[clock] Add std::chrono compatible milli- and microsecond clocks

examples/avr/adc/oversample/main.cpp

@@ -15,6 +15,7 @@
 
 using namespace modm::platform;
 using namespace modm::literals;
+using namespace std::chrono_literals;
 
 // Create a new UART object
 
@@ -32,7 +33,7 @@ typedef modm::AdcSampler< AdcInterrupt, 3, 32 > sensors;
 // the results are up to 16 bit wide
 sensors::DataType sensorData[3];
 
-modm::ShortTimeout timeout(100);
+modm::ShortTimeout timeout(100ms);
 
 int
 main()
@@ -67,7 +68,7 @@ main()
 
 			// start another readout
 			sensors::startReadout();
-			timeout.restart(200);
+			timeout.restart(200ms);
 		}
 	}
 }

examples/avr/block_device_mirror/main.cpp

@@ -17,7 +17,6 @@
 #include <stdlib.h>
 
 using namespace modm::platform;
-typedef modm::platform::SystemClock clock;
 
 // Create a new UART object and configure it to a baudrate of 115200
 Uart0 uart;

examples/avr/can/mcp2515_uart/main.cpp

@@ -12,13 +12,12 @@
 // ----------------------------------------------------------------------------
 
 #include <modm/platform.hpp>
-#include <modm/architecture/interface/interrupt.hpp>
-
 #include <modm/driver/can/mcp2515.hpp>
 #include <modm/processing/timer.hpp>
 
 using namespace modm::platform;
 using namespace modm::literals;
+using namespace std::chrono_literals;
 
 typedef GpioOutputB0 LedGreen;
 typedef GpioOutputB1 LedRed;
@@ -49,25 +48,13 @@ FLASH_STORAGE(uint8_t canFilter[]) =
 	MCP2515_FILTER_EXTENDED(0),	// Mask 1
 };
 
-// timer interrupt routine
-MODM_ISR(TIMER2_COMPA)
-{
-	modm::Clock::increment();
-}
-
 int
 main()
 {
+	SystemClock::enable();
 	LedGreen::setOutput(modm::Gpio::High);
 	LedRed::setOutput(modm::Gpio::Low);
 
-	// timer initialization
-	// compare-match-interrupt every 1 ms at 14.7456 MHz
-	TCCR2A = (1 << WGM21);
-	TCCR2B = (1 << CS22);
-	TIMSK2 = (1 << OCIE2A);
-	OCR2A = 230;
-
 	Uart0::connect<GpioD1::Txd, GpioD0::Rxd>();
 	Uart0::initialize<SystemClock, 115200_Bd>();
 
@@ -99,7 +86,7 @@ main()
 
 	mcp2515.sendMessage(message);
 
-	modm::ShortPeriodicTimer timer(200);
+	modm::ShortPeriodicTimer timer(200ms);
 	while (true)
 	{
 		if (mcp2515.isMessageAvailable())

examples/avr/display/dogm128/benchmark/main.cpp

@@ -47,15 +47,11 @@ modm::DogM128< lcd::SPI, lcd::Cs, lcd::A0, lcd::Reset, true > display;
 
 using namespace modm::glcd;
 
-// timer interrupt routine
-MODM_ISR(TIMER2_COMPA)
-{
-	modm::Clock::increment();
-}
-
 void
 setup()
 {
+	SystemClock::enable();
+
 	led::R::set();
 	led::G::set();
 	led::B::reset();
@@ -67,13 +63,6 @@ setup()
 	lcd::SPI::connect<lcd::Sck::BitBang, lcd::Mosi::BitBang>();
 	lcd::SPI::initialize<SystemClock, 2_MHz>();
 
-	// timer initialization
-	// compare-match-interrupt every 1 ms at 14.7456 MHz
-	TCCR2A = (1 << WGM21);
-	TCCR2B = (1 << CS22);
-	TIMSK2 = (1 << OCIE2A);
-	OCR2A = 230;
-
 	// enable interrupts
 	enableInterrupts();
 
@@ -165,7 +154,7 @@ main()
 
 	display.setFont(modm::font::FixedWidth5x8);
 
-	modm::ShortPeriodicTimer timer(1000);
+	modm::ShortPeriodicTimer timer(1s);
 	while (true)
 	{
 		uint8_t iter = 0;

examples/avr/protothread/main.cpp

@@ -17,6 +17,7 @@
 #include <modm/processing/timer.hpp>
 
 using namespace modm::platform;
+using namespace std::chrono_literals;
 
 typedef GpioOutputB0 LedGreen;
 typedef GpioOutputB1 LedRed;
@@ -37,13 +38,13 @@ class BlinkingLightGreen : public modm::pt::Protothread
 		{
 			LedGreen::set();
 
-			this->timeout.restart(100);
-			PT_WAIT_UNTIL(this->timeout.isExpired());
+			timeout.restart(100ms);
+			PT_WAIT_UNTIL(timeout.isExpired());
 
 			LedGreen::reset();
 
-			this->timeout.restart(600);
-			PT_WAIT_UNTIL(this->timeout.isExpired());
+			timeout.restart(600ms);
+			PT_WAIT_UNTIL(timeout.isExpired());
 		}
 
 		PT_END();
@@ -69,23 +70,23 @@ class BlinkingLightRed : public modm::pt::Protothread
 		{
 			LedRed::set();
 
-			this->timeout.restart(200);
-			PT_WAIT_UNTIL(this->timeout.isExpired());
+			timeout.restart(200ms);
+			PT_WAIT_UNTIL(timeout.isExpired());
 
 			LedRed::reset();
 
-			this->timeout.restart(300);
-			PT_WAIT_UNTIL(this->timeout.isExpired());
+			timeout.restart(300ms);
+			PT_WAIT_UNTIL(timeout.isExpired());
 
 			LedRed::set();
 
-			this->timeout.restart(200);
-			PT_WAIT_UNTIL(this->timeout.isExpired());
+			timeout.restart(200ms);
+			PT_WAIT_UNTIL(timeout.isExpired());
 
 			LedRed::reset();
 
-			this->timeout.restart(1000);
-			PT_WAIT_UNTIL(this->timeout.isExpired());
+			timeout.restart(1s);
+			PT_WAIT_UNTIL(timeout.isExpired());
 		}
 
 		PT_END();
@@ -95,22 +96,10 @@ class BlinkingLightRed : public modm::pt::Protothread
 	modm::ShortTimeout timeout;
 };
 
-// timer interrupt routine
-MODM_ISR(TIMER2_COMPA)
-{
-	modm::Clock::increment();
-}
-
 int
 main()
 {
-	// timeout initialization
-	// compare-match-interrupt every 1 ms at 14.7456 MHz
-	TCCR2A = (1 << WGM21);
-	TCCR2B = (1 << CS22);
-	TIMSK2 = (1 << OCIE2A);
-	OCR2A = 230;
-
+	SystemClock::enable();
 	enableInterrupts();
 
 	BlinkingLightGreen greenLight;

examples/avr/protothread/project.xml

@@ -6,6 +6,7 @@
   </options>
   <modules>
     <module>modm:platform:core</module>
+    <module>modm:platform:clock</module>
     <module>modm:platform:gpio</module>
     <module>modm:processing:protothread</module>
     <module>modm:processing:timer</module>

examples/avr/timeout/main.cpp

@@ -12,42 +12,31 @@
 // ----------------------------------------------------------------------------
 
 #include <modm/platform.hpp>
-#include <modm/architecture/interface/interrupt.hpp>
 #include <modm/processing/timer.hpp>
 
 using namespace modm::platform;
+using namespace std::chrono_literals;
 
 // create a output device for the led
 typedef GpioOutputB0 Led;
 
-// timer interrupt routine
-MODM_ISR(TIMER2_COMPA)
-{
-	modm::Clock::increment();
-}
 
 int
 main()
 {
+	SystemClock::enable();
 	Led::setOutput();
 	Led::reset();
 
-	// timer initialization
-	// compare-match-interrupt every 1 ms at 14.7456 MHz
-	TCCR2A = (1 << WGM21);
-	TCCR2B = (1 << CS22);
-	TIMSK2 = (1 << OCIE2A);
-	OCR2A = 230;
-
 	// enable interrupts
 	enableInterrupts();
 
-	modm::ShortTimeout timeout(200);
+	modm::ShortTimeout timeout(200ms);
 	while (true)
 	{
 		if (timeout.isExpired())
 		{
-			timeout.restart(200);
+			timeout.restart(200ms);
 			Led::toggle();
 		}
 	}

examples/avr/timeout/project.xml

@@ -7,6 +7,7 @@
   <modules>
     <module>modm:architecture:interrupt</module>
     <module>modm:platform:core</module>
+    <module>modm:platform:clock</module>
     <module>modm:platform:gpio</module>
     <module>modm:processing:timer</module>
     <module>modm:build:scons</module>

examples/avr/timer/main.cpp

@@ -0,0 +1,58 @@
+/*
+ * Copyright (c) 2020, Niklas Hauser
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+#include <modm/processing.hpp>
+
+int main()
+{
+	Board::initialize();
+
+	uint32_t counter(0);
+	modm::PrecisePeriodicTimer ptmr(0.500990s);
+	modm::PeriodicTimer tmr(0.500990s);
+
+	for (int ii=0; ii<20; ii++)
+	{
+		LedD13::toggle();
+		modm::delay(std::chrono::milliseconds(10*ii));
+	}
+
+	uint32_t ms_counter{0};
+	uint32_t us_counter{0};
+
+	while (true)
+	{
+		{
+			uint32_t ms = modm::Clock::now().time_since_epoch().count();
+			if (ms < ms_counter) {
+				MODM_LOG_ERROR << ms << " < " << ms_counter << modm::endl;
+			}
+			ms_counter = ms;
+		}{
+			uint32_t us = modm::PreciseClock::now().time_since_epoch().count();
+			if (us < us_counter) {
+				MODM_LOG_ERROR << us << " < " << us_counter << modm::endl;
+			}
+			us_counter = us;
+		}
+
+		if (ptmr.execute())
+		{
+			LedD13::set();
+			MODM_LOG_INFO << "loop: " << counter++ << modm::endl;
+		}
+		if (tmr.execute())
+		{
+			LedD13::reset();
+		}
+	}
+}

examples/avr/timer/project.xml

@@ -0,0 +1,12 @@
+<library>
+  <extends>modm:arduino-nano</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/avr/timer</option>
+  </options>
+  <modules>
+    <module>modm:architecture:delay</module>
+    <module>modm:processing:timer</module>
+    <module>modm:build:scons</module>
+    <module>modm:build:cmake</module>
+  </modules>
+</library>