423 lines
14 KiB
C
423 lines
14 KiB
C
/*
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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 chvt.h
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* @brief Time and Virtual Timers module macros and structures.
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*
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* @addtogroup time
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* @{
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*/
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#ifndef _CHVT_H_
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#define _CHVT_H_
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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_CFG_FREQUENCY <= 0
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#error "invalid CH_CFG_FREQUENCY specified"
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#endif
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#if (CH_CFG_TIMEDELTA < 0) || (CH_CFG_TIMEDELTA == 1)
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#error "invalid NIL_CFG_TIMEDELTA specified"
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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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* @brief Virtual Timer callback function.
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*/
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typedef void (*vtfunc_t)(void *);
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/**
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* @brief Virtual Timer structure type.
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*/
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typedef struct virtual_timer virtual_timer_t;
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/**
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* @brief Virtual timers list header.
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* @note The timers list is implemented as a double link bidirectional list
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* in order to make the unlink time constant, the reset of a virtual
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* timer is often used in the code.
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*/
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typedef struct {
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virtual_timer_t *vt_next; /**< @brief Next timer in the delta
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list. */
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virtual_timer_t *vt_prev; /**< @brief Last timer in the delta
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list. */
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systime_t vt_delta; /**< @brief Must be initialized to -1. */
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#if CH_CFG_TIMEDELTA == 0 || defined(__DOXYGEN__)
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volatile systime_t vt_systime; /**< @brief System Time counter. */
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#endif
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#if CH_CFG_TIMEDELTA > 0 || defined(__DOXYGEN__)
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/**
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* @brief System time of the last tick event.
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*/
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systime_t vt_lasttime;/**< @brief System time of the last
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tick event. */
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#endif
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} virtual_timers_list_t;
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/**
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* @extends virtual_timers_list_t
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*
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* @brief Virtual Timer descriptor structure.
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*/
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struct virtual_timer {
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virtual_timer_t *vt_next; /**< @brief Next timer in the list. */
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virtual_timer_t *vt_prev; /**< @brief Previous timer in the list. */
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systime_t vt_delta; /**< @brief Time delta before timeout. */
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vtfunc_t vt_func; /**< @brief Timer callback function
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pointer. */
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void *vt_par; /**< @brief Timer callback function
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parameter. */
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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
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* @{
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*/
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/**
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* @brief Seconds to system ticks.
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* @details Converts from seconds to system ticks number.
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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 ticks.
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*
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* @api
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*/
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#define S2ST(sec) \
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((systime_t)((uint32_t)(sec) * (uint32_t)CH_CFG_FREQUENCY))
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/**
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* @brief Milliseconds to system ticks.
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* @details Converts from milliseconds to system ticks number.
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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 ticks.
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*
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* @api
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*/
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#define MS2ST(msec) \
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((systime_t)(((((uint32_t)(msec)) * ((uint32_t)CH_CFG_FREQUENCY) - 1UL) / \
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1000UL) + 1UL))
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/**
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* @brief Microseconds to system ticks.
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* @details Converts from microseconds to system ticks number.
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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 ticks.
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*
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* @api
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*/
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#define US2ST(usec) \
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((systime_t)(((((uint32_t)(usec)) * ((uint32_t)CH_CFG_FREQUENCY) - 1UL) / \
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1000000UL) + 1UL))
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/** @} */
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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extern virtual_timers_list_t vtlist;
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/*
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* Virtual Timers APIs.
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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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void _vt_init(void);
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bool chVTIsTimeWithin(systime_t time, systime_t start, systime_t end);
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void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,
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vtfunc_t vtfunc, void *par);
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void chVTDoResetI(virtual_timer_t *vtp);
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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 Initializes a @p virtual_timer_t object.
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* @note Initializing a timer object is not strictly required because
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* the function @p chVTSetI() initializes the object too. This
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* function is only useful if you need to perform a @p chVTIsArmed()
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* check before calling @p chVTSetI().
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*
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* @param[out] vtp the @p virtual_timer_t structure pointer
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*
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* @init
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*/
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static inline void chVTObjectInit(virtual_timer_t *vtp) {
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vtp->vt_func = NULL;
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}
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/**
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* @brief Current system time.
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* @details Returns the number of system ticks since the @p chSysInit()
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* invocation.
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* @note The counter can reach its maximum and then restart from zero.
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*
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* @return The system time in ticks.
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*
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* @iclass
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*/
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static inline systime_t chVTGetSystemTimeI(void) {
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chDbgCheckClassI();
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#if CH_CFG_TIMEDELTA == 0
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return vtlist.vt_systime;
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#else /* CH_CFG_TIMEDELTA > 0 */
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return port_timer_get_time();
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#endif /* CH_CFG_TIMEDELTA > 0 */
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}
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/**
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* @brief Current system time.
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* @details Returns the number of system ticks since the @p chSysInit()
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* invocation.
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* @note The counter can reach its maximum and then restart from zero.
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*
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* @return The system time in ticks.
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*
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* @api
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*/
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static inline systime_t chVTGetSystemTime(void) {
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systime_t systime;
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chSysLock();
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systime = chVTGetSystemTimeI();
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chSysUnlock();
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return systime;
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}
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/**
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* @brief Checks if the current system time is within the specified time
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* window.
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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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*
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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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* @api
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*/
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static inline bool chVTIsSystemTimeWithinI(systime_t start, systime_t end) {
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return chVTIsTimeWithin(chVTGetSystemTimeI(), start, end);
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}
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/**
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* @brief Checks if the current system time is within the specified time
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* window.
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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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*
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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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* @api
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*/
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static inline bool chVTIsSystemTimeWithin(systime_t start, systime_t end) {
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return chVTIsTimeWithin(chVTGetSystemTime(), start, end);
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}
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/**
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* @brief Returns @p true if the specified timer is armed.
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* @pre The timer must have been initialized using @p chVTObjectInit()
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* or @p chVTSetI() (or @p chVTSetI() variants).
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*
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* @param[in] vtp the @p virtual_timer_t structure pointer
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* @return true if the timer is armed.
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*
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* @iclass
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*/
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static inline bool chVTIsArmedI(virtual_timer_t *vtp) {
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chDbgCheckClassI();
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return (bool)(vtp->vt_func != NULL);
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}
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/**
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* @brief Disables a Virtual Timer.
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* @note The timer is first checked and disabled only if armed.
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*
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* @param[in] vtp the @p virtual_timer_t structure pointer
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*
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* @iclass
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*/
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static inline void chVTResetI(virtual_timer_t *vtp) {
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if (chVTIsArmedI(vtp))
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chVTDoResetI(vtp);
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}
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/**
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* @brief Disables a Virtual Timer.
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* @note The timer is first checked and disabled only if armed.
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*
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* @param[in] vtp the @p virtual_timer_t structure pointer
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*
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* @api
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*/
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static inline void chVTReset(virtual_timer_t *vtp) {
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chSysLock();
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chVTResetI(vtp);
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chSysUnlock();
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}
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/**
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* @brief Enables a virtual timer.
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* @details If the virtual timer was already enabled then it is re-enabled
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* using the new parameters.
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*
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* @param[in] vtp the @p virtual_timer_t structure pointer
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* @param[in] delay the number of ticks before the operation timeouts.
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* @param[in] vtfunc the timer callback function. After invoking the
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* callback the timer is disabled and the structure can
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* be disposed or reused.
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* @param[in] par a parameter that will be passed to the callback
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* function
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*
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* @iclass
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*/
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static inline void chVTSetI(virtual_timer_t *vtp, systime_t delay,
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vtfunc_t vtfunc, void *par) {
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chVTResetI(vtp);
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chVTDoSetI(vtp, delay, vtfunc, par);
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}
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/**
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* @brief Enables a virtual timer.
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* @details If the virtual timer was already enabled then it is re-enabled
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* using the new parameters.
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*
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* @param[in] vtp the @p virtual_timer_t structure pointer
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* @param[in] delay the number of ticks before the operation timeouts.
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* @param[in] vtfunc the timer callback function. After invoking the
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* callback the timer is disabled and the structure can
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* be disposed or reused.
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* @param[in] par a parameter that will be passed to the callback
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* function
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*
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* @api
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*/
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static inline void chVTSet(virtual_timer_t *vtp, systime_t delay,
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vtfunc_t vtfunc, void *par) {
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chSysLock();
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chVTSetI(vtp, delay, vtfunc, par);
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chSysUnlock();
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}
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/**
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* @brief Virtual timers ticker.
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* @note The system lock is released before entering the callback and
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* re-acquired immediately after. It is callback's responsibility
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* to acquire the lock if needed. This is done in order to reduce
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* interrupts jitter when many timers are in use.
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*
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* @iclass
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*/
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static inline void chVTDoTickI(void) {
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chDbgCheckClassI();
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#if CH_CFG_TIMEDELTA == 0
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vtlist.vt_systime++;
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if (&vtlist != (virtual_timers_list_t *)vtlist.vt_next) {
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virtual_timer_t *vtp;
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--vtlist.vt_next->vt_delta;
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while (!(vtp = vtlist.vt_next)->vt_delta) {
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vtfunc_t fn = vtp->vt_func;
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vtp->vt_func = (vtfunc_t)NULL;
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vtp->vt_next->vt_prev = (void *)&vtlist;
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vtlist.vt_next = vtp->vt_next;
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chSysUnlockFromISR();
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fn(vtp->vt_par);
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chSysLockFromISR();
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}
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}
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#else /* CH_CFG_TIMEDELTA > 0 */
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virtual_timer_t *vtp;
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systime_t now = chVTGetSystemTimeI();
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systime_t delta = now - vtlist.vt_lasttime;
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while ((vtp = vtlist.vt_next)->vt_delta <= delta) {
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delta -= vtp->vt_delta;
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vtlist.vt_lasttime += vtp->vt_delta;
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vtfunc_t fn = vtp->vt_func;
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vtp->vt_func = (vtfunc_t)NULL;
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vtp->vt_next->vt_prev = (void *)&vtlist;
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vtlist.vt_next = vtp->vt_next;
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chSysUnlockFromISR();
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fn(vtp->vt_par);
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chSysLockFromISR();
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}
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if (&vtlist == (virtual_timers_list_t *)vtlist.vt_next) {
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/* The list is empty, no tick event needed so the alarm timer
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is stopped.*/
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port_timer_stop_alarm();
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}
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else {
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/* Updating the alarm to the next deadline.*/
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port_timer_set_alarm(now + vtp->vt_delta);
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}
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#endif /* CH_CFG_TIMEDELTA > 0 */
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}
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#endif /* _CHVT_H_ */
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/** @} */
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