Merge pull request 'FreeRTOS Monotonic Clock' (#46) from meier/freertos-monotonic-clock into main

Reviewed-on: #46
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -26,6 +26,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Added
 
+- FreeRTOS monotonic clock which is not subjected to time jumps of the system clock
 - add CFDP subsystem ID
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742
 - `PusTmZcWriter` now exposes API to set message counter field.

src/fsfw/osal/freertos/Clock.cpp

@@ -5,6 +5,7 @@
 
 #include "FreeRTOS.h"
 #include "fsfw/globalfunctions/timevalOperations.h"
+#include "fsfw/serviceinterface/ServiceInterfacePrinter.h"
 #include "fsfw/osal/freertos/Timekeeper.h"
 #include "task.h"
 
@@ -47,8 +48,8 @@ ReturnValue_t Clock::getClock(timeval* time) {
 }
 
 ReturnValue_t Clock::getClockMonotonic(timeval* time) {
-  // TODO: I don't actually know if the timekeeper is monotonic..
-  return getClock_timeval(time);
+	*time = Timekeeper::instance()->getMonotonicClockOffset() + getUptime();
+  return returnvalue::OK;
 }
 
 ReturnValue_t Clock::getUptime(timeval* uptime) {
@@ -58,7 +59,7 @@ ReturnValue_t Clock::getUptime(timeval* uptime) {
 }
 
 timeval Clock::getUptime() {
-  TickType_t ticksSinceStart = xTaskGetTickCount();
+  TickType_t ticksSinceStart = Timekeeper::instance()->getTicks();
   return Timekeeper::ticksToTimeval(ticksSinceStart);
 }
 

src/fsfw/osal/freertos/Timekeeper.cpp

@@ -17,7 +17,13 @@ Timekeeper* Timekeeper::instance() {
   return myinstance;
 }
 
-void Timekeeper::setOffset(const timeval& offset) { this->offset = offset; }
+void Timekeeper::setOffset(const timeval& offset) {
+	if (not monotonicClockInitialized) {
+		this->monotonicClockOffset = offset;
+		monotonicClockInitialized = true;
+	}
+	this->offset = offset;
+}
 
 timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
   timeval uptime;
@@ -33,3 +39,7 @@ timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
 }
 
 TickType_t Timekeeper::getTicks() { return xTaskGetTickCount(); }
+
+const timeval Timekeeper::getMonotonicClockOffset() const {
+	return monotonicClockOffset;
+}

src/fsfw/osal/freertos/Timekeeper.h

@@ -18,9 +18,14 @@ class Timekeeper {
   Timekeeper();
 
   timeval offset;
+  // Set when offset is initialized the first time
+  timeval monotonicClockOffset;
+  bool monotonicClockInitialized = false;
 
   static Timekeeper* myinstance;
 
+  void setMonotonicClockOffset(const timeval& monotonicClockOffset);
+
  public:
   static Timekeeper* instance();
   virtual ~Timekeeper();
@@ -34,6 +39,7 @@ class Timekeeper {
 
   const timeval& getOffset() const;
   void setOffset(const timeval& offset);
+  const timeval getMonotonicClockOffset() const;
 };
 
 #endif /* FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_ */

src/fsfw/timemanager/Clock.h

@@ -192,6 +192,8 @@ class Clock {
   static MutexIF *timeMutex;
   static uint16_t leapSeconds;
   static bool leapSecondsSet;
+  static bool monotonicClockInitialized;
+  static timeval monotonicClockOffset;
 };
 
 #endif /* FSFW_TIMEMANAGER_CLOCK_H_ */