Switch to using ticks instead of time in osal

src/co_emcy.c

@@ -17,7 +17,8 @@
 #define os_channel_send        mock_os_channel_send
 #define os_channel_get_state   mock_os_channel_get_state
 #define os_channel_bus_on      mock_os_channel_bus_on
-#define os_get_current_time_us mock_os_get_current_time_us
+#define os_tick_current        mock_os_tick_current
+#define os_tick_from_us        mock_os_tick_from_us
 #endif
 
 #include "co_emcy.h"
@@ -232,7 +233,7 @@ int co_emcy_tx (co_net_t * net, uint16_t code, uint16_t info, uint8_t msef[5])
    uint8_t msg[8] = {0};
    uint8_t * p    = msg;
    uint8_t reg;
-   uint32_t now;
+   os_tick_t now;
    bool error_behavior = false;
 
    if (net->number_of_errors < MAX_ERRORS)
@@ -263,7 +264,7 @@ int co_emcy_tx (co_net_t * net, uint16_t code, uint16_t info, uint8_t msef[5])
    }
 
    /* Send EMCY if inhibit time has expired */
-   now = os_get_current_time_us();
+   now = os_tick_current();
    if (co_is_expired (now, net->emcy.timestamp, 100 * net->emcy.inhibit))
    {
       LOG_ERROR (CO_EMCY_LOG, "emcy %x\n", code);
@@ -325,7 +326,7 @@ int co_emcy_rx (co_net_t * net, uint32_t id, uint8_t * msg, size_t dlc)
 void co_emcy_handle_can_state (co_net_t * net)
 {
    int status;
-   uint32_t now = os_get_current_time_us();;
+   os_tick_t now = os_tick_current();
    os_channel_state_t previous = net->emcy.state;
 
    /* Get current state */

src/co_heartbeat.c

@@ -15,7 +15,8 @@
 
 #ifdef UNIT_TEST
 #define os_channel_send        mock_os_channel_send
-#define os_get_current_time_us mock_os_get_current_time_us
+#define os_tick_current        mock_os_tick_current
+#define os_tick_from_us        mock_os_tick_from_us
 #define co_emcy_tx             mock_co_emcy_tx
 #endif
 
@@ -112,7 +113,7 @@ int co_heartbeat_rx (co_net_t * net, uint8_t node, void * msg, size_t dlc)
       {
          co_heartbeat_t * heartbeat = &net->heartbeat[ix];
 
-         heartbeat->timestamp = os_get_current_time_us();
+         heartbeat->timestamp = os_tick_current();
          heartbeat->is_alive  = true;
          LOG_DEBUG (CO_HEARTBEAT_LOG, "node %d got heartbeat\n", heartbeat->node);
       }
@@ -121,7 +122,7 @@ int co_heartbeat_rx (co_net_t * net, uint8_t node, void * msg, size_t dlc)
    return 0;
 }
 
-int co_heartbeat_timer (co_net_t * net, uint32_t now)
+int co_heartbeat_timer (co_net_t * net, os_tick_t now)
 {
    unsigned int ix;
    bool heartbeat_error = false;

src/co_heartbeat.h

@@ -56,7 +56,7 @@ int co_heartbeat_rx (co_net_t * net, uint8_t node, void * msg, size_t dlc);
  *
  * @return 0 on success, -1 on failure
  */
-int co_heartbeat_timer (co_net_t * net, uint32_t now);
+int co_heartbeat_timer (co_net_t * net, os_tick_t now);
 
 #ifdef __cplusplus
 }

src/co_main.c

@@ -98,7 +98,7 @@ void co_handle_rx (co_net_t * net)
 
 void co_handle_periodic (co_net_t * net)
 {
-   uint32_t now = os_get_current_time_us();
+   os_tick_t now = os_tick_current();
 
    co_sdo_server_timer (net, now);
    co_sdo_client_timer (net, now);
@@ -278,7 +278,7 @@ int co_sdo_read (
    job->sdo.data     = data;
    job->sdo.remain   = size;
    job->callback     = co_job_callback;
-   job->timestamp    = os_get_current_time_us();
+   job->timestamp    = os_tick_current();
    job->type         = CO_JOB_SDO_READ;
 
    os_mbox_post (net->mbox, job, OS_WAIT_FOREVER);
@@ -307,7 +307,7 @@ int co_sdo_write (
    job->sdo.data     = (uint8_t *)data;
    job->sdo.remain   = size;
    job->callback     = co_job_callback;
-   job->timestamp    = os_get_current_time_us();
+   job->timestamp    = os_tick_current();
    job->type         = CO_JOB_SDO_WRITE;
 
    os_mbox_post (net->mbox, job, OS_WAIT_FOREVER);

src/co_main.h

@@ -74,7 +74,7 @@ typedef struct co_pdo
    uint8_t sync_counter;
    uint16_t inhibit_time;
    uint16_t event_timer;
-   uint32_t timestamp;
+   os_tick_t timestamp;
    uint64_t frame;
    size_t bitlength;
    uint8_t number_of_mappings;
@@ -149,7 +149,7 @@ typedef struct co_job
       co_emcy_job_t emcy;
       co_pdo_job_t pdo;
    };
-   uint32_t timestamp;
+   os_tick_t timestamp;
    struct co_client * client;
    void (*callback) (struct co_job * job);
    int result;
@@ -169,7 +169,7 @@ typedef struct co_heartbeat
    uint8_t node;
    bool is_alive;
    uint16_t time;
-   uint32_t timestamp;
+   os_tick_t timestamp;
 } co_heartbeat_t;
 
 /** Node guarding state */
@@ -179,7 +179,7 @@ typedef struct co_node_guard
    uint16_t guard_time;
    uint8_t life_time_factor;
    uint8_t toggle;
-   uint32_t timestamp;
+   os_tick_t timestamp;
 } co_node_guard_t;
 
 /** LSS states */
@@ -206,14 +206,14 @@ typedef struct co_sync
    uint8_t counter;
    uint8_t overflow;
    uint32_t period;
-   uint32_t timestamp;
+   os_tick_t timestamp;
 } co_sync_t;
 
 /** EMCY state */
 typedef struct co_emcy
 {
    uint32_t cobid;                   /**< EMCY COB ID */
-   uint32_t timestamp;               /**< Timestamp of last EMCY */
+   os_tick_t timestamp;               /**< Timestamp of last EMCY */
    uint32_t bus_off_timestamp;       /**< Timestamp of bus-off event */
    uint16_t inhibit;                 /**< Inhibit time [100 us] */
    uint8_t error;                    /**< Error register */
@@ -238,9 +238,9 @@ struct co_net
    co_emcy_t emcy;              /**< EMCY state */
    co_sync_t sync;              /**< SYNC state */
    co_state_t state;            /**< NMT state */
-   uint32_t hb_timestamp;       /**< Heartbeat producer timestamp */
+   os_tick_t hb_timestamp;       /**< Heartbeat producer timestamp */
    uint32_t hb_time;            /**< Heartbeat producer time */
-   uint32_t sync_timestamp;     /**< Timestamp of last SYNC */
+   os_tick_t sync_timestamp;     /**< Timestamp of last SYNC */
    uint32_t sync_window;        /**< Synchronous window length */
    uint32_t restart_ms;         /**< Delay before attempting to recover from bus-off */
    co_pdo_t pdo_tx[MAX_TX_PDO]; /**< TPDOs */

src/co_node_guard.c

@@ -16,7 +16,8 @@
 #ifdef UNIT_TEST
 #define os_channel_send        mock_os_channel_send
 #define os_channel_receive     mock_os_channel_receive
-#define os_get_current_time_us mock_os_get_current_time_us
+#define os_tick_current        mock_os_tick_current
+#define os_tick_from_us        mock_os_tick_from_us
 #endif
 
 #include "co_node_guard.h"
@@ -84,7 +85,7 @@ int co_node_guard_rx (co_net_t * net, uint32_t id, void * msg, size_t dlc)
       return -1;
 
    net->node_guard.is_alive  = true;
-   net->node_guard.timestamp = os_get_current_time_us();
+   net->node_guard.timestamp = os_tick_current();
 
    /* Heartbeat producer (heartbeat is prioritised over node guarding)*/
    if (net->hb_time == 0)
@@ -113,7 +114,7 @@ int co_node_guard_rx (co_net_t * net, uint32_t id, void * msg, size_t dlc)
    return 0;
 }
 
-int co_node_guard_timer (co_net_t * net, uint32_t now)
+int co_node_guard_timer (co_net_t * net, os_tick_t now)
 {
    uint32_t guard_factor =
       (net->node_guard.guard_time * net->node_guard.life_time_factor);

src/co_node_guard.h

@@ -55,7 +55,7 @@ int co_node_guard_rx (co_net_t * net, uint32_t id, void * msg, size_t dlc);
  *
  * @return 0 on success, -1 on failure
  */
-int co_node_guard_timer (co_net_t * net, uint32_t now);
+int co_node_guard_timer (co_net_t * net, os_tick_t now);
 
 #ifdef __cplusplus
 }

src/co_pdo.c

@@ -15,7 +15,8 @@
 
 #ifdef UNIT_TEST
 #define os_channel_send        mock_os_channel_send
-#define os_get_current_time_us mock_os_get_current_time_us
+#define os_tick_current        mock_os_tick_current
+#define os_tick_from_us        mock_os_tick_from_us
 #define co_obj_find            mock_co_obj_find
 #define co_entry_find          mock_co_entry_find
 #define co_emcy_tx             mock_co_emcy_tx
@@ -532,7 +533,7 @@ uint32_t co_od1A00_fn (
 static void co_pdo_transmit (co_net_t * net, co_pdo_t * pdo)
 {
    size_t dlc;
-   uint32_t now = os_get_current_time_us();
+   os_tick_t now = os_tick_current();
 
    if (IS_EVENT (pdo->transmission_type) && pdo->inhibit_time > 0)
    {
@@ -549,7 +550,7 @@ static void co_pdo_transmit (co_net_t * net, co_pdo_t * pdo)
    pdo->queued    = false;
 }
 
-int co_pdo_timer (co_net_t * net, uint32_t now)
+int co_pdo_timer (co_net_t * net, os_tick_t now)
 {
    unsigned int ix;
 
@@ -659,7 +660,7 @@ int co_pdo_sync (co_net_t * net, uint8_t * msg, size_t dlc)
    if (net->state != STATE_OP)
       return -1;
 
-   net->sync_timestamp = os_get_current_time_us();
+   net->sync_timestamp = os_tick_current();
 
    /* Transmit TPDOs */
    for (ix = 0; ix < MAX_TX_PDO; ix++)
@@ -735,7 +736,7 @@ int co_pdo_sync (co_net_t * net, uint8_t * msg, size_t dlc)
 void co_pdo_rx (co_net_t * net, uint32_t id, void * msg, size_t dlc)
 {
    unsigned int ix;
-   uint32_t now;
+   os_tick_t now;
 
    /* Check state */
    if (net->state != STATE_OP)
@@ -762,7 +763,7 @@ void co_pdo_rx (co_net_t * net, uint32_t id, void * msg, size_t dlc)
                /* Transmit value sampled at previous SYNC */
                dlc = CO_BYTELENGTH (pdo->bitlength);
                os_channel_send (net->channel, pdo->cobid, &pdo->frame, dlc);
-               pdo->timestamp = os_get_current_time_us();
+               pdo->timestamp = os_tick_current();
                pdo->queued    = false;
             }
          }
@@ -787,14 +788,14 @@ void co_pdo_rx (co_net_t * net, uint32_t id, void * msg, size_t dlc)
                if (pdo->transmission_type <= CO_PDO_TT_CYCLIC_MAX && net->sync_window > 0)
                {
                   /* Check that sync window has not expired */
-                  now = os_get_current_time_us();
+                  now = os_tick_current();
                   if (co_is_expired (now, net->sync_timestamp, net->sync_window))
                      continue;
                }
 
                /* Buffer frame */
                memcpy (&pdo->frame, msg, dlc);
-               pdo->timestamp = os_get_current_time_us();
+               pdo->timestamp = os_tick_current();
 
                if (IS_EVENT (pdo->transmission_type))
                {

src/co_pdo.h

@@ -103,7 +103,7 @@ void co_pdo_rx (co_net_t * net, uint32_t id, void * msg, size_t dlc);
  *
  * @return 0 on success, -1 on failure
  */
-int co_pdo_timer (co_net_t * net, uint32_t now);
+int co_pdo_timer (co_net_t * net, os_tick_t now);
 
 /**
  * PDO trigger

src/co_sdo.h

@@ -125,7 +125,7 @@ int co_sdo_rx (co_net_t * net, uint8_t node, void * msg, size_t dlc);
  *
  * @return 0 on success, -1 on failure
  */
-int co_sdo_server_timer (co_net_t * net, uint32_t now);
+int co_sdo_server_timer (co_net_t * net, os_tick_t now);
 
 /**
  * SDO client timer
@@ -139,7 +139,7 @@ int co_sdo_server_timer (co_net_t * net, uint32_t now);
  *
  * @return 0 on success, -1 on failure
  */
-int co_sdo_client_timer (co_net_t * net, uint32_t now);
+int co_sdo_client_timer (co_net_t * net, os_tick_t now);
 
 /**
  * Issue SDO request

src/co_sdo_client.c

@@ -18,6 +18,7 @@
 #define os_channel_receive mock_os_channel_receive
 #define co_obj_find        mock_co_obj_find
 #define co_entry_find      mock_co_entry_find
+#define os_tick_from_us    mock_os_tick_from_us
 #endif
 
 #include "co_sdo.h"
@@ -314,7 +315,7 @@ void co_sdo_issue (co_net_t * net, co_job_t * job)
    os_channel_send (net->channel, 0x600 + job->sdo.node, msg, sizeof (msg));
 }
 
-int co_sdo_client_timer (co_net_t * net, uint32_t now)
+int co_sdo_client_timer (co_net_t * net, os_tick_t now)
 {
    co_job_t * job = net->job_client;
 

src/co_sdo_server.c

@@ -14,7 +14,8 @@
  ********************************************************************/
 
 #ifdef UNIT_TEST
-#define os_get_current_time_us mock_os_get_current_time_us
+#define os_tick_current    mock_os_tick_current
+#define os_tick_from_us    mock_os_tick_from_us
 #define os_channel_send    mock_os_channel_send
 #define os_channel_receive mock_os_channel_receive
 #define co_obj_find        mock_co_obj_find
@@ -128,7 +129,7 @@ static int co_sdo_rx_upload_init_req (
    job->type         = CO_JOB_SDO_UPLOAD;
    job->sdo.index    = co_fetch_uint16 (&data[1]);
    job->sdo.subindex = data[3];
-   job->timestamp    = os_get_current_time_us();
+   job->timestamp    = os_tick_current();
 
    /* Find requested object */
    obj = co_obj_find (net, job->sdo.index);
@@ -281,7 +282,7 @@ static int co_sdo_rx_upload_seg_req (
 
       job->sdo.data += size;
       job->sdo.remain -= size;
-      job->timestamp = os_get_current_time_us();
+      job->timestamp = os_tick_current();
    }
 
    os_channel_send (net->channel, 0x580 + net->node, msg, sizeof (msg));
@@ -305,7 +306,7 @@ static int co_sdo_rx_download_init_req (
    job->type         = CO_JOB_SDO_DOWNLOAD;
    job->sdo.index    = co_fetch_uint16 (&data[1]);
    job->sdo.subindex = data[3];
-   job->timestamp    = os_get_current_time_us();
+   job->timestamp    = os_tick_current();
 
    /* Find requested object */
    obj = co_obj_find (net, job->sdo.index);
@@ -458,7 +459,7 @@ static int co_sdo_rx_download_seg_req (
 
    job->sdo.data += size;
    job->sdo.remain -= size;
-   job->timestamp = os_get_current_time_us();
+   job->timestamp = os_tick_current();
 
    if (data[0] & CO_SDO_C)
    {
@@ -572,7 +573,7 @@ int co_sdo_rx (co_net_t * net, uint8_t node, void * msg, size_t dlc)
    }
 }
 
-int co_sdo_server_timer (co_net_t * net, uint32_t now)
+int co_sdo_server_timer (co_net_t * net, os_tick_t now)
 {
    co_job_t * job = &net->job_sdo_server;