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Diffstat (limited to 'ChibiOS_20.3.2/os/rt/include/chvt.h')
| -rw-r--r-- | ChibiOS_20.3.2/os/rt/include/chvt.h | 362 |
1 files changed, 362 insertions, 0 deletions
diff --git a/ChibiOS_20.3.2/os/rt/include/chvt.h b/ChibiOS_20.3.2/os/rt/include/chvt.h new file mode 100644 index 0000000..ed1c512 --- /dev/null +++ b/ChibiOS_20.3.2/os/rt/include/chvt.h @@ -0,0 +1,362 @@ +/*
+ 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/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_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 == TRUE)
+#error "CH_DBG_THREADS_PROFILING not supported in tickless mode"
+#endif
+
+/*===========================================================================*/
+/* Module data structures and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+/*
+ * Virtual Timers APIs.
+ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void _vt_init(void);
+ void chVTDoSetI(virtual_timer_t *vtp, sysinterval_t delay,
+ vtfunc_t vtfunc, void *par);
+ void chVTDoResetI(virtual_timer_t *vtp);
+ void chVTDoTickI(void);
+#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->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
+ * @p 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.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 sysinterval_t chVTTimeElapsedSinceX(systime_t start) {
+
+ return chTimeDiffX(start, chVTGetSystemTimeX());
+}
+
+/**
+ * @brief Checks if the current system time is within the specified time
+ * window.
+ * @note When start==end then the function returns always false because the
+ * time window has zero size.
+ *
+ * @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) {
+
+ return chTimeIsInRangeX(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 false because the
+ * time window has zero size.
+ *
+ * @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 chTimeIsInRangeX(chVTGetSystemTime(), start, end);
+}
+
+/**
+ * @brief Returns the time interval until the next timer event.
+ * @note The return value is not perfectly accurate and can report values
+ * in excess of @p CH_CFG_ST_TIMEDELTA ticks.
+ * @note The interval returned by this function is only meaningful if
+ * more timers are not added to the list until the returned time.
+ *
+ * @param[out] timep pointer to a variable that will contain the time
+ * interval until the next timer elapses. This pointer
+ * can be @p NULL if the information is not required.
+ * @return The time, in ticks, until next time event.
+ * @retval false if the timers list is empty.
+ * @retval true if the timers list contains at least one timer.
+ *
+ * @iclass
+ */
+static inline bool chVTGetTimersStateI(sysinterval_t *timep) {
+
+ chDbgCheckClassI();
+
+ if (&ch.vtlist == (virtual_timers_list_t *)ch.vtlist.next) {
+ return false;
+ }
+
+ if (timep != NULL) {
+#if CH_CFG_ST_TIMEDELTA == 0
+ *timep = ch.vtlist.next->delta;
+#else
+ *timep = (ch.vtlist.next->delta + (sysinterval_t)CH_CFG_ST_TIMEDELTA) -
+ chTimeDiffX(ch.vtlist.lasttime, chVTGetSystemTimeX());
+#endif
+ }
+
+ return true;
+}
+
+/**
+ * @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(const virtual_timer_t *vtp) {
+
+ chDbgCheckClassI();
+
+ return (bool)(vtp->func != NULL);
+}
+
+/**
+ * @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.
+ *
+ * @api
+ */
+static inline bool chVTIsArmed(const virtual_timer_t *vtp) {
+ bool b;
+
+ chSysLock();
+ b = chVTIsArmedI(vtp);
+ chSysUnlock();
+
+ return b;
+}
+
+/**
+ * @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, sysinterval_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, sysinterval_t delay,
+ vtfunc_t vtfunc, void *par) {
+
+ chSysLock();
+ chVTSetI(vtp, delay, vtfunc, par);
+ chSysUnlock();
+}
+
+#endif /* CHVT_H */
+
+/** @} */
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