/* ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010, 2011,2012,2013 Giovanni Di Sirio. This file is part of ChibiOS/RT. ChibiOS/RT 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. ChibiOS/RT 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 . */ /** * @file chvt.h * @brief Time and Virtual Timers module macros and structures. * * @addtogroup time * @{ */ #ifndef _CHVT_H_ #define _CHVT_H_ /*===========================================================================*/ /* Module constants. */ /*===========================================================================*/ /*===========================================================================*/ /* Module pre-compile time settings. */ /*===========================================================================*/ /*===========================================================================*/ /* Derived constants and error checks. */ /*===========================================================================*/ /*===========================================================================*/ /* Module data structures and types. */ /*===========================================================================*/ /** * @brief Virtual Timer callback function. */ typedef void (*vtfunc_t)(void *); /** * @brief Virtual Timer structure type. */ typedef struct VirtualTimer VirtualTimer; /** * @brief Virtual timers list header. * @note The timers list is implemented as a double link bidirectional list * in order to make the unlink time constant, the reset of a virtual * timer is often used in the code. */ typedef struct { VirtualTimer *vt_next; /**< @brief Next timer in the list. */ VirtualTimer *vt_prev; /**< @brief Last timer in the list. */ volatile systime_t vt_time; /**< @brief Current system time. */ } VTList; /** * @extends VTList * * @brief Virtual Timer descriptor structure. */ struct VirtualTimer { VirtualTimer *vt_next; /**< @brief Next timer in the list. */ VirtualTimer *vt_prev; /**< @brief Previous timer in the list. */ systime_t vt_time; /**< @brief Absolute time. */ vtfunc_t vt_func; /**< @brief Timer callback function pointer. */ void *vt_par; /**< @brief Timer callback function parameter. */ }; /*===========================================================================*/ /* Module macros. */ /*===========================================================================*/ /** * @name Time conversion utilities * @{ */ /** * @brief Seconds to system ticks. * @details Converts from seconds to system ticks number. * @note The result is rounded upward to the next tick boundary. * * @param[in] sec number of seconds * @return The number of ticks. * * @api */ #define S2ST(sec) \ ((systime_t)((sec) * CH_FREQUENCY)) /** * @brief Milliseconds to system ticks. * @details Converts from milliseconds to system ticks number. * @note The result is rounded upward to the next tick boundary. * * @param[in] msec number of milliseconds * @return The number of ticks. * * @api */ #define MS2ST(msec) \ ((systime_t)((((msec) * CH_FREQUENCY - 1L) / 1000L) + 1L)) /** * @brief Microseconds to system ticks. * @details Converts from microseconds to system ticks number. * @note The result is rounded upward to the next tick boundary. * * @param[in] usec number of microseconds * @return The number of ticks. * * @api */ #define US2ST(usec) \ ((systime_t)((((usec) * CH_FREQUENCY - 1L) / 1000000L) + 1L)) /** @} */ /*===========================================================================*/ /* External declarations. */ /*===========================================================================*/ extern VTList vtlist; /* * Virtual Timers APIs. */ #ifdef __cplusplus extern "C" { #endif void _vt_init(void); bool chVTIsTimeWithin(systime_t time, systime_t start, systime_t end); void chVTSetAbsoluteI(VirtualTimer *vtp, systime_t time, vtfunc_t vtfunc, void *par); void chVTResetI(VirtualTimer *vtp); #ifdef __cplusplus } #endif /*===========================================================================*/ /* Module inline functions. */ /*===========================================================================*/ /** * @brief Current system time. * @details Returns the number of system ticks since the @p chSysInit() * invocation. * @note The counter can reach its maximum and then restart from zero. * * @return The system time in ticks. * * @iclass */ static inline systime_t chVTGetSystemTimeI(void) { chDbgCheckClassI(); return vtlist.vt_time; } /** * @brief Current system time. * @details Returns the number of system ticks since the @p chSysInit() * invocation. * @note The counter can reach its maximum and then restart from zero. * * @return The system time in ticks. * * @api */ static inline systime_t chVTGetSystemTime(void) { systime_t systime; chSysLock(); systime = chVTGetSystemTimeI(); chSysUnlock(); return systime; } /** * @brief Checks if the current system time is within the specified time * window. * @note When start==end then the function returns always true because the * whole time range is specified. * * @param[in] start the start of the time window (inclusive) * @param[in] end the end of the time window (non inclusive) * @retval true current time within the specified time window. * @retval false current time not within the specified time window. * * @api */ static inline bool chVTIsSystemTimeWithinI(systime_t start, systime_t end) { return chVTIsTimeWithin(chVTGetSystemTimeI(), start, end); } /** * @brief Checks if the current system time is within the specified time * window. * @note When start==end then the function returns always true because the * whole time range is specified. * * @param[in] start the start of the time window (inclusive) * @param[in] end the end of the time window (non inclusive) * @retval true current time within the specified time window. * @retval false current time not within the specified time window. * * @api */ static inline bool chVTIsSystemTimeWithin(systime_t start, systime_t end) { return chVTIsTimeWithin(chVTGetSystemTime(), start, end); } /** * @brief Initializes a @p VirtualTimer object. * @note Initializing a timer object is not strictly required because * the function @p chVTSetI() initializes the object too. This * function is only useful if you need to perform a @p chVTIsArmed() * check before calling @p chVTSetI(). * * @param[out] vtp the @p VirtualTimer structure pointer * * @init */ static inline void chVTObjectInit(VirtualTimer *vtp) { vtp->vt_func = NULL; } /** * @brief Returns @p true if the specified timer is armed. * @pre The timer must have been initialized using @p chVTObjectInit() * or @p chVTSetI() (or @p chVTSetI() variants). * * @param[in] vtp the @p VirtualTimer structure pointer * @return true if the timer is armed. * * @iclass */ static inline bool chVTIsArmedI(VirtualTimer *vtp) { chDbgCheckClassI(); return (bool)(vtp->vt_func != NULL); } /** * @brief Enables a virtual timer. * * @param[out] vtp the @p VirtualTimer structure pointer * @param[in] delay the number of ticks before the operation timeouts. * @param[in] vtfunc the timer callback function. After invoking the * callback the timer is disabled and the structure can * be disposed or reused. * @param[in] par a parameter that will be passed to the callback * function * * @iclass */ static inline void chVTSetI(VirtualTimer *vtp, systime_t delay, vtfunc_t vtfunc, void *par) { chVTSetAbsoluteI(vtp, chVTGetSystemTimeI() + delay, vtfunc, par); } /** * @brief Enables a virtual timer. * * @param[out] vtp the @p VirtualTimer structure pointer * @param[in] delay the number of ticks before the operation timeouts. * @param[in] vtfunc the timer callback function. After invoking the * callback the timer is disabled and the structure can * be disposed or reused. * @param[in] par a parameter that will be passed to the callback * function * * @api */ static inline void chVTSet(VirtualTimer *vtp, systime_t delay, vtfunc_t vtfunc, void *par) { chSysLock(); chVTSetI(vtp, delay, vtfunc, par); chSysUnlock(); } /** * @brief Disables a Virtual Timer. * @pre The timer must be in armed state before calling this function. * * @param[in] vtp the @p VirtualTimer structure pointer * * @iclass */ static inline void chVTDoResetI(VirtualTimer *vtp) { chDbgCheckClassI(); chDbgCheck(vtp != NULL, "chVTDoResetI"); vtp->vt_prev->vt_next = vtp->vt_next; vtp->vt_next->vt_prev = vtp->vt_prev; vtp->vt_func = (vtfunc_t)NULL; } /** * @brief Disables a Virtual Timer. * @note The timer is first checked and disabled only if armed. * * @param[in] vtp the @p VirtualTimer structure pointer * * @api */ static inline void chVTReset(VirtualTimer *vtp) { chSysLock(); chVTResetI(vtp); chSysUnlock(); } /** * @brief Virtual timers ticker. * @note The system lock is released before entering the callback and * re-acquired immediately after. It is callback's responsibility * to acquire the lock if needed. This is done in order to reduce * interrupts jitter when many timers are in use. * * @iclass */ static inline void chVTDoTickI(void) { systime_t systime = ++vtlist.vt_time; chDbgCheckClassI(); if (&vtlist != (VTList *)vtlist.vt_next) { VirtualTimer *vtp; while (((VirtualTimer *)&vtlist != (vtp = vtlist.vt_next)) && (vtp->vt_time == systime)) { vtfunc_t fn = vtp->vt_func; chVTDoResetI(vtp); chSysUnlockFromIsr(); fn(vtp->vt_par); chSysLockFromIsr(); } } } #endif /* _CHVT_H_ */ /** @} */