git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6035 35acf78f-673a-0410-8e92-d51de3d6d3f4
gdisirio
parent
2f46bd9742
commit
cea523fdb0
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@ -127,6 +127,16 @@
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*/
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*/
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/*===========================================================================*/
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/*===========================================================================*/
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/**
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* @brief Realtime counter APIs.
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* @details If enabled then the RT APIs are included in the kernel.
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*
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* @note The default is @p TRUE.
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*/
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#if !defined(CH_CFG_USE_RT) || defined(__DOXYGEN__)
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#define CH_CFG_USE_RT TRUE
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#endif
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/**
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/**
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* @brief Threads registry APIs.
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* @brief Threads registry APIs.
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* @details If enabled then the registry APIs are included in the kernel.
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* @details If enabled then the registry APIs are included in the kernel.
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@ -109,6 +109,7 @@ typedef struct thread thread_t;
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#include "chtypes.h"
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#include "chtypes.h"
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#include "chdebug.h"
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#include "chdebug.h"
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#include "chcore.h"
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#include "chcore.h"
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#include "chrt.h"
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#include "chthreads.h"
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#include "chthreads.h"
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#include "chlists.h"
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#include "chlists.h"
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#include "chsys.h"
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#include "chsys.h"
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@ -0,0 +1,231 @@
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/*
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ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
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2011,2012,2013 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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ChibiOS/RT is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS/RT is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file chrt.h
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* @brief Real Time Counter and Measurement module macros and structures.
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*
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* @addtogroup rt_measurement
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* @{
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*/
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#ifndef _CHRT_H_
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#define _CHRT_H_
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#if CH_CFG_USE_RT || defined(__DOXYGEN__)
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#define port_rt_get_counter_value() 0
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/*===========================================================================*/
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/* Module constants. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module pre-compile time settings. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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#if !CH_PORT_SUPPORTS_RT
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#error "the port layer does not support the realtime counter functionality"
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#endif
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/*===========================================================================*/
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/* Module data structures and types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module macros. */
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/*===========================================================================*/
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/**
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* @name Time conversion utilities for the realtime counter
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* @{
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*/
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/**
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* @brief Seconds to realtime counter.
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* @details Converts from seconds to realtime counter cycles.
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* @note The result is rounded upward to the next tick boundary.
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*
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* @param[in] sec number of seconds
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* @return The number of cycles.
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*
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* @api
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*/
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#define S2RTV(freq, sec) ((freq) * (sec))
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/**
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* @brief Milliseconds to realtime counter.
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* @details Converts from milliseconds to realtime counter cycles.
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* @note The result is rounded upward to the next tick boundary.
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*
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* @param[in] msec number of milliseconds
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* @return The number of cycles.
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*
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* @api
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*/
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#define MS2RTC(freq, msec) (rtcnt_t)((((freq) + 999UL) / 1000UL) * (msec))
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/**
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* @brief Microseconds to realtime counter.
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* @details Converts from microseconds to realtime counter cycles.
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* @note The result is rounded upward to the next tick boundary.
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*
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* @param[in] usec number of microseconds
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* @return The number of cycles.
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*
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* @api
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*/
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#define US2RTC(freq, usec) (rtcnt_t)((((freq) + 999999UL) / 1000000UL) * (usec))
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/**
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* @brief Realtime counter cycles to seconds.
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* @details Converts from realtime counter cycles number to seconds.
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*
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* @param[in] n number of cycles
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* @return The number of seconds.
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*
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* @api
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*/
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#define RTC2S(freq, n) (rtcnt_t)((n) / (freq))
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/**
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* @brief Realtime counter cycles to milliseconds.
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* @details Converts from realtime counter cycles number to milliseconds.
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*
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* @param[in] n number of cycles
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* @return The number of milliseconds.
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*
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* @api
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*/
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#define RTC2MS(freq, n) ((n) / ((freq) / 1000UL))
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/**
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* @brief Realtime counter cycles to microseconds.
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* @details Converts from realtime counter cycles number to microseconds.
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*
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* @param[in] n number of cycles
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* @return The number of microseconds.
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*
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* @api
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*/
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#define RTC2US(freq, n) ((n) / ((freq) / 1000000UL))
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/** @} */
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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#ifdef __cplusplus
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}
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#endif
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/*===========================================================================*/
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/* Module inline functions. */
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/*===========================================================================*/
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/**
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* @brief Returns the current value of the system real time counter.
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* @note This function can be called from any context.
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*
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* @return The value of the system free running counter of
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* type rtcnt_t.
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*
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* @special
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*/
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static inline rtcnt_t chRTGetCounterValue(void) {
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return port_rt_get_counter_value();
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}
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/**
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* @brief Realtime window test.
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* @details This function verifies if the current realtime counter value
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* lies within the specified range or not. The test takes care
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* of the realtime counter wrapping to zero on overflow.
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* @note When start==end then the function returns always true because the
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* whole time range is specified.
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* @note This function can be called from any context.
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*
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* @par Example 1
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* Example of a guarded loop using the realtime counter. The loop implements
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* a timeout after one second.
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* @code
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* rtcnt_t start = chRTGetCounterValue();
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* rtcnt_t timeout = start + S2RTC(1);
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* while (my_condition) {
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* if (!chRTIsCounterWithin(start, timeout)
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* return TIMEOUT;
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* // Do something.
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* }
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* // Continue.
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* @endcode
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*
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* @par Example 2
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* Example of a loop that lasts exactly 50 microseconds.
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* @code
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* rtcnt_t start = chRTGetCounterValue();
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* rtcnt_t timeout = start + US2RTC(50);
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* while (chRTIsCounterWithin(start, timeout)) {
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* // Do something.
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* }
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* // Continue.
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* @endcode
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*
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* @param[in] start the start of the time window (inclusive)
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* @param[in] end the end of the time window (non inclusive)
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* @retval true current time within the specified time window.
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* @retval false current time not within the specified time window.
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*
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* @special
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*/
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static inline bool chRTIsCounterWithin(rtcnt_t start, rtcnt_t end) {
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rtcnt_t now = chRTGetCounterValue();
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return end > start ? (now >= start) && (now < end) :
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(now >= start) || (now < end);
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}
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/**
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* @brief Polled delay.
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* @note The real delay is always few cycles in excess of the specified
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* value.
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* @note This function can be called from any context.
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*
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* @param[in] ticks number of ticks
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*
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* @special
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*/
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static inline void chRTPolledDelay(rtcnt_t ticks) {
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rtcnt_t start = chRTGetCounterValue();
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rtcnt_t timeout = start + (ticks);
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while (chRTIsCounterWithin(start, timeout))
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;
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}
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#endif /* CH_CFG_USE_RT */
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#endif /* _CHRT_H_ */
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/** @} */
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@ -73,6 +73,11 @@
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#endif
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#endif
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/** @} */
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/** @} */
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/**
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* @brief This port supports a realtime counter.
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*/
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#define CH_PORT_SUPPORTS_RT TRUE
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/**
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/**
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* @brief Disabled value for BASEPRI register.
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* @brief Disabled value for BASEPRI register.
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*/
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*/
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@ -34,6 +34,7 @@
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#include <stdbool.h>
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#include <stdbool.h>
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typedef bool bool_t; /**< Fast boolean type. */
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typedef bool bool_t; /**< Fast boolean type. */
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typedef uint32_t rtcnt_t; /**< Realtime counter. */
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typedef uint32_t syssts_t; /**< System status word. */
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typedef uint32_t syssts_t; /**< System status word. */
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typedef uint8_t tmode_t; /**< Thread flags. */
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typedef uint8_t tmode_t; /**< Thread flags. */
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typedef uint8_t tstate_t; /**< Thread state. */
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typedef uint8_t tstate_t; /**< Thread state. */
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