You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
493 lines
16 KiB
C
493 lines
16 KiB
C
4 years ago
|
/*
|
||
|
|
ChibiOS - Copyright (C) 2006..2018 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 rt/include/chtime.h
|
||
|
|
* @brief Time and intervals macros and structures.
|
||
|
|
*
|
||
|
|
* @addtogroup time_intervals
|
||
|
|
* @details This module is responsible for handling of system time and time
|
||
|
|
* intervals.
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef CHTIME_H
|
||
|
|
#define CHTIME_H
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Module constants. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @name Special time constants
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/**
|
||
|
|
* @brief Zero interval 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 ((sysinterval_t)0)
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Infinite interval 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 ((sysinterval_t)-1)
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Maximum interval constant usable as timeout.
|
||
|
|
*/
|
||
|
|
#define TIME_MAX_INTERVAL ((sysinterval_t)-2)
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Maximum system of system time before it wraps.
|
||
|
|
*/
|
||
|
|
#define TIME_MAX_SYSTIME ((systime_t)-1)
|
||
|
|
/** @} */
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Module pre-compile time settings. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Derived constants and error checks. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
#if (CH_CFG_ST_RESOLUTION != 16) && (CH_CFG_ST_RESOLUTION != 32) && \
|
||
|
|
(CH_CFG_ST_RESOLUTION != 64)
|
||
|
|
#error "invalid CH_CFG_ST_RESOLUTION specified, must be 16, 32 or 64"
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if CH_CFG_ST_FREQUENCY < 10
|
||
|
|
#error "invalid CH_CFG_ST_FREQUENCY specified, must be >= 10"
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if (CH_CFG_INTERVALS_SIZE != 16) && (CH_CFG_INTERVALS_SIZE != 32) && \
|
||
|
|
(CH_CFG_INTERVALS_SIZE != 64)
|
||
|
|
#error "invalid CH_CFG_INTERVALS_SIZE specified, must be 16, 32 or 64"
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if (CH_CFG_TIME_TYPES_SIZE != 16) && (CH_CFG_TIME_TYPES_SIZE != 32)
|
||
|
|
#error "invalid CH_CFG_TIME_TYPES_SIZE specified, must be 16 or 32"
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if CH_CFG_INTERVALS_SIZE < CH_CFG_ST_RESOLUTION
|
||
|
|
#error "CH_CFG_INTERVALS_SIZE must be >= CH_CFG_ST_RESOLUTION"
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Module data structures and types. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Type of system time.
|
||
|
|
* @note It is selectable in configuration between 16, 32 or 64 bits.
|
||
|
|
*/
|
||
|
|
#if (CH_CFG_ST_RESOLUTION == 64) || defined(__DOXYGEN__)
|
||
|
|
typedef uint64_t systime_t;
|
||
|
|
#elif CH_CFG_ST_RESOLUTION == 32
|
||
|
|
typedef uint32_t systime_t;
|
||
|
|
#elif CH_CFG_ST_RESOLUTION == 16
|
||
|
|
typedef uint16_t systime_t;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Type of time interval.
|
||
|
|
* @note It is selectable in configuration between 16, 32 or 64 bits.
|
||
|
|
*/
|
||
|
|
#if (CH_CFG_INTERVALS_SIZE == 64) || defined(__DOXYGEN__)
|
||
|
|
typedef uint64_t sysinterval_t;
|
||
|
|
#elif CH_CFG_INTERVALS_SIZE == 32
|
||
|
|
typedef uint32_t sysinterval_t;
|
||
|
|
#elif CH_CFG_INTERVALS_SIZE == 16
|
||
|
|
typedef uint16_t sysinterval_t;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if (CH_CFG_TIME_TYPES_SIZE == 32) || defined(__DOXYGEN__)
|
||
|
|
/**
|
||
|
|
* @brief Type of seconds.
|
||
|
|
* @note It is selectable in configuration between 16 or 32 bits.
|
||
|
|
*/
|
||
|
|
typedef uint32_t time_secs_t;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Type of milliseconds.
|
||
|
|
* @note It is selectable in configuration between 16 or 32 bits.
|
||
|
|
*/
|
||
|
|
typedef uint32_t time_msecs_t;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Type of microseconds.
|
||
|
|
* @note It is selectable in configuration between 16 or 32 bits.
|
||
|
|
*/
|
||
|
|
typedef uint32_t time_usecs_t;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Type of time conversion variable.
|
||
|
|
* @note This type must have double width than other time types, it is
|
||
|
|
* only used internally for conversions.
|
||
|
|
*/
|
||
|
|
typedef uint64_t time_conv_t;
|
||
|
|
|
||
|
|
#else
|
||
|
|
typedef uint16_t time_secs_t;
|
||
|
|
typedef uint16_t time_msecs_t;
|
||
|
|
typedef uint16_t time_usecs_t;
|
||
|
|
typedef uint32_t time_conv_t;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Module macros. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @name Fast time conversion utilities
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/**
|
||
|
|
* @brief Seconds to time interval.
|
||
|
|
* @details Converts from seconds to system ticks number.
|
||
|
|
* @note The result is rounded upward to the next tick boundary.
|
||
|
|
* @note Use of this macro for large values is not secure because
|
||
|
|
* integer overflows, make sure your value can be correctly
|
||
|
|
* converted.
|
||
|
|
*
|
||
|
|
* @param[in] secs number of seconds
|
||
|
|
* @return The number of ticks.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
#define TIME_S2I(secs) \
|
||
|
|
((sysinterval_t)((time_conv_t)(secs) * (time_conv_t)CH_CFG_ST_FREQUENCY))
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Milliseconds to time interval.
|
||
|
|
* @details Converts from milliseconds to system ticks number.
|
||
|
|
* @note The result is rounded upward to the next tick boundary.
|
||
|
|
* @note Use of this macro for large values is not secure because
|
||
|
|
* integer overflows, make sure your value can be correctly
|
||
|
|
* converted.
|
||
|
|
*
|
||
|
|
* @param[in] msecs number of milliseconds
|
||
|
|
* @return The number of ticks.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
#define TIME_MS2I(msecs) \
|
||
|
|
((sysinterval_t)((((time_conv_t)(msecs) * \
|
||
|
|
(time_conv_t)CH_CFG_ST_FREQUENCY) + \
|
||
|
|
(time_conv_t)999) / (time_conv_t)1000))
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Microseconds to time interval.
|
||
|
|
* @details Converts from microseconds to system ticks number.
|
||
|
|
* @note The result is rounded upward to the next tick boundary.
|
||
|
|
* @note Use of this macro for large values is not secure because
|
||
|
|
* integer overflows, make sure your value can be correctly
|
||
|
|
* converted.
|
||
|
|
*
|
||
|
|
* @param[in] usecs number of microseconds
|
||
|
|
* @return The number of ticks.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
#define TIME_US2I(usecs) \
|
||
|
|
((sysinterval_t)((((time_conv_t)(usecs) * \
|
||
|
|
(time_conv_t)CH_CFG_ST_FREQUENCY) + \
|
||
|
|
(time_conv_t)999999) / (time_conv_t)1000000))
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Time interval to seconds.
|
||
|
|
* @details Converts from system ticks number to seconds.
|
||
|
|
* @note The result is rounded up to the next second boundary.
|
||
|
|
* @note Use of this macro for large values is not secure because
|
||
|
|
* integer overflows, make sure your value can be correctly
|
||
|
|
* converted.
|
||
|
|
*
|
||
|
|
* @param[in] interval interval in ticks
|
||
|
|
* @return The number of seconds.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
#define TIME_I2S(interval) \
|
||
|
|
(time_secs_t)(((time_conv_t)(interval) + \
|
||
|
|
(time_conv_t)CH_CFG_ST_FREQUENCY - \
|
||
|
|
(time_conv_t)1) / (time_conv_t)CH_CFG_ST_FREQUENCY)
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Time interval to milliseconds.
|
||
|
|
* @details Converts from system ticks number to milliseconds.
|
||
|
|
* @note The result is rounded up to the next millisecond boundary.
|
||
|
|
* @note Use of this macro for large values is not secure because
|
||
|
|
* integer overflows, make sure your value can be correctly
|
||
|
|
* converted.
|
||
|
|
*
|
||
|
|
* @param[in] interval interval in ticks
|
||
|
|
* @return The number of milliseconds.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
#define TIME_I2MS(interval) \
|
||
|
|
(time_msecs_t)((((time_conv_t)(interval) * (time_conv_t)1000) + \
|
||
|
|
(time_conv_t)CH_CFG_ST_FREQUENCY - (time_conv_t)1) / \
|
||
|
|
(time_conv_t)CH_CFG_ST_FREQUENCY)
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Time interval to microseconds.
|
||
|
|
* @details Converts from system ticks number to microseconds.
|
||
|
|
* @note The result is rounded up to the next microsecond boundary.
|
||
|
|
* @note Use of this macro for large values is not secure because
|
||
|
|
* integer overflows, make sure your value can be correctly
|
||
|
|
* converted.
|
||
|
|
*
|
||
|
|
* @param[in] interval interval in ticks
|
||
|
|
* @return The number of microseconds.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
#define TIME_I2US(interval) \
|
||
|
|
(time_msecs_t)((((time_conv_t)(interval) * (time_conv_t)1000000) + \
|
||
|
|
(time_conv_t)CH_CFG_ST_FREQUENCY - (time_conv_t)1) / \
|
||
|
|
(time_conv_t)CH_CFG_ST_FREQUENCY)
|
||
|
|
/** @} */
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* External declarations. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Virtual Timers APIs.
|
||
|
|
*/
|
||
|
|
#ifdef __cplusplus
|
||
|
|
extern "C" {
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Module inline functions. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @name Secure time conversion utilities
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/**
|
||
|
|
* @brief Seconds to time interval.
|
||
|
|
* @details Converts from seconds to system ticks number.
|
||
|
|
* @note The result is rounded upward to the next tick boundary.
|
||
|
|
*
|
||
|
|
* @param[in] secs number of seconds
|
||
|
|
* @return The number of ticks.
|
||
|
|
*
|
||
|
|
* @special
|
||
|
|
*/
|
||
|
|
static inline sysinterval_t chTimeS2I(time_secs_t secs) {
|
||
|
|
time_conv_t ticks;
|
||
|
|
|
||
|
|
ticks = (time_conv_t)secs * (time_conv_t)CH_CFG_ST_FREQUENCY;
|
||
|
|
|
||
|
|
chDbgAssert(ticks <= (time_conv_t)TIME_MAX_INTERVAL,
|
||
|
|
"conversion overflow");
|
||
|
|
|
||
|
|
return (sysinterval_t)ticks;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Milliseconds to time interval.
|
||
|
|
* @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.
|
||
|
|
*
|
||
|
|
* @special
|
||
|
|
*/
|
||
|
|
static inline sysinterval_t chTimeMS2I(time_msecs_t msec) {
|
||
|
|
time_conv_t ticks;
|
||
|
|
|
||
|
|
ticks = (((time_conv_t)msec * (time_conv_t)CH_CFG_ST_FREQUENCY) +
|
||
|
|
(time_conv_t)999) / (time_conv_t)1000;
|
||
|
|
|
||
|
|
chDbgAssert(ticks <= (time_conv_t)TIME_MAX_INTERVAL,
|
||
|
|
"conversion overflow");
|
||
|
|
|
||
|
|
return (sysinterval_t)ticks;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Microseconds to time interval.
|
||
|
|
* @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.
|
||
|
|
*
|
||
|
|
* @special
|
||
|
|
*/
|
||
|
|
static inline sysinterval_t chTimeUS2I(time_usecs_t usec) {
|
||
|
|
time_conv_t ticks;
|
||
|
|
|
||
|
|
ticks = (((time_conv_t)usec * (time_conv_t)CH_CFG_ST_FREQUENCY) +
|
||
|
|
(time_conv_t)999999) / (time_conv_t)1000000;
|
||
|
|
|
||
|
|
chDbgAssert(ticks <= (time_conv_t)TIME_MAX_INTERVAL,
|
||
|
|
"conversion overflow");
|
||
|
|
|
||
|
|
return (sysinterval_t)ticks;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Time interval to seconds.
|
||
|
|
* @details Converts from system interval to seconds.
|
||
|
|
* @note The result is rounded up to the next second boundary.
|
||
|
|
*
|
||
|
|
* @param[in] interval interval in ticks
|
||
|
|
* @return The number of seconds.
|
||
|
|
*
|
||
|
|
* @special
|
||
|
|
*/
|
||
|
|
static inline time_secs_t chTimeI2S(sysinterval_t interval) {
|
||
|
|
time_conv_t secs;
|
||
|
|
|
||
|
|
secs = ((time_conv_t)interval +
|
||
|
|
(time_conv_t)CH_CFG_ST_FREQUENCY -
|
||
|
|
(time_conv_t)1) / (time_conv_t)CH_CFG_ST_FREQUENCY;
|
||
|
|
|
||
|
|
chDbgAssert(secs < (time_conv_t)((time_secs_t)-1),
|
||
|
|
"conversion overflow");
|
||
|
|
|
||
|
|
return (time_secs_t)secs;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Time interval to milliseconds.
|
||
|
|
* @details Converts from system interval to milliseconds.
|
||
|
|
* @note The result is rounded up to the next millisecond boundary.
|
||
|
|
*
|
||
|
|
* @param[in] interval interval in ticks
|
||
|
|
* @return The number of milliseconds.
|
||
|
|
*
|
||
|
|
* @special
|
||
|
|
*/
|
||
|
|
static inline time_msecs_t chTimeI2MS(sysinterval_t interval) {
|
||
|
|
time_conv_t msecs;
|
||
|
|
|
||
|
|
msecs = (((time_conv_t)interval * (time_conv_t)1000) +
|
||
|
|
(time_conv_t)CH_CFG_ST_FREQUENCY - (time_conv_t)1) /
|
||
|
|
(time_conv_t)CH_CFG_ST_FREQUENCY;
|
||
|
|
|
||
|
|
chDbgAssert(msecs < (time_conv_t)((time_msecs_t)-1),
|
||
|
|
"conversion overflow");
|
||
|
|
|
||
|
|
return (time_msecs_t)msecs;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Time interval to microseconds.
|
||
|
|
* @details Converts from system interval to microseconds.
|
||
|
|
* @note The result is rounded up to the next microsecond boundary.
|
||
|
|
*
|
||
|
|
* @param[in] interval interval in ticks
|
||
|
|
* @return The number of microseconds.
|
||
|
|
*
|
||
|
|
* @special
|
||
|
|
*/
|
||
|
|
static inline time_usecs_t chTimeI2US(sysinterval_t interval) {
|
||
|
|
time_conv_t usecs;
|
||
|
|
|
||
|
|
usecs = (((time_conv_t)interval * (time_conv_t)1000000) +
|
||
|
|
(time_conv_t)CH_CFG_ST_FREQUENCY - (time_conv_t)1) /
|
||
|
|
(time_conv_t)CH_CFG_ST_FREQUENCY;
|
||
|
|
|
||
|
|
chDbgAssert(usecs <= (time_conv_t)((time_usecs_t)-1),
|
||
|
|
"conversion overflow");
|
||
|
|
|
||
|
|
return (time_usecs_t)usecs;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Adds an interval to a system time returning a system time.
|
||
|
|
*
|
||
|
|
* @param[in] systime base system time
|
||
|
|
* @param[in] interval interval to be added
|
||
|
|
* @return The new system time.
|
||
|
|
*
|
||
|
|
* @xclass
|
||
|
|
*/
|
||
|
|
static inline systime_t chTimeAddX(systime_t systime,
|
||
|
|
sysinterval_t interval) {
|
||
|
|
|
||
|
|
#if CH_CFG_ST_RESOLUTION != CH_CFG_INTERVALS_SIZE
|
||
|
|
chDbgCheck(interval <= (sysinterval_t)TIME_MAX_SYSTIME);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
return systime + (systime_t)interval;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Subtracts two system times returning an interval.
|
||
|
|
*
|
||
|
|
* @param[in] start first system time
|
||
|
|
* @param[in] end second system time
|
||
|
|
* @return The interval representing the time difference.
|
||
|
|
*
|
||
|
|
* @xclass
|
||
|
|
*/
|
||
|
|
static inline sysinterval_t chTimeDiffX(systime_t start, systime_t end) {
|
||
|
|
|
||
|
|
/*lint -save -e9033 [10.8] This cast is required by the operation, it is
|
||
|
|
known that the destination type can be wider.*/
|
||
|
|
return (sysinterval_t)((systime_t)(end - start));
|
||
|
|
/*lint -restore*/
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Checks if the specified time is within the specified time range.
|
||
|
|
* @note When start==end then the function returns always false because the
|
||
|
|
* time window has zero size.
|
||
|
|
*
|
||
|
|
* @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 chTimeIsInRangeX(systime_t time,
|
||
|
|
systime_t start,
|
||
|
|
systime_t end) {
|
||
|
|
|
||
|
|
return (bool)((systime_t)((systime_t)time - (systime_t)start) <
|
||
|
|
(systime_t)((systime_t)end - (systime_t)start));
|
||
|
|
}
|
||
|
|
|
||
|
|
/** @} */
|
||
|
|
|
||
|
|
#endif /* CHTIME_H */
|
||
|
|
|
||
|
|
/** @} */
|