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tinySA/os/rt/include/chvt.h

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/*
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 <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. */
/*===========================================================================*/
/*===========================================================================*/
/* Module pre-compile time settings. */
/*===========================================================================*/
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
#if CH_CFG_ST_FREQUENCY <= 0
#error "invalid CH_CFG_ST_FREQUENCY specified"
#endif
#if (CH_CFG_TIMEDELTA < 0) || (CH_CFG_TIMEDELTA == 1)
#error "invalid CH_CFG_TIMEDELTA specified"
#endif
#if (CH_CFG_TIMEDELTA > 0) && (CH_CFG_TIME_QUANTUM > 0)
#error "CH_CFG_TIME_QUANTUM not supported in tickless mode"
#endif
#if (CH_CFG_TIMEDELTA > 0) && CH_DBG_THREADS_PROFILING
#error "CH_DBG_THREADS_PROFILING not supported in tickless mode"
#endif
/*===========================================================================*/
/* Module data structures and types. */
/*===========================================================================*/
/**
* @brief Type of a Virtual Timer callback function.
*/
typedef void (*vtfunc_t)(void *);
/**
* @brief Type of a Virtual Timer structure.
*/
typedef struct virtual_timer virtual_timer_t;
/**
* @extends virtual_timers_list_t
*
* @brief Virtual Timer descriptor structure.
*/
struct virtual_timer {
virtual_timer_t *vt_next; /**< @brief Next timer in the list. */
virtual_timer_t *vt_prev; /**< @brief Previous timer in the list. */
systime_t vt_delta; /**< @brief Time delta before timeout. */
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)((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) - 1UL) / 1000UL) + 1UL))
/**
* @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) - 1UL) / 1000000UL) + 1UL))
/** @} */
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
/*
* Virtual Timers APIs.
*/
#ifdef __cplusplus
extern "C" {
#endif
void _vt_init(void);
bool chVTIsTimeWithinX(systime_t time, systime_t start, systime_t end);
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
* @systime_t size.
*
* @return The system time in ticks.
*
* @xclass
*/
static inline systime_t chVTGetSystemTimeX(void) {
#if CH_CFG_TIMEDELTA == 0
return ch.vtlist.vt_systime;
#else /* CH_CFG_TIMEDELTA > 0 */
return port_timer_get_time();
#endif /* CH_CFG_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 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) {
chDbgCheckClassI();
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 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.
* @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.
* @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_TIMEDELTA == 0
ch.vtlist.vt_systime++;
if (&ch.vtlist != (virtual_timers_list_t *)ch.vtlist.vt_next) {
virtual_timer_t *vtp;
--ch.vtlist.vt_next->vt_delta;
while (!(vtp = ch.vtlist.vt_next)->vt_delta) {
vtfunc_t fn = vtp->vt_func;
vtp->vt_func = (vtfunc_t)NULL;
vtp->vt_next->vt_prev = (void *)&ch.vtlist;
ch.vtlist.vt_next = vtp->vt_next;
chSysUnlockFromISR();
fn(vtp->vt_par);
chSysLockFromISR();
}
}
#else /* CH_CFG_TIMEDELTA > 0 */
virtual_timer_t *vtp;
systime_t now = chVTGetSystemTimeX();
systime_t delta = now - ch.vtlist.vt_lasttime;
while ((vtp = ch.vtlist.vt_next)->vt_delta <= delta) {
delta -= vtp->vt_delta;
ch.vtlist.vt_lasttime += vtp->vt_delta;
vtfunc_t fn = vtp->vt_func;
vtp->vt_func = (vtfunc_t)NULL;
vtp->vt_next->vt_prev = (void *)&ch.vtlist;
ch.vtlist.vt_next = vtp->vt_next;
chSysUnlockFromISR();
fn(vtp->vt_par);
chSysLockFromISR();
}
if (&ch.vtlist == (virtual_timers_list_t *)ch.vtlist.vt_next) {
/* The list is empty, no tick event needed so the alarm timer
is stopped.*/
port_timer_stop_alarm();
}
else {
/* Updating the alarm to the next deadline.*/
port_timer_set_alarm(now + vtp->vt_delta);
}
#endif /* CH_CFG_TIMEDELTA > 0 */
}
#endif /* _CHVT_H_ */
/** @} */
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