath-MC_Series/RampUpDownToSelectedVelocity/RampUpDownToSelectedVelocity.cpp, ClearPathModeExamples/ClearPath-SD_Series/DualAxisSynchronized/DualAxisSynchronized.cpp, ClearPathModeExamples/ClearPath-SD_Series/MotorStatusRegister/MotorStatusRegister.cpp, ClearPathModeExamples/ClearPath-SD_Series/MovePositionAbsolute/MovePositionAbsolute.cpp, ClearPathModeExamples/ClearPath-SD_Series/MovePositionRelative/MovePositionRelative.cpp, ClearPathModeExamples/ClearPath-SD_Series/MoveVelocity/MoveVelocity.cpp, ClearPathModeExamples/ClearPath-SD_Series/UserSeeksHome/UserSeeksHome.cpp, ClearPathModeExamples/High-Level_Feedback_HLFB/AsgWithMeasuredTorque/AsgWithMeasuredTorque.cpp, ClearPathModeExamples/High-Level_Feedback_HLFB/SpeedOutput/SpeedOutput.cpp, DigitalIOExamples/InputInterrupts/InputInterrupts.cpp, DigitalIOExamples/ReadDigitalInput/ReadDigitalInput.cpp, DigitalIOExamples/ReadDigitalInputRiseFall/ReadDigitalInputRiseFall.cpp, EncoderInputExamples/FollowEncoder/FollowEncoder.cpp, EthernetExamples/EthernetTcpClientHelloWorld/EthernetTcpClientHelloWorld.cpp, EthernetExamples/EthernetTcpServerHelloWorld_automatic/EthernetTcpServerHelloWorld_automatic.cpp, EthernetExamples/EthernetTcpServerHelloWorld_manual/EthernetTcpServerHelloWorld_manual.cpp, EthernetExamples/EthernetUdpHelloWorld/EthernetUdpHelloWorld.cpp, and StepAndDirectionExamplesNonClearPath/StepAndDirectionNonClearPath/StepAndDirection.cpp.