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utilities: fix new Zephyr k_timer based implementation

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- Fixed the Zephyr kernel version checks to check for 0.1.6 rather
  than 1.6.0.
- fixed the k_timer implementation to actually work.  None of these
  were being called correctly.
- due to the fact that the k_timer API only has a 1ms resolution,
  re-implement upm_delay_us() (on 0.1.6 version of zephyr) as a busy
  loop using a upm_clock_t.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
Jon Trulson 2016-12-05 13:38:51 -07:00
parent 6667646d32
commit 024b43dfa3
1 changed files with 27 additions and 12 deletions
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39
src/utilities/upm_utilities.c
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@ -30,12 +30,16 @@ void upm_delay(int time){
#if defined(UPM_PLATFORM_LINUX)
sleep(time);
#elif defined(UPM_PLATFORM_ZEPHYR)
# if SYS_KERNEL_VER_MAJOR(KERNEL_VERSION_NUMBER) == 1 && \
SYS_KERNEL_VER_MINOR(KERNEL_VERSION_NUMBER) >= 6
# if SYS_KERNEL_VER_MAJOR(KERNEL_VERSION_NUMBER) == 0 && \
SYS_KERNEL_VER_MINOR(KERNEL_VERSION_NUMBER) == 1 && \
SYS_KERNEL_VER_PATCHLEVEL(KERNEL_VERSION_NUMBER) >= 6
if (time <= 0)
time = 1;
struct k_timer timer;
k_timer_init(&timer, NULL, NULL);
k_timer_start(&timer, SECONDS(time) + 1, 0);
k_timer_start(&timer, time * 1000, 0);
k_timer_status_sync(&timer);
# else
@ -55,12 +59,16 @@ void upm_delay_ms(int time){
#if defined(UPM_PLATFORM_LINUX)
usleep(1000 * time);
#elif defined(UPM_PLATFORM_ZEPHYR)
# if SYS_KERNEL_VER_MAJOR(KERNEL_VERSION_NUMBER) == 1 && \
SYS_KERNEL_VER_MINOR(KERNEL_VERSION_NUMBER) >= 6
# if SYS_KERNEL_VER_MAJOR(KERNEL_VERSION_NUMBER) == 0 && \
SYS_KERNEL_VER_MINOR(KERNEL_VERSION_NUMBER) == 1 && \
SYS_KERNEL_VER_PATCHLEVEL(KERNEL_VERSION_NUMBER) >= 6
if (time <= 0)
time = 1;
struct k_timer timer;
k_timer_init(&timer, NULL, NULL);
k_timer_start(&timer, MSEC(time) + 1, 0);
k_timer_start(&timer, time, 0);
k_timer_status_sync(&timer);
# else
@ -79,13 +87,20 @@ void upm_delay_us(int time){
#if defined(UPM_PLATFORM_LINUX)
usleep(time);
#elif defined(UPM_PLATFORM_ZEPHYR)
# if SYS_KERNEL_VER_MAJOR(KERNEL_VERSION_NUMBER) == 1 && \
SYS_KERNEL_VER_MINOR(KERNEL_VERSION_NUMBER) >= 6
# if SYS_KERNEL_VER_MAJOR(KERNEL_VERSION_NUMBER) == 0 && \
SYS_KERNEL_VER_MINOR(KERNEL_VERSION_NUMBER) == 1 && \
SYS_KERNEL_VER_PATCHLEVEL(KERNEL_VERSION_NUMBER) >= 6
struct k_timer timer;
k_timer_init(&timer, NULL, NULL);
k_timer_start(&timer, USEC(time) + 1, 0);
k_timer_status_sync(&timer);
// we will use a upm_clock to do microsecond timings here as k_timer has
// only a millisecond resolution. So we init a clock and spin.
if (time <= 0)
time = 1;
upm_clock_t timer;
upm_clock_init(&timer);
while (upm_elapsed_us(&timer) < time)
; // spin
# else