Add wasm tacle-bench targets

targets/wasm-tacle/parallel/PapaBench/sw/airborne/autopilot/timer.h

@@ -0,0 +1,92 @@
+/*
+   Paparazzi mcu0 timer functions
+
+   Copied from autopilot (autopilot.sf.net) thanx alot Trammell
+
+   Copyright (C) 2002 Trammell Hudson <hudson@rotomotion.com>
+   Copyright (C) 2003 Pascal Brisset, Antoine Drouin
+
+   This file is part of paparazzi.
+
+   paparazzi is free software; you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation; either version 2, or (at your option)
+   any later version.
+
+   paparazzi is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with paparazzi; see the file COPYING.  If not, write to
+   the Free Software Foundation, 59 Temple Place - Suite 330,
+   Boston, MA 02111-1307, USA.
+
+*/
+
+#ifndef TIMER_H
+#define TIMER_H
+
+#include "std.h"
+#include <arch/signal.h>
+#include <arch/io.h>
+
+
+/*
+   Enable Timer1 (16-bit) running at Clk/1 for the global system
+   clock.  This will be used for computing the servo pulse widths,
+   PPM decoding, etc.
+
+   Low frequency periodic tasks will be signaled by timer 0
+   running at Clk/1024.  For 16 Mhz clock, this will be every
+   262144 microseconds, or 61 Hz.
+*/
+static inline void timer_init( void )
+{
+
+  /* Timer0: Modem clock is started in modem.h in ctc mode*/
+
+  /* Timer1 @ Clk/1: System clock, ppm and servos */
+  TCCR1A    = 0x00;
+  TCCR1B    = 0x01;
+
+  /* Timer2 @ Clk/1024: Periodic clock */
+  TCCR2   = 0x05;
+}
+
+
+/*
+   Retrieve the current time from the global clock in Timer1,
+   disabling interrupts to avoid stomping on the TEMP register.
+   If interrupts are already off, the non_atomic form can be used.
+*/
+static inline uint16_t
+timer_now( void )
+{
+  return TCNT1;
+}
+
+static inline uint16_t
+timer_now_non_atomic( void )
+{
+  return TCNT1L;
+}
+
+
+/*
+    Periodic tasks occur when Timer2 overflows.  Check and unset
+   the overflow bit.  We cycle through four possible periodic states,
+   so each state occurs every 30 Hz.
+*/
+static inline bool_t
+timer_periodic( void )
+{
+  if ( !bit_is_set( TIFR, TOV2 ) )
+    return FALSE;
+
+  TIFR = 1 << TOV2;
+  return TRUE;
+}
+
+#endif