diff options
Diffstat (limited to 'os/kernel/include')
| -rw-r--r-- | os/kernel/include/ch.h | 4 | ||||
| -rw-r--r-- | os/kernel/include/chrt.h | 98 | ||||
| -rw-r--r-- | os/kernel/include/chvt.h | 17 |
3 files changed, 39 insertions, 80 deletions
diff --git a/os/kernel/include/ch.h b/os/kernel/include/ch.h index c7e3ec80d..1d1e053ce 100644 --- a/os/kernel/include/ch.h +++ b/os/kernel/include/ch.h @@ -109,11 +109,11 @@ typedef struct thread thread_t; #include "chtypes.h"
#include "chdebug.h"
#include "chcore.h"
+#include "chsys.h"
+#include "chvt.h"
#include "chrt.h"
#include "chthreads.h"
#include "chlists.h"
-#include "chsys.h"
-#include "chvt.h"
#include "chschd.h"
#include "chregistry.h"
#include "chsem.h"
diff --git a/os/kernel/include/chrt.h b/os/kernel/include/chrt.h index bac5635dc..dfb2a4277 100644 --- a/os/kernel/include/chrt.h +++ b/os/kernel/include/chrt.h @@ -22,7 +22,7 @@ * @file chrt.h
* @brief Real Time Counter and Measurement module macros and structures.
*
- * @addtogroup rt_measurement
+ * @addtogroup realtime_counter
* @{
*/
@@ -45,17 +45,29 @@ /* Derived constants and error checks. */
/*===========================================================================*/
-#if !CH_PORT_SUPPORTS_RT
-#error "the port layer does not support the realtime counter functionality"
-#endif
-
/*===========================================================================*/
/* Module data structures and types. */
/*===========================================================================*/
+/**
+ * @brief Type of a Time Measurement object.
+ * @note The maximum measurable time period depends on the implementation
+ * of the realtime counter and its clock frequency.
+ * @note The measurement is not 100% cycle-accurate, it can be in excess
+ * of few cycles depending on the compiler and target architecture.
+ * @note Interrupts can affect measurement if the measurement is performed
+ * with interrupts enabled.
+ */
+typedef struct {
+ rtcnt_t last; /**< @brief Last measurement. */
+ rtcnt_t worst; /**< @brief Worst measurement. */
+ rtcnt_t best; /**< @brief Best measurement. */
+} time_measurement_t;
+
/*===========================================================================*/
/* Module macros. */
/*===========================================================================*/
+
/**
* @name Time conversion utilities for the realtime counter
* @{
@@ -137,6 +149,11 @@ #ifdef __cplusplus
extern "C" {
#endif
+ bool chRTIsCounterWithin(rtcnt_t start, rtcnt_t end);
+ void chRTPolledDelay(rtcnt_t cycles);
+ void chRTTimeMeasurementObjectInit(time_measurement_t *tmp);
+ NOINLINE void chRTTimeMeasurementStartX(time_measurement_t *tmp);
+ NOINLINE void chRTTimeMeasurementStopX(time_measurement_t *tmp);
#ifdef __cplusplus
}
#endif
@@ -154,74 +171,13 @@ extern "C" { *
* @special
*/
-static inline rtcnt_t chRTGetCounterValue(void) {
+static inline rtcnt_t chRTGetCounterValueX(void) {
+#if !CH_PORT_SUPPORTS_RT
return port_rt_get_counter_value();
-}
-
-/**
- * @brief Realtime window test.
- * @details This function verifies if the current realtime counter value
- * lies within the specified range or not. The test takes care
- * of the realtime counter wrapping to zero on overflow.
- * @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.
- *
- * @par Example 1
- * Example of a guarded loop using the realtime counter. The loop implements
- * a timeout after one second.
- * @code
- * rtcnt_t start = chRTGetCounterValue();
- * rtcnt_t timeout = start + S2RTC(1);
- * while (my_condition) {
- * if (!chRTIsCounterWithin(start, timeout)
- * return TIMEOUT;
- * // Do something.
- * }
- * // Continue.
- * @endcode
- *
- * @par Example 2
- * Example of a loop that lasts exactly 50 microseconds.
- * @code
- * rtcnt_t start = chRTGetCounterValue();
- * rtcnt_t timeout = start + US2RTC(50);
- * while (chRTIsCounterWithin(start, timeout)) {
- * // Do something.
- * }
- * // Continue.
- * @endcode
- *
- * @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.
- *
- * @special
- */
-static inline bool chRTIsCounterWithin(rtcnt_t start, rtcnt_t end) {
- rtcnt_t now = chRTGetCounterValue();
-
- return end > start ? (now >= start) && (now < end) :
- (now >= start) || (now < end);
-}
-
-/**
- * @brief Polled delay.
- * @note The real delay is always few cycles in excess of the specified
- * value.
- * @note This function can be called from any context.
- *
- * @param[in] ticks number of ticks
- *
- * @special
- */
-static inline void chRTPolledDelay(rtcnt_t ticks) {
- rtcnt_t start = chRTGetCounterValue();
- rtcnt_t timeout = start + (ticks);
- while (chRTIsCounterWithin(start, timeout))
- ;
+#else
+ return chVTGetSystemTimeX();
+#endif
}
#endif /* CH_CFG_USE_RT */
diff --git a/os/kernel/include/chvt.h b/os/kernel/include/chvt.h index 39f03b995..a53a3f502 100644 --- a/os/kernel/include/chvt.h +++ b/os/kernel/include/chvt.h @@ -202,14 +202,15 @@ static inline void chVTObjectInit(virtual_timer_t *vtp) { * @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.
*
- * @iclass
+ * @special
*/
-static inline systime_t chVTGetSystemTimeI(void) {
-
- chDbgCheckClassI();
+static inline systime_t chVTGetSystemTimeX(void) {
#if CH_CFG_TIMEDELTA == 0
return vtlist.vt_systime;
@@ -232,7 +233,7 @@ static inline systime_t chVTGetSystemTime(void) { systime_t systime;
chSysLock();
- systime = chVTGetSystemTimeI();
+ systime = chVTGetSystemTimeX();
chSysUnlock();
return systime;
}
@@ -252,7 +253,9 @@ static inline systime_t chVTGetSystemTime(void) { */
static inline bool chVTIsSystemTimeWithinI(systime_t start, systime_t end) {
- return chVTIsTimeWithin(chVTGetSystemTimeI(), start, end);
+ chDbgCheckClassI();
+
+ return chVTIsTimeWithin(chVTGetSystemTimeX(), start, end);
}
/**
@@ -395,7 +398,7 @@ static inline void chVTDoTickI(void) { }
#else /* CH_CFG_TIMEDELTA > 0 */
virtual_timer_t *vtp;
- systime_t now = chVTGetSystemTimeI();
+ systime_t now = chVTGetSystemTimeX();
systime_t delta = now - vtlist.vt_lasttime;
while ((vtp = vtlist.vt_next)->vt_delta <= delta) {
|