1 files changed, 89 insertions, 0 deletions
diff --git a/Marlin/src/HAL/LINUX/hardware/Clock.h b/Marlin/src/HAL/LINUX/hardware/Clock.h
new file mode 100644
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+++ b/Marlin/src/HAL/LINUX/hardware/Clock.h
@@ -0,0 +1,89 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program 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 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include <chrono>
+#include <thread>
+
+class Clock {
+public:
+  static uint64_t ticks(uint32_t frequency = Clock::frequency) {
+    return (Clock::nanos() - Clock::startup.count()) / (1000000000ULL / frequency);
+  }
+
+  static uint64_t nanosToTicks(uint64_t ns, uint32_t frequency = Clock::frequency) {
+    return ns / (1000000000ULL / frequency);
+  }
+
+  // Time acceleration compensated
+  static uint64_t ticksToNanos(uint64_t tick, uint32_t frequency = Clock::frequency) {
+    return (tick * (1000000000ULL / frequency)) / Clock::time_multiplier;
+  }
+
+  static void setFrequency(uint32_t freq) {
+    Clock::frequency = freq;
+  }
+
+  // Time Acceleration compensated
+  static uint64_t nanos() {
+    auto now = std::chrono::high_resolution_clock::now().time_since_epoch();
+    return (now.count() - Clock::startup.count()) * Clock::time_multiplier;
+  }
+
+  static uint64_t micros() {
+    return Clock::nanos() / 1000;
+  }
+
+  static uint64_t millis() {
+    return Clock::micros() / 1000;
+  }
+
+  static double seconds() {
+    return Clock::nanos() / 1000000000.0;
+  }
+
+  static void delayCycles(uint64_t cycles) {
+    std::this_thread::sleep_for(std::chrono::nanoseconds( (1000000000L / frequency) * cycles) / Clock::time_multiplier );
+  }
+
+  static void delayMicros(uint64_t micros) {
+    std::this_thread::sleep_for(std::chrono::microseconds( micros ) / Clock::time_multiplier);
+  }
+
+  static void delayMillis(uint64_t millis) {
+    std::this_thread::sleep_for(std::chrono::milliseconds( millis ) / Clock::time_multiplier);
+  }
+
+  static void delaySeconds(double secs) {
+    std::this_thread::sleep_for(std::chrono::duration<double, std::milli>(secs * 1000) / Clock::time_multiplier);
+  }
+
+  // Will reduce timer resolution increasing likelihood of overflows
+  static void setTimeMultiplier(double tm) {
+    Clock::time_multiplier = tm;
+  }
+
+private:
+  static std::chrono::nanoseconds startup;
+  static uint32_t frequency;
+  static double time_multiplier;
+};