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Diffstat (limited to 'os/rt/include/chvt.h')
| -rw-r--r-- | os/rt/include/chvt.h | 495 |
1 files changed, 495 insertions, 0 deletions
diff --git a/os/rt/include/chvt.h b/os/rt/include/chvt.h new file mode 100644 index 000000000..471ba22ee --- /dev/null +++ b/os/rt/include/chvt.h @@ -0,0 +1,495 @@ +/*
+ 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. */
+/*===========================================================================*/
+
+/**
+ * @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 greated 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
+#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) - 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))
+
+/**
+ * @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) - 1UL) / CH_CFG_ST_FREQUENCY) + 1UL)
+
+/**
+ * @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) - 1UL) / (CH_CFG_ST_FREQUENCY / 1000UL)) + 1UL)
+
+/**
+ * @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) - 1UL) / (CH_CFG_ST_FREQUENCY / 1000000UL)) + 1UL)
+/** @} */
+
+/*===========================================================================*/
+/* 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
+ * @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) {
+
+ 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, 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) {
+ 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 = (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 = 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 = (virtual_timer_t *)&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_ST_TIMEDELTA > 0 */
+}
+
+#endif /* _CHVT_H_ */
+
+/** @} */
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