diff options
Diffstat (limited to 'os/kernel/include/chvt.h')
| -rw-r--r-- | os/kernel/include/chvt.h | 294 |
1 files changed, 198 insertions, 96 deletions
diff --git a/os/kernel/include/chvt.h b/os/kernel/include/chvt.h index 97a04d81e..8aa8c5840 100644 --- a/os/kernel/include/chvt.h +++ b/os/kernel/include/chvt.h @@ -20,7 +20,7 @@ /**
* @file chvt.h
- * @brief Time macros and structures.
+ * @brief Time and Virtual Timers module macros and structures.
*
* @addtogroup time
* @{
@@ -29,6 +29,63 @@ #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;
+
+/**
+ * @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. */
+};
+
+/**
+ * @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;
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
/**
* @name Time conversion utilities
* @{
@@ -73,97 +130,124 @@ ((systime_t)((((usec) * CH_FREQUENCY - 1L) / 1000000L) + 1L))
/** @} */
-/**
- * @brief Virtual Timer callback function.
- */
-typedef void (*vtfunc_t)(void *);
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
-/**
- * @brief Virtual Timer structure type.
+extern VTList vtlist;
+
+/*
+ * Virtual Timers APIs.
*/
-typedef struct VirtualTimer VirtualTimer;
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void _vt_init(void);
+ bool_t chVTIsSystemTimeWithin(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. */
+/*===========================================================================*/
/**
- * @extends VTList
+ * @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.
*
- * @brief Virtual Timer descriptor structure.
+ * @return The system time in ticks.
+ *
+ * @iclass
*/
-struct VirtualTimer {
- VirtualTimer *vt_next; /**< @brief Next timer in the delta
- list. */
- VirtualTimer *vt_prev; /**< @brief Previous timer in the delta
- list. */
- systime_t vt_time; /**< @brief Time delta before timeout. */
- vtfunc_t vt_func; /**< @brief Timer callback function
- pointer. */
- void *vt_par; /**< @brief Timer callback function
- parameter. */
-};
+static inline systime_t chVTGetSystemTimeI(void) {
+
+ chDbgCheckClassI();
+
+ return vtlist.vt_time;
+}
/**
- * @brief Virtual timers list header.
- * @note The delta 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.
+ * @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
*/
-typedef struct {
- VirtualTimer *vt_next; /**< @brief Next timer in the delta
- list. */
- VirtualTimer *vt_prev; /**< @brief Last timer in the delta
- list. */
- systime_t vt_time; /**< @brief Must be initialized to -1. */
- volatile systime_t vt_systime; /**< @brief System Time counter. */
-} VTList;
+static inline systime_t chVTGetSystemTime(void) {
+ systime_t systime;
+
+ chSysLock()
+ systime = chVTGetSystemTimeI();
+ chSysUnlock();
+ return systime;
+}
/**
- * @name Macro Functions
- * @{
+ * @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 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.
+ * @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
*/
-#define chVTDoTickI() { \
- vtlist.vt_systime++; \
- if (&vtlist != (VTList *)vtlist.vt_next) { \
- VirtualTimer *vtp; \
- \
- --vtlist.vt_next->vt_time; \
- while (!(vtp = vtlist.vt_next)->vt_time) { \
- vtfunc_t fn = vtp->vt_func; \
- vtp->vt_func = (vtfunc_t)NULL; \
- vtp->vt_next->vt_prev = (void *)&vtlist; \
- (&vtlist)->vt_next = vtp->vt_next; \
- chSysUnlockFromIsr(); \
- fn(vtp->vt_par); \
- chSysLockFromIsr(); \
- } \
- } \
+static inline bool_t chVTIsArmedI(VirtualTimer *vtp) {
+
+ chDbgCheckClassI();
+
+ return (bool_t)(vtp->vt_func != NULL);
}
/**
- * @brief Returns @p TRUE if the specified timer is armed.
+ * @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
*/
-#define chVTIsArmedI(vtp) ((vtp)->vt_func != NULL)
+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.
- * @note The associated function is invoked from interrupt context.
*
* @param[out] vtp the @p VirtualTimer structure pointer
- * @param[in] time 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] 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.
@@ -172,56 +256,74 @@ typedef struct { *
* @api
*/
-#define chVTSet(vtp, time, vtfunc, par) { \
- chSysLock(); \
- chVTSetI(vtp, time, vtfunc, par); \
- chSysUnlock(); \
+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.
- * @note The timer is first checked and disabled only if armed.
+ * @pre The timer must be in armed state before calling this function.
*
* @param[in] vtp the @p VirtualTimer structure pointer
*
- * @api
+ * @iclass
*/
-#define chVTReset(vtp) { \
- chSysLock(); \
- if (chVTIsArmedI(vtp)) \
- chVTResetI(vtp); \
- chSysUnlock(); \
+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 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 is designed to work with the @p chThdSleepUntil().
+ * @brief Disables a Virtual Timer.
+ * @note The timer is first checked and disabled only if armed.
*
- * @return The system time in ticks.
+ * @param[in] vtp the @p VirtualTimer structure pointer
*
* @api
*/
-#define chTimeNow() (vtlist.vt_systime)
-/** @} */
+static inline void chVTReset(VirtualTimer *vtp) {
-extern VTList vtlist;
+ chSysLock();
+ chVTResetI(vtp);
+ chSysUnlock();
+}
-/*
- * Virtual Timers APIs.
+/**
+ * @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
*/
-#ifdef __cplusplus
-extern "C" {
-#endif
- void _vt_init(void);
- void chVTSetI(VirtualTimer *vtp, systime_t time, vtfunc_t vtfunc, void *par);
- void chVTResetI(VirtualTimer *vtp);
- bool_t chTimeIsWithin(systime_t start, systime_t end);
-#ifdef __cplusplus
+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
#endif /* _CHVT_H_ */
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