556 lines
18 KiB
C
556 lines
18 KiB
C
/*
|
|
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio.
|
|
|
|
This file is part of ChibiOS.
|
|
|
|
ChibiOS 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 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 <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
/**
|
|
* @file chvt.h
|
|
* @brief Time and Virtual Timers module macros and structures.
|
|
*
|
|
* @addtogroup time
|
|
* @{
|
|
*/
|
|
|
|
#ifndef _CHVT_H_
|
|
#define _CHVT_H_
|
|
|
|
/*===========================================================================*/
|
|
/* Module constants. */
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @name Special time constants
|
|
* @{
|
|
*/
|
|
/**
|
|
* @brief Zero time specification for some functions with a timeout
|
|
* specification.
|
|
* @note Not all functions accept @p TIME_IMMEDIATE as timeout parameter,
|
|
* see the specific function documentation.
|
|
*/
|
|
#define TIME_IMMEDIATE ((systime_t)0)
|
|
|
|
/**
|
|
* @brief Infinite time specification for all functions with a timeout
|
|
* specification.
|
|
* @note Not all functions accept @p TIME_INFINITE as timeout parameter,
|
|
* see the specific function documentation.
|
|
*/
|
|
#define TIME_INFINITE ((systime_t)-1)
|
|
/** @} */
|
|
|
|
/*===========================================================================*/
|
|
/* Module pre-compile time settings. */
|
|
/*===========================================================================*/
|
|
|
|
/*===========================================================================*/
|
|
/* Derived constants and error checks. */
|
|
/*===========================================================================*/
|
|
|
|
#if (CH_CFG_ST_RESOLUTION != 16) && (CH_CFG_ST_RESOLUTION != 32)
|
|
#error "invalid CH_CFG_ST_RESOLUTION specified, must be 16 or 32"
|
|
#endif
|
|
|
|
#if CH_CFG_ST_FREQUENCY <= 0
|
|
#error "invalid CH_CFG_ST_FREQUENCY specified, must be greater than zero"
|
|
#endif
|
|
|
|
#if (CH_CFG_ST_TIMEDELTA < 0) || (CH_CFG_ST_TIMEDELTA == 1)
|
|
#error "invalid CH_CFG_ST_TIMEDELTA specified, must " \
|
|
"be zero or greater than one"
|
|
#endif
|
|
|
|
#if (CH_CFG_ST_TIMEDELTA > 0) && (CH_CFG_TIME_QUANTUM > 0)
|
|
#error "CH_CFG_TIME_QUANTUM not supported in tickless mode"
|
|
#endif
|
|
|
|
#if (CH_CFG_ST_TIMEDELTA > 0) && (CH_DBG_THREADS_PROFILING == TRUE)
|
|
#error "CH_DBG_THREADS_PROFILING not supported in tickless mode"
|
|
#endif
|
|
|
|
/*===========================================================================*/
|
|
/* Module data structures and types. */
|
|
/*===========================================================================*/
|
|
|
|
/*===========================================================================*/
|
|
/* 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)((uint32_t)(sec) * (uint32_t)CH_CFG_ST_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)(((((uint32_t)(msec)) * \
|
|
((uint32_t)CH_CFG_ST_FREQUENCY)) + 999UL) / 1000UL))
|
|
|
|
/**
|
|
* @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)(((((uint32_t)(usec)) * \
|
|
((uint32_t)CH_CFG_ST_FREQUENCY)) + 999999UL) / 1000000UL))
|
|
|
|
/**
|
|
* @brief System ticks to seconds.
|
|
* @details Converts from system ticks number to seconds.
|
|
* @note The result is rounded up to the next second boundary.
|
|
*
|
|
* @param[in] n number of system ticks
|
|
* @return The number of seconds.
|
|
*
|
|
* @api
|
|
*/
|
|
#define ST2S(n) (((n) + CH_CFG_ST_FREQUENCY - 1UL) / CH_CFG_ST_FREQUENCY)
|
|
|
|
/**
|
|
* @brief System ticks to milliseconds.
|
|
* @details Converts from system ticks number to milliseconds.
|
|
* @note The result is rounded up to the next millisecond boundary.
|
|
*
|
|
* @param[in] n number of system ticks
|
|
* @return The number of milliseconds.
|
|
*
|
|
* @api
|
|
*/
|
|
#define ST2MS(n) (((n) * 1000UL + CH_CFG_ST_FREQUENCY - 1UL) / \
|
|
CH_CFG_ST_FREQUENCY)
|
|
|
|
/**
|
|
* @brief System ticks to microseconds.
|
|
* @details Converts from system ticks number to microseconds.
|
|
* @note The result is rounded up to the next microsecond boundary.
|
|
*
|
|
* @param[in] n number of system ticks
|
|
* @return The number of microseconds.
|
|
*
|
|
* @api
|
|
*/
|
|
#define ST2US(n) (((n) * 1000000UL + CH_CFG_ST_FREQUENCY - 1UL) / \
|
|
CH_CFG_ST_FREQUENCY)
|
|
/** @} */
|
|
|
|
/*===========================================================================*/
|
|
/* External declarations. */
|
|
/*===========================================================================*/
|
|
|
|
/*
|
|
* Virtual Timers APIs.
|
|
*/
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
void _vt_init(void);
|
|
void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,
|
|
vtfunc_t vtfunc, void *par);
|
|
void chVTDoResetI(virtual_timer_t *vtp);
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
/*===========================================================================*/
|
|
/* Module inline functions. */
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @brief Initializes a @p virtual_timer_t 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 virtual_timer_t structure pointer
|
|
*
|
|
* @init
|
|
*/
|
|
static inline void chVTObjectInit(virtual_timer_t *vtp) {
|
|
|
|
vtp->vt_func = NULL;
|
|
}
|
|
|
|
/**
|
|
* @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.
|
|
* @note This function can be called from any context but its atomicity
|
|
* is not guaranteed on architectures whose word size is less than
|
|
* @p systime_t size.
|
|
*
|
|
* @return The system time in ticks.
|
|
*
|
|
* @xclass
|
|
*/
|
|
static inline systime_t chVTGetSystemTimeX(void) {
|
|
|
|
#if CH_CFG_ST_TIMEDELTA == 0
|
|
return ch.vtlist.vt_systime;
|
|
#else /* CH_CFG_ST_TIMEDELTA > 0 */
|
|
return port_timer_get_time();
|
|
#endif /* CH_CFG_ST_TIMEDELTA > 0 */
|
|
}
|
|
|
|
/**
|
|
* @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 = chVTGetSystemTimeX();
|
|
chSysUnlock();
|
|
|
|
return systime;
|
|
}
|
|
|
|
/**
|
|
* @brief Returns the elapsed time since the specified start time.
|
|
*
|
|
* @param[in] start start time
|
|
* @return The elapsed time.
|
|
*
|
|
* @xclass
|
|
*/
|
|
static inline systime_t chVTTimeElapsedSinceX(systime_t start) {
|
|
|
|
return chVTGetSystemTimeX() - start;
|
|
}
|
|
|
|
/**
|
|
* @brief Checks if the specified time is within the specified time window.
|
|
* @note When start==end then the function returns always true because the
|
|
* whole time range is specified.
|
|
* @note This function can be called from any context.
|
|
*
|
|
* @param[in] time the time to be verified
|
|
* @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.
|
|
*
|
|
* @xclass
|
|
*/
|
|
static inline bool chVTIsTimeWithinX(systime_t time,
|
|
systime_t start,
|
|
systime_t end) {
|
|
|
|
return (bool)((time - start) < (end - start));
|
|
}
|
|
|
|
/**
|
|
* @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.
|
|
*
|
|
* @xclass
|
|
*/
|
|
static inline bool chVTIsSystemTimeWithinX(systime_t start, systime_t end) {
|
|
|
|
return chVTIsTimeWithinX(chVTGetSystemTimeX(), 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 chVTIsTimeWithinX(chVTGetSystemTime(), start, end);
|
|
}
|
|
|
|
/**
|
|
* @brief Returns @p true if the specified timer is armed.
|
|
* @pre The timer must have been initialized using @p chVTObjectInit()
|
|
* or @p chVTDoSetI().
|
|
*
|
|
* @param[in] vtp the @p virtual_timer_t structure pointer
|
|
* @return true if the timer is armed.
|
|
*
|
|
* @iclass
|
|
*/
|
|
static inline bool chVTIsArmedI(virtual_timer_t *vtp) {
|
|
|
|
chDbgCheckClassI();
|
|
|
|
return (bool)(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 chVTDoSetI().
|
|
*
|
|
* @param[in] vtp the @p virtual_timer_t structure pointer
|
|
* @return true if the timer is armed.
|
|
*
|
|
* @api
|
|
*/
|
|
static inline bool chVTIsArmed(virtual_timer_t *vtp) {
|
|
bool b;
|
|
|
|
chSysLock();
|
|
b = chVTIsArmedI(vtp);
|
|
chSysUnlock();
|
|
|
|
return b;
|
|
}
|
|
|
|
/**
|
|
* @brief Disables a Virtual Timer.
|
|
* @note The timer is first checked and disabled only if armed.
|
|
* @pre The timer must have been initialized using @p chVTObjectInit()
|
|
* or @p chVTDoSetI().
|
|
*
|
|
* @param[in] vtp the @p virtual_timer_t structure pointer
|
|
*
|
|
* @iclass
|
|
*/
|
|
static inline void chVTResetI(virtual_timer_t *vtp) {
|
|
|
|
if (chVTIsArmedI(vtp)) {
|
|
chVTDoResetI(vtp);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Disables a Virtual Timer.
|
|
* @note The timer is first checked and disabled only if armed.
|
|
* @pre The timer must have been initialized using @p chVTObjectInit()
|
|
* or @p chVTDoSetI().
|
|
*
|
|
* @param[in] vtp the @p virtual_timer_t structure pointer
|
|
*
|
|
* @api
|
|
*/
|
|
static inline void chVTReset(virtual_timer_t *vtp) {
|
|
|
|
chSysLock();
|
|
chVTResetI(vtp);
|
|
chSysUnlock();
|
|
}
|
|
|
|
/**
|
|
* @brief Enables a virtual timer.
|
|
* @details If the virtual timer was already enabled then it is re-enabled
|
|
* using the new parameters.
|
|
* @pre The timer must have been initialized using @p chVTObjectInit()
|
|
* or @p chVTDoSetI().
|
|
*
|
|
* @param[in] vtp the @p virtual_timer_t structure pointer
|
|
* @param[in] delay the number of ticks before the operation timeouts, the
|
|
* special values are handled as follow:
|
|
* - @a TIME_INFINITE is allowed but interpreted as a
|
|
* normal time specification.
|
|
* - @a TIME_IMMEDIATE this value is not allowed.
|
|
* .
|
|
* @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(virtual_timer_t *vtp, systime_t delay,
|
|
vtfunc_t vtfunc, void *par) {
|
|
|
|
chVTResetI(vtp);
|
|
chVTDoSetI(vtp, delay, vtfunc, par);
|
|
}
|
|
|
|
/**
|
|
* @brief Enables a virtual timer.
|
|
* @details If the virtual timer was already enabled then it is re-enabled
|
|
* using the new parameters.
|
|
* @pre The timer must have been initialized using @p chVTObjectInit()
|
|
* or @p chVTDoSetI().
|
|
*
|
|
* @param[in] vtp the @p virtual_timer_t structure pointer
|
|
* @param[in] delay the number of ticks before the operation timeouts, the
|
|
* special values are handled as follow:
|
|
* - @a TIME_INFINITE is allowed but interpreted as a
|
|
* normal time specification.
|
|
* - @a TIME_IMMEDIATE this value is not allowed.
|
|
* .
|
|
* @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(virtual_timer_t *vtp, systime_t delay,
|
|
vtfunc_t vtfunc, void *par) {
|
|
|
|
chSysLock();
|
|
chVTSetI(vtp, delay, vtfunc, par);
|
|
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) {
|
|
|
|
chDbgCheckClassI();
|
|
|
|
#if CH_CFG_ST_TIMEDELTA == 0
|
|
ch.vtlist.vt_systime++;
|
|
if (&ch.vtlist != (virtual_timers_list_t *)ch.vtlist.vt_next) {
|
|
/* The list is not empty, processing elements on top.*/
|
|
--ch.vtlist.vt_next->vt_delta;
|
|
while (ch.vtlist.vt_next->vt_delta == (systime_t)0) {
|
|
virtual_timer_t *vtp;
|
|
vtfunc_t fn;
|
|
|
|
vtp = ch.vtlist.vt_next;
|
|
fn = vtp->vt_func;
|
|
vtp->vt_func = NULL;
|
|
vtp->vt_next->vt_prev = (virtual_timer_t *)&ch.vtlist;
|
|
ch.vtlist.vt_next = vtp->vt_next;
|
|
chSysUnlockFromISR();
|
|
fn(vtp->vt_par);
|
|
chSysLockFromISR();
|
|
}
|
|
}
|
|
#else /* CH_CFG_ST_TIMEDELTA > 0 */
|
|
virtual_timer_t *vtp;
|
|
systime_t now, delta;
|
|
|
|
/* First timer to be processed.*/
|
|
vtp = ch.vtlist.vt_next;
|
|
now = chVTGetSystemTimeX();
|
|
|
|
/* All timers within the time window are triggered and removed,
|
|
note that the loop is stopped by the timers header having
|
|
"ch.vtlist.vt_delta == (systime_t)-1" which is greater than
|
|
all deltas.*/
|
|
while (vtp->vt_delta <= (systime_t)(now - ch.vtlist.vt_lasttime)) {
|
|
vtfunc_t fn;
|
|
|
|
/* The "last time" becomes this timer's expiration time.*/
|
|
ch.vtlist.vt_lasttime += vtp->vt_delta;
|
|
|
|
vtp->vt_next->vt_prev = (virtual_timer_t *)&ch.vtlist;
|
|
ch.vtlist.vt_next = vtp->vt_next;
|
|
fn = vtp->vt_func;
|
|
vtp->vt_func = NULL;
|
|
|
|
/* if the list becomes empty then the timer is stopped.*/
|
|
if (ch.vtlist.vt_next == (virtual_timer_t *)&ch.vtlist) {
|
|
port_timer_stop_alarm();
|
|
}
|
|
|
|
/* Leaving the system critical zone in order to execute the callback
|
|
and in order to give a preemption chance to higher priority
|
|
interrupts.*/
|
|
chSysUnlockFromISR();
|
|
|
|
/* The callback is invoked outside the kernel critical zone.*/
|
|
fn(vtp->vt_par);
|
|
|
|
/* Re-entering the critical zone in order to continue the exploration
|
|
of the list.*/
|
|
chSysLockFromISR();
|
|
|
|
/* Next element in the list, the current time could have advanced so
|
|
recalculating the time window.*/
|
|
vtp = ch.vtlist.vt_next;
|
|
now = chVTGetSystemTimeX();
|
|
}
|
|
|
|
/* if the list is empty, nothing else to do.*/
|
|
if (ch.vtlist.vt_next == (virtual_timer_t *)&ch.vtlist) {
|
|
return;
|
|
}
|
|
|
|
/* Recalculating the next alarm time.*/
|
|
delta = ch.vtlist.vt_lasttime + vtp->vt_delta - now;
|
|
if (delta < (systime_t)CH_CFG_ST_TIMEDELTA) {
|
|
delta = (systime_t)CH_CFG_ST_TIMEDELTA;
|
|
}
|
|
port_timer_set_alarm(now + delta);
|
|
|
|
chDbgAssert((chVTGetSystemTimeX() - ch.vtlist.vt_lasttime) <=
|
|
(now + delta - ch.vtlist.vt_lasttime),
|
|
"exceeding delta");
|
|
#endif /* CH_CFG_ST_TIMEDELTA > 0 */
|
|
}
|
|
|
|
#endif /* _CHVT_H_ */
|
|
|
|
/** @} */
|