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Reload feature added to RT virtual timers. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@14333 27425a3e-05d8-49a3-a47f-9c15f0e5edd8
This commit is contained in:
Giovanni Di Sirio 2021-04-28 08:10:33 +00:00
parent 5b3566706a
commit 6411cd50b4
11 changed files with 331 additions and 1780 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
demos/STM32/RT-STM32G474RE-NUCLEO64/Makefile
View File

@ -5,7 +5,7 @@
# Compiler options here.
ifeq ($(USE_OPT),)
USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
USE_OPT = -Og -ggdb -fomit-frame-pointer -falign-functions=16
endif
# C specific options here (added to USE_OPT).

12
demos/STM32/RT-STM32G474RE-NUCLEO64/main.c
View File

@ -19,6 +19,7 @@
#include "rt_test_root.h"
#include "oslib_test_root.h"
#if 0
/*
* Green LED blinker thread, times are in milliseconds.
*/
@ -34,6 +35,14 @@ static THD_FUNCTION(Thread1, arg) {
chThdSleepMilliseconds(500);
}
}
#endif
virtual_timer_t vt1;
void vtfunc(void *par) {
(void)par;
palToggleLine(LINE_LED_GREEN);
}
/*
* Application entry point.
@ -60,7 +69,8 @@ int main(void) {
/*
* Creates the blinker thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
// chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
chVTSetContinuous(&vt1, TIME_MS2I(500), vtfunc, NULL);
/*
* Normal main() thread activity, in this demo it does nothing except

8
os/rt/include/chobjects.h
View File

@ -98,6 +98,14 @@ typedef struct ch_virtual_timer {
* @brief Timer callback function parameter.
*/
void *par;
/**
* @brief Time of the last activation.
*/
systime_t last;
/**
* @brief Current reload interval.
*/
sysinterval_t reload;
} virtual_timer_t;
/**

520
os/rt/include/chobjects_alt.h
View File

@ -1,520 +0,0 @@
/*
ChibiOS - Copyright (C) 2006,2007,2008,2009,2010,2011,2012,2013,2014,
2015,2016,2017,2018,2019,2020,2021 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 version 3 of the License.
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 chobjects.h
* @brief Operating System Objects macros and structures.
*
* @addtogroup os_structures
* @{
*/
#ifndef CHOBJECTS_H
#define CHOBJECTS_H
/*===========================================================================*/
/* Module constants. */
/*===========================================================================*/
/*===========================================================================*/
/* Module pre-compile time settings. */
/*===========================================================================*/
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
/*===========================================================================*/
/* Module data structures and types. */
/*===========================================================================*/
/**
* @brief Global state of the operating system.
*/
typedef enum {
ch_sys_uninit = 0,
ch_sys_initializing = 1,
ch_sys_running = 2,
ch_sys_halted = 3
} system_state_t;
/**
* @brief Type of a Virtual Timer callback function.
*/
typedef void (*vtfunc_t)(void *p);
/**
* @brief Type of a Virtual Timer structure.
*/
typedef struct ch_delta_list delta_list_t;
/**
* @brief Virtual Timer delta list element and header structure.
*/
struct ch_delta_list {
/**
* @brief Next timer in the list.
*/
delta_list_t *next;
/**
* @brief Previous timer in the list.
*/
delta_list_t *prev;
/**
* @brief Time delta before timeout.
*/
sysinterval_t delta;
};
/**
* @brief Type of a Virtual Timer.
*/
typedef struct ch_virtual_timer {
/**
* @brief Delta list element.
*/
delta_list_t dlist;
/**
* @brief Timer callback function pointer.
*/
vtfunc_t func;
/**
* @brief Timer callback function parameter.
*/
void *par;
/**
* @brief Time of the last activation.
*/
systime_t last;
/**
* @brief Current reload interval.
*/
sysinterval_t reload;
} virtual_timer_t;
/**
* @brief Type of 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 ch_virtual_timers_list {
/**
* @brief Delta list header.
*/
delta_list_t dlist;
#if (CH_CFG_ST_TIMEDELTA == 0) || defined(__DOXYGEN__)
/**
* @brief System Time counter.
*/
volatile systime_t systime;
#endif
#if (CH_CFG_ST_TIMEDELTA > 0) || defined(__DOXYGEN__)
/**
* @brief System time of the last tick event.
*/
systime_t lasttime;
#endif
#if (CH_CFG_USE_TIMESTAMP == TRUE) || defined(__DOXYGEN__)
/**
* @brief Last generated time stamp.
*/
volatile uint64_t laststamp;
#endif
} virtual_timers_list_t;
/**
* @brief Type of a registry structure.
*/
typedef struct ch_registry {
/**
* @brief Registry queue header.
*/
ch_queue_t queue;
} registry_t;
/**
* @brief Type of a thread reference.
*/
typedef thread_t * thread_reference_t;
/**
* @brief Type of a threads queue.
*/
typedef struct ch_threads_queue {
/**
* @brief Threads queue header.
*/
ch_queue_t queue;
} threads_queue_t;
/**
* @brief Structure representing a thread.
* @note Not all the listed fields are always needed, by switching off some
* not needed ChibiOS/RT subsystems it is possible to save RAM space
* by shrinking this structure.
*/
struct ch_thread {
/**
* @brief Shared list headers.
*/
union {
/**
* @brief Threads lists element.
*/
ch_list_t list;
/**
* @brief Threads queues element.
*/
ch_queue_t queue;
/**
* @brief Threads ordered queues element.
*/
ch_priority_queue_t pqueue;
} hdr;
/**
* @brief Processor context.
*/
struct port_context ctx;
#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
/**
* @brief Registry queue element.
*/
ch_queue_t rqueue;
#endif
/**
* @brief OS instance owner of this thread.
*/
os_instance_t *owner;
#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
/**
* @brief Thread name or @p NULL.
*/
const char *name;
#endif
#if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE) || \
defined(__DOXYGEN__)
/**
* @brief Working area base address.
* @note This pointer is used for stack overflow checks and for
* dynamic threading.
*/
stkalign_t *wabase;
#endif
/**
* @brief Current thread state.
*/
tstate_t state;
/**
* @brief Various thread flags.
*/
tmode_t flags;
#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
/**
* @brief References to this thread.
*/
trefs_t refs;
#endif
/**
* @brief Number of ticks remaining to this thread.
*/
#if (CH_CFG_TIME_QUANTUM > 0) || defined(__DOXYGEN__)
tslices_t ticks;
#endif
#if (CH_DBG_THREADS_PROFILING == TRUE) || defined(__DOXYGEN__)
/**
* @brief Thread consumed time in ticks.
* @note This field can overflow.
*/
volatile systime_t time;
#endif
/**
* @brief State-specific fields.
* @note All the fields declared in this union are only valid in the
* specified state or condition and are thus volatile.
*/
union {
/**
* @brief Thread wakeup code.
* @note This field contains the low level message sent to the thread
* by the waking thread or interrupt handler. The value is valid
* after exiting the @p chSchWakeupS() function.
*/
msg_t rdymsg;
/**
* @brief Thread exit code.
* @note The thread termination code is stored in this field in order
* to be retrieved by the thread performing a @p chThdWait() on
* this thread.
*/
msg_t exitcode;
/**
* @brief Pointer to a generic "wait" object.
* @note This field is used to get a generic pointer to a synchronization
* object and is valid when the thread is in one of the wait
* states.
*/
void *wtobjp;
/**
* @brief Pointer to a generic thread reference object.
* @note This field is used to get a pointer to a synchronization
* object and is valid when the thread is in @p CH_STATE_SUSPENDED
* state.
*/
thread_reference_t *wttrp;
#if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__)
/**
* @brief Thread sent message.
*/
msg_t sentmsg;
#endif
#if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__)
/**
* @brief Pointer to a generic semaphore object.
* @note This field is used to get a pointer to a synchronization
* object and is valid when the thread is in @p CH_STATE_WTSEM
* state.
*/
struct ch_semaphore *wtsemp;
#endif
#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)
/**
* @brief Pointer to a generic mutex object.
* @note This field is used to get a pointer to a synchronization
* object and is valid when the thread is in @p CH_STATE_WTMTX
* state.
*/
struct ch_mutex *wtmtxp;
#endif
#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
/**
* @brief Enabled events mask.
* @note This field is only valid while the thread is in the
* @p CH_STATE_WTOREVT or @p CH_STATE_WTANDEVT states.
*/
eventmask_t ewmask;
#endif
} u;
#if (CH_CFG_USE_WAITEXIT == TRUE) || defined(__DOXYGEN__)
/**
* @brief Termination waiting list.
*/
ch_list_t waiting;
#endif
#if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__)
/**
* @brief Messages queue.
*/
ch_queue_t msgqueue;
#endif
#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
/**
* @brief Pending events mask.
*/
eventmask_t epending;
#endif
#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)
/**
* @brief List of the mutexes owned by this thread.
* @note The list is terminated by a @p NULL in this field.
*/
struct ch_mutex *mtxlist;
/**
* @brief Thread's own, non-inherited, priority.
*/
tprio_t realprio;
#endif
#if ((CH_CFG_USE_DYNAMIC == TRUE) && (CH_CFG_USE_MEMPOOLS == TRUE)) || \
defined(__DOXYGEN__)
/**
* @brief Memory Pool where the thread workspace is returned.
*/
void *mpool;
#endif
#if (CH_DBG_STATISTICS == TRUE) || defined(__DOXYGEN__)
/**
* @brief Thread statistics.
*/
time_measurement_t stats;
#endif
#if defined(CH_CFG_THREAD_EXTRA_FIELDS)
/* Extra fields defined in chconf.h.*/
CH_CFG_THREAD_EXTRA_FIELDS
#endif
};
/**
* @brief Type of a ready list header.
*/
typedef struct ch_ready_list {
/**
* @brief Threads ordered queues header.
* @note The priority field must be initialized to zero.
*/
ch_priority_queue_t pqueue;
/**
* @brief The currently running thread.
*/
thread_t *current;
} ready_list_t;
/**
* @brief Type of an system instance configuration.
*/
typedef struct ch_os_instance_config {
/**
* @brief Instance name.
*/
const char *name;
#if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE) || \
defined(__DOXYGEN__)
/**
* @brief Lower limit of the main function thread stack.
*/
stkalign_t *mainthread_base;
/**
* @brief Upper limit of the main function thread stack.
*/
stkalign_t *mainthread_end;
#endif
#if (CH_CFG_NO_IDLE_THREAD == FALSE) || defined(__DOXYGEN__)
/**
* @brief Lower limit of the dedicated idle thread stack.
*/
stkalign_t *idlethread_base;
/**
* @brief Upper limit of the dedicated idle thread stack.
*/
stkalign_t *idlethread_end;
#endif
} os_instance_config_t;
/**
* @brief System instance data structure.
*/
struct ch_os_instance {
/**
* @brief Ready list header.
*/
ready_list_t rlist;
/**
* @brief Virtual timers delta list header.
*/
virtual_timers_list_t vtlist;
#if ((CH_CFG_USE_REGISTRY == TRUE) && (CH_CFG_SMP_MODE == FALSE)) || \
defined(__DOXYGEN__)
/**
* @brief Registry header.
* @note This field is present only if the SMP mode is disabled.
*/
registry_t reglist;
#endif
/**
* @brief Core associated to this instance.
*/
core_id_t core_id;
/**
* @brief Pointer to the instance configuration data.
*/
const os_instance_config_t *config;
/**
* @brief Main thread descriptor.
*/
thread_t mainthread;
/**
* @brief System debug.
*/
system_debug_t dbg;
#if (CH_DBG_TRACE_MASK != CH_DBG_TRACE_MASK_DISABLED) || defined(__DOXYGEN__)
/**
* @brief Trace buffer.
*/
trace_buffer_t trace_buffer;
#endif
#if (CH_DBG_STATISTICS == TRUE) || defined(__DOXYGEN__)
/**
* @brief Global kernel statistics.
*/
kernel_stats_t kernel_stats;
#endif
#if defined(PORT_INSTANCE_EXTRA_FIELDS) || defined(__DOXYGEN__)
/* Extra fields from port layer.*/
PORT_INSTANCE_EXTRA_FIELDS
#endif
/* Extra fields from configuration.*/
CH_CFG_OS_INSTANCE_EXTRA_FIELDS
};
/**
* @brief Type of system data structure.
*/
typedef struct ch_system {
/**
* @brief Operating system state.
*/
system_state_t state;
/**
* @brief Initialized OS instances or @p NULL.
*/
os_instance_t *instances[PORT_CORES_NUMBER];
#if (CH_CFG_USE_TM == TRUE) || defined(__DOXYGEN__)
/**
* @brief Time measurement calibration data.
*/
tm_calibration_t tmc;
#endif
#if ((CH_CFG_USE_REGISTRY == TRUE) && (CH_CFG_SMP_MODE == TRUE)) || \
defined(__DOXYGEN__)
/**
* @brief Registry header.
* @note This field is present only if the SMP mode is enabled.
*/
registry_t reglist;
#endif
#if defined(PORT_SYSTEM_EXTRA_FIELDS) || defined(__DOXYGEN__)
/* Extra fields from port layer.*/
PORT_SYSTEM_EXTRA_FIELDS
#endif
/* Extra fields from configuration.*/
CH_CFG_SYSTEM_EXTRA_FIELDS
} ch_system_t;
/*===========================================================================*/
/* Module macros. */
/*===========================================================================*/
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
#ifdef __cplusplus
}
#endif
/*===========================================================================*/
/* Module inline functions. */
/*===========================================================================*/
#endif /* CHOBJECTS_H */
/** @} */

125
os/rt/include/chvt.h
View File

@ -73,6 +73,8 @@ extern "C" {
#endif
void chVTDoSetI(virtual_timer_t *vtp, sysinterval_t delay,
vtfunc_t vtfunc, void *par);
void chVTDoSetContinuousI(virtual_timer_t *vtp, sysinterval_t delay,
vtfunc_t vtfunc, void *par);
void chVTDoResetI(virtual_timer_t *vtp);
void chVTDoTickI(void);
#if CH_CFG_USE_TIMESTAMP == TRUE
@ -100,7 +102,7 @@ extern "C" {
*/
static inline void chVTObjectInit(virtual_timer_t *vtp) {
vtp->func = NULL;
vtp->dlist.next = NULL;
}
/**
@ -246,7 +248,7 @@ static inline bool chVTIsArmedI(const virtual_timer_t *vtp) {
chDbgCheckClassI();
return (bool)(vtp->func != NULL);
return (bool)(vtp->dlist.next != NULL);
}
/**
@ -304,7 +306,7 @@ static inline void chVTReset(virtual_timer_t *vtp) {
}
/**
* @brief Enables a virtual timer.
* @brief Enables a one-shot 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()
@ -333,7 +335,7 @@ static inline void chVTSetI(virtual_timer_t *vtp, sysinterval_t delay,
}
/**
* @brief Enables a virtual timer.
* @brief Enables a one-shot 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()
@ -362,6 +364,121 @@ static inline void chVTSet(virtual_timer_t *vtp, sysinterval_t delay,
chSysUnlock();
}
/**
* @brief Enables a continuous 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 chVTSetContinuousI(virtual_timer_t *vtp, sysinterval_t delay,
vtfunc_t vtfunc, void *par) {
chVTResetI(vtp);
chVTDoSetContinuousI(vtp, delay, vtfunc, par);
}
/**
* @brief Enables a continuous 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 chVTSetContinuous(virtual_timer_t *vtp, sysinterval_t delay,
vtfunc_t vtfunc, void *par) {
chSysLock();
chVTSetContinuousI(vtp, delay, vtfunc, par);
chSysUnlock();
}
/**
* @brief Returns the current reload value.
*
* @param[in] vtp the @p virtual_timer_t structure pointer
* @return The reload value.
*
* @xclass
*/
static inline sysinterval_t chVTGetReloadIntervalX(virtual_timer_t *vtp) {
return vtp->reload;
}
/**
* @brief Changes a timer reload time interval.
* @note This function is meant to be called from a timer callback, it
* does nothing in any other context.
* @note Calling this function from a one-shot timer callback turns it
* into a continuous timer.
*
* @param[in] vtp the @p virtual_timer_t structure pointer
* @param[in] reload the new reload value, zero means no reload
*
* @xclass
*/
static inline void chVTSetReloadIntervalX(virtual_timer_t *vtp,
sysinterval_t reload) {
vtp->reload = reload;
}
/**
* @brief Returns the remaining time interval before next timer trigger.
* @note This function can be called while the timer is active or
* after stopping it.
*
* @param[in] vtp the @p virtual_timer_t structure pointer
* @return The remaining time interval.
*
* @xclass
*/
static inline sysinterval_t chVTGetRemainingIntervalX(virtual_timer_t *vtp) {
sysinterval_t elapsed_time;
/* Time elapsed since last triggering or 1st activation.*/
elapsed_time = chTimeDiffX(vtp->last, chVTGetSystemTimeX());
/* Current time could have slipped past the next deadline, compensating.*/
if (elapsed_time > vtp->reload) {
elapsed_time = vtp->reload;
}
/* Returning the remaining time interval.*/
return vtp->reload - elapsed_time;
}
#if (CH_CFG_USE_TIMESTAMP == TRUE) || defined(__DOXYGEN__)
/**
* @brief Generates a monotonic time stamp.

519
os/rt/include/chvt_alt.h
View File

@ -1,519 +0,0 @@
/*
ChibiOS - Copyright (C) 2006,2007,2008,2009,2010,2011,2012,2013,2014,
2015,2016,2017,2018,2019,2020,2021 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 version 3 of the License.
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 chVTDoSetI(virtual_timer_t *vtp, sysinterval_t delay,
vtfunc_t vtfunc, void *par);
void chVTDoSetContinuousI(virtual_timer_t *vtp, sysinterval_t delay,
vtfunc_t vtfunc, void *par);
void chVTDoResetI(virtual_timer_t *vtp);
void chVTDoTickI(void);
#if CH_CFG_USE_TIMESTAMP == TRUE
systimestamp_t chVTGetTimeStampI(void);
void chVTResetTimeStampI(void);
#endif
#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->dlist.next = 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 currcore->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) {
virtual_timers_list_t *vtlp = &currcore->vtlist;
delta_list_t *dlp = &vtlp->dlist;
chDbgCheckClassI();
if (dlp == dlp->next) {
return false;
}
if (timep != NULL) {
#if CH_CFG_ST_TIMEDELTA == 0
*timep = dlp->next->delta;
#else
*timep = (dlp->next->delta + (sysinterval_t)CH_CFG_ST_TIMEDELTA) -
chTimeDiffX(vtlp->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->dlist.next != 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 one-shot 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 one-shot 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();
}
/**
* @brief Enables a continuous 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 chVTSetContinuousI(virtual_timer_t *vtp, sysinterval_t delay,
vtfunc_t vtfunc, void *par) {
chVTResetI(vtp);
chVTDoSetContinuousI(vtp, delay, vtfunc, par);
}
/**
* @brief Enables a continuous 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 chVTContinuousSet(virtual_timer_t *vtp, sysinterval_t delay,
vtfunc_t vtfunc, void *par) {
chSysLock();
chVTSetContinuousI(vtp, delay, vtfunc, par);
chSysUnlock();
}
/**
* @brief Changes a timer reload time interval.
* @note This function is meant to be called from a timer callback, it
* does nothing in any other context.
* @note Calling this function from a one-shot timer callback turns it
* into a continuous timer.
*
* @param[in] vtp the @p virtual_timer_t structure pointer
* @param[in] reload the new reload value, zero means no reload
* @return The previous reload value
*
* @special
*/
static inline sysinterval_t chVTSetReload(virtual_timer_t *vtp,
sysinterval_t reload) {
sysinterval_t old_reload;
old_reload = vtp->reload;
vtp->reload = reload;
return old_reload;
}
#if (CH_CFG_USE_TIMESTAMP == TRUE) || defined(__DOXYGEN__)
/**
* @brief Generates a monotonic time stamp.
* @details This function generates a monotonic time stamp synchronized with
* the system time. The time stamp has the same resolution of
* system time.
* @note There is an assumption, this function must be called at
* least once before the system time wraps back to zero or
* synchronization is lost. You may use a periodic virtual timer with
* a very large interval in order to keep time stamps synchronized
* by calling this function.
*
* @return The time stamp.
*
* @api
*/
static inline systimestamp_t chVTGetTimeStamp(void) {
systimestamp_t stamp;
chSysLock();
stamp = chVTGetTimeStampI();
chSysUnlock();
return stamp;
}
/**
* @brief Resets and re-synchronizes the time stamps monotonic counter.
*
* @api
*/
static inline void chVTResetTimeStamp(void) {
chDbgCheckClassI();
chSysLock();
chVTResetTimeStampI();
chSysUnlock();
}
#endif /* CH_CFG_USE_TIMESTAMP == TRUE */
/**
* @brief Virtual Timers instance initialization.
* @note Internal use only.
*
* @param[out] vtlp pointer to the @p virtual_timers_list_t structure
*
* @notapi
*/
static inline void __vt_object_init(virtual_timers_list_t *vtlp) {
vtlp->dlist.next = &vtlp->dlist;
vtlp->dlist.prev = &vtlp->dlist;
vtlp->dlist.delta = (sysinterval_t)-1;
#if CH_CFG_ST_TIMEDELTA == 0
vtlp->systime = (systime_t)0;
#else /* CH_CFG_ST_TIMEDELTA > 0 */
vtlp->lasttime = (systime_t)0;
#endif /* CH_CFG_ST_TIMEDELTA > 0 */
#if CH_CFG_USE_TIMESTAMP == TRUE
currcore->vtlist.laststamp = (systimestamp_t)chVTGetSystemTimeX();
#endif
}
#endif /* CHVT_H */
/** @} */

196
os/rt/src/chvt.c
View File

@ -129,47 +129,18 @@ static void vt_list_compress(virtual_timers_list_t *vtlp,
}
#endif
/*===========================================================================*/
/* Module exported functions. */
/*===========================================================================*/
/**
* @brief Enables a virtual timer.
* @details The timer is enabled and programmed to trigger after the delay
* specified as parameter.
* @pre The timer must not be already armed before calling this function.
* @note The callback function is invoked from interrupt context.
*
* @param[out] 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
* @brief Enqueues a virtual timer in a virtual timers list.
*/
void chVTDoSetI(virtual_timer_t *vtp, sysinterval_t delay,
vtfunc_t vtfunc, void *par) {
virtual_timers_list_t *vtlp = &currcore->vtlist;
static void vt_enqueue(virtual_timers_list_t *vtlp,
virtual_timer_t *vtp,
systime_t now,
sysinterval_t delay) {
delta_list_t *dlp;
sysinterval_t delta;
chDbgCheckClassI();
chDbgCheck((vtp != NULL) && (vtfunc != NULL) && (delay != TIME_IMMEDIATE));
vtp->par = par;
vtp->func = vtfunc;
#if CH_CFG_ST_TIMEDELTA > 0
{
systime_t now = chVTGetSystemTimeX();
sysinterval_t deltanow;
/* If the requested delay is lower than the minimum safe delta then it
@ -260,6 +231,96 @@ void chVTDoSetI(virtual_timer_t *vtp, sysinterval_t delay,
vtlp->dlist.delta = (sysinterval_t)-1;
}
/*===========================================================================*/
/* Module exported functions. */
/*===========================================================================*/
/**
* @brief Enables a one-shot virtual timer.
* @details The timer is enabled and programmed to trigger after the delay
* specified as parameter.
* @pre The timer must not be already armed before calling this function.
* @note The callback function is invoked from interrupt context.
*
* @param[out] 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
*/
void chVTDoSetI(virtual_timer_t *vtp, sysinterval_t delay,
vtfunc_t vtfunc, void *par) {
virtual_timers_list_t *vtlp = &currcore->vtlist;
systime_t now;
chDbgCheckClassI();
chDbgCheck((vtp != NULL) && (vtfunc != NULL) && (delay != TIME_IMMEDIATE));
/* Current system time.*/
now = chVTGetSystemTimeX();
/* Timer initialization.*/
vtp->par = par;
vtp->func = vtfunc;
vtp->last = now;
vtp->reload = (sysinterval_t)0;
/* Inserting the timer in the delta list.*/
vt_enqueue(vtlp, vtp, vtp->last, delay);
}
/**
* @brief Enables a continuous virtual timer.
* @details The timer is enabled and programmed to trigger after the delay
* specified as parameter.
* @pre The timer must not be already armed before calling this function.
* @note The callback function is invoked from interrupt context.
*
* @param[out] 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
*/
void chVTDoSetContinuousI(virtual_timer_t *vtp, sysinterval_t delay,
vtfunc_t vtfunc, void *par) {
virtual_timers_list_t *vtlp = &currcore->vtlist;
systime_t now;
chDbgCheckClassI();
chDbgCheck((vtp != NULL) && (vtfunc != NULL) && (delay != TIME_IMMEDIATE));
/* Current system time.*/
now = chVTGetSystemTimeX();
/* Timer initialization.*/
vtp->par = par;
vtp->func = vtfunc;
vtp->last = now;
vtp->reload = delay;
/* Inserting the timer in the delta list.*/
vt_enqueue(vtlp, vtp, vtp->last, delay);
}
/**
* @brief Disables a Virtual Timer.
* @pre The timer must be in armed state before calling this function.
@ -273,17 +334,17 @@ void chVTDoResetI(virtual_timer_t *vtp) {
chDbgCheckClassI();
chDbgCheck(vtp != NULL);
chDbgAssert(vtp->func != NULL, "timer not set or already triggered");
chDbgAssert(chVTIsArmedI(vtp), "timer not armed");
#if CH_CFG_ST_TIMEDELTA == 0
/* The delta of the timer is added to the next timer.*/
vtp->dlist.next->delta += vtp->dlist.delta;
/* Removing the element from the delta list.*/
/* Removing the element from the delta list, marking it as not armed.*/
vtp->dlist.prev->next = vtp->dlist.next;
vtp->dlist.next->prev = vtp->dlist.prev;
vtp->func = NULL;
vtp->dlist.next = NULL;
/* The above code changes the value in the header when the removed element
is the last of the list, restoring it.*/
@ -297,19 +358,21 @@ void chVTDoResetI(virtual_timer_t *vtp) {
/* Removing the element from the delta list.*/
vtp->dlist.prev->next = vtp->dlist.next;
vtp->dlist.next->prev = vtp->dlist.prev;
vtp->func = NULL;
/* Adding delta to the next element, if it is not the last one.*/
if (is_timer(&vtlp->dlist, vtp->dlist.next))
vtp->dlist.next->delta += vtp->dlist.delta;
/* Marking timer as not armed.*/
vtp->dlist.next = NULL;
return;
}
/* Removing the first timer from the list.*/
/* Removing the first timer from the list, marking it as not armed.*/
vtlp->dlist.next = vtp->dlist.next;
vtlp->dlist.next->prev = &vtlp->dlist;
vtp->func = NULL;
vtp->dlist.next = NULL;
/* If the list become empty then the alarm timer is stopped and done.*/
if (is_vtlist_empty(&vtlp->dlist)) {
@ -378,29 +441,30 @@ void chVTDoTickI(void) {
--vtlp->dlist.next->delta;
while (vtlp->dlist.next->delta == (sysinterval_t)0) {
virtual_timer_t *vtp;
vtfunc_t fn;
/* Triggered timer.*/
vtp = (virtual_timer_t *)vtlp->dlist.next;
fn = vtp->func;
vtp->func = NULL;
/* Removing the element from the delta list, marking it as not armed.*/
vtp->dlist.next->prev = &vtlp->dlist;
vtlp->dlist.next = vtp->dlist.next;
vtp->dlist.next = NULL;
chSysUnlockFromISR();
fn(vtp->par);
vtp->func(vtp->par);
chSysLockFromISR();
}
}
#else /* CH_CFG_ST_TIMEDELTA > 0 */
delta_list_t *dlp;
systime_t now;
sysinterval_t delta, nowdelta;
systime_t now = chVTGetSystemTimeX();
/* Looping through timers.*/
dlp = vtlp->dlist.next;
while (true) {
/* Getting the system time as reference.*/
now = chVTGetSystemTimeX();
/* Delta between current time and last execution time.*/
nowdelta = chTimeDiffX(vtlp->lasttime, now);
/* The list scan is limited by the timers header having
@ -412,32 +476,51 @@ void chVTDoTickI(void) {
/* Consuming all timers between "vtp->lasttime" and now.*/
do {
vtfunc_t fn;
virtual_timer_t *vtp = (virtual_timer_t *)dlp;
/* The "last time" becomes this timer's expiration time.*/
vtlp->lasttime += dlp->delta;
nowdelta -= dlp->delta;
/* Removing the timer from the list.*/
/* Removing the timer from the list, marking it as not armed.*/
dlp->next->prev = &vtlp->dlist;
vtlp->dlist.next = dlp->next;
/* Calling the associated function and then marking the timer as
non active.*/
fn = vtp->func;
vtp->func = NULL;
dlp->next = NULL;
/* If the list becomes empty then the timer is stopped.*/
if (is_vtlist_empty(&vtlp->dlist)) {
port_timer_stop_alarm();
}
/* Now "last" marks the current deadline based on the stored
reload value. It is done before calling the callback because
the reload value could change. Note that "reload" could be
zero, no harm.*/
vtp->last = chTimeAddX(vtp->last, vtp->reload);
/* The callback is invoked outside the kernel critical zone.*/
chSysUnlockFromISR();
fn(vtp->par);
vtp->func(vtp->par);
chSysLockFromISR();
/* Getting again the system time after executing the callback in
order to reduce error.*/
now = chVTGetSystemTimeX();
/* If a reload is defined the timer needs to be restarted.*/
if (vtp->reload > (sysinterval_t)0) {
sysinterval_t skipped_delta;
/* Calculating how much the real current time skipped past the
hypothetical current deadline.*/
skipped_delta = chTimeDiffX(vtp->last, now);
chDbgAssert(skipped_delta < vtp->reload, "skipped deadline");
/* Enqueuing the timer again using the calculated delta.*/
vt_enqueue(vtlp, vtp, now, vtp->reload - skipped_delta);
}
/* Next element in the list.*/
dlp = vtlp->dlist.next;
}
@ -451,7 +534,8 @@ void chVTDoTickI(void) {
/* The "unprocessed nowdelta" time slice is added to "last time"
and subtracted to next timer's delta.*/
vtlp->lasttime += nowdelta;
// vtlp->lasttime += nowdelta;
vtlp->lasttime = chTimeAddX(vtlp->lasttime, nowdelta);
vtlp->dlist.next->delta -= nowdelta;
/* Recalculating the next alarm time.*/

616
os/rt/src/chvt_alt.c
View File

@ -1,616 +0,0 @@
/*
ChibiOS - Copyright (C) 2006,2007,2008,2009,2010,2011,2012,2013,2014,
2015,2016,2017,2018,2019,2020,2021 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 version 3 of the License.
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/src/chvt.c
* @brief Time and Virtual Timers module code.
*
* @addtogroup time
* @details Time and Virtual Timers related APIs and services.
* @{
*/
#include "ch.h"
/*===========================================================================*/
/* Module local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Module exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Module local types. */
/*===========================================================================*/
/*===========================================================================*/
/* Module local variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Module local functions. */
/*===========================================================================*/
/**
* @brief List empty check.
*
* @param[in] dlhp pointer to the delta list header
*
* @notapi
*/
static inline bool is_vtlist_empty(delta_list_t *dlhp) {
return (bool)(dlhp == dlhp->next);
}
#if (CH_CFG_ST_TIMEDELTA > 0) || defined(__DOXYGEN__)
/**
* @brief Last timer in the list check.
*
* @param[in] dlhp pointer to the delta list header
* @param[in] dlp pointer to the delta list element
*
* @notapi
*/
static inline bool is_last_timer(delta_list_t *dlhp, delta_list_t *dlp) {
return (bool)(dlp->next == dlhp);
}
/**
* @brief Fist timer in the list check.
*
* @param[in] dlhp pointer to the delta list header
* @param[in] dlp pointer to the delta list element
*
* @notapi
*/
static inline bool is_first_timer(delta_list_t *dlhp, delta_list_t *dlp) {
return (bool)(dlhp->next == dlp);
}
/**
* @brief Timer check.
*
* @param[in] dlhp pointer to the delta list header
* @param[in] dlp pointer to the delta list element
*
* @notapi
*/
static inline bool is_timer(delta_list_t *dlhp, delta_list_t *dlp) {
return (bool)(dlp != dlhp);
}
/**
* @brief Delta list compression.
*
* @param[in] vtlp pointer to the delta list to be compressed
* @param[in] deltanow interval to be compacted starting from "lasttime"
*
* @notapi
*/
static void vt_list_compress(virtual_timers_list_t *vtlp,
sysinterval_t deltanow) {
delta_list_t *dlp = vtlp->dlist.next;
/* The loop is bounded because the delta list header has the delta field
set to (sysinterval_t)-1 which is larger than all deltas.*/
while (dlp->delta < deltanow) {
deltanow -= dlp->delta;
dlp->delta = (sysinterval_t)0;
dlp = dlp->next;
}
vtlp->lasttime = vtlp->lasttime + deltanow;
/* Adjusting next timer in the list, if any.*/
if (is_timer(&vtlp->dlist, dlp)) {
dlp->delta -= deltanow;
}
}
#endif
/**
* @brief Enqueues a virtual timer in a virtual timers list.
*/
static void vt_enqueue(virtual_timers_list_t *vtlp,
virtual_timer_t *vtp,
systime_t now,
sysinterval_t delay) {
delta_list_t *dlp;
sysinterval_t delta;
#if CH_CFG_ST_TIMEDELTA > 0
{
sysinterval_t deltanow;
/* If the requested delay is lower than the minimum safe delta then it
is raised to the minimum safe value.*/
if (delay < (sysinterval_t)CH_CFG_ST_TIMEDELTA) {
delay = (sysinterval_t)CH_CFG_ST_TIMEDELTA;
}
/* Special case where the timers list is empty.*/
if (is_vtlist_empty(&vtlp->dlist)) {
/* The delta list is empty, the current time becomes the new
delta list base time, the timer is inserted.*/
vtlp->lasttime = now;
vtlp->dlist.next = &vtp->dlist;
vtlp->dlist.prev = &vtp->dlist;
vtp->dlist.next = &vtlp->dlist;
vtp->dlist.prev = &vtlp->dlist;
vtp->dlist.delta = delay;
#if CH_CFG_INTERVALS_SIZE > CH_CFG_ST_RESOLUTION
/* The delta could be too large for the physical timer to handle.*/
if (delay > (sysinterval_t)TIME_MAX_SYSTIME) {
delay = (sysinterval_t)TIME_MAX_SYSTIME;
}
#endif
/* Being the first element in the list the alarm timer is started.*/
port_timer_start_alarm(chTimeAddX(vtlp->lasttime, delay));
return;
}
/* Delay as delta from 'lasttime'. Note, it can overflow and the value
becomes lower than 'deltanow'.*/
deltanow = chTimeDiffX(vtlp->lasttime, now);
delta = deltanow + delay;
/* Scenario where a very large delay exceeded the numeric range, it
requires a special handling, the compression procedure.*/
if (delta < deltanow) {
vt_list_compress(vtlp, deltanow);
delta -= deltanow;
}
else if (delta < vtlp->dlist.next->delta) {
sysinterval_t deadline_delta;
/* A small delay that will become the first element in the delta list
and next deadline.*/
deadline_delta = delta;
#if CH_CFG_INTERVALS_SIZE > CH_CFG_ST_RESOLUTION
/* The delta could be too large for the physical timer to handle.*/
if (deadline_delta > (sysinterval_t)TIME_MAX_SYSTIME) {
deadline_delta = (sysinterval_t)TIME_MAX_SYSTIME;
}
#endif
port_timer_set_alarm(chTimeAddX(vtlp->lasttime, deadline_delta));
}
}
#else /* CH_CFG_ST_TIMEDELTA == 0 */
/* Delta is initially equal to the specified delay.*/
delta = delay;
#endif /* CH_CFG_ST_TIMEDELTA == 0 */
/* The delta list is scanned in order to find the correct position for
this timer. */
dlp = vtlp->dlist.next;
while (dlp->delta < delta) {
/* Debug assert if the timer is already in the list.*/
chDbgAssert(dlp != &vtp->dlist, "timer already armed");
delta -= dlp->delta;
dlp = dlp->next;
}
/* The timer is inserted in the delta list.*/
vtp->dlist.next = dlp;
vtp->dlist.prev = vtp->dlist.next->prev;
vtp->dlist.prev->next = &vtp->dlist;
dlp->prev = &vtp->dlist;
vtp->dlist.delta = delta;
/* Calculate new delta for the following entry.*/
dlp->delta -= delta;
/* Special case when the timer is in last position in the list, the
value in the header must be restored.*/
vtlp->dlist.delta = (sysinterval_t)-1;
}
/*===========================================================================*/
/* Module exported functions. */
/*===========================================================================*/
/**
* @brief Enables a one-shot virtual timer.
* @details The timer is enabled and programmed to trigger after the delay
* specified as parameter.
* @pre The timer must not be already armed before calling this function.
* @note The callback function is invoked from interrupt context.
*
* @param[out] 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
*/
void chVTDoSetI(virtual_timer_t *vtp, sysinterval_t delay,
vtfunc_t vtfunc, void *par) {
virtual_timers_list_t *vtlp = &currcore->vtlist;
systime_t now;
chDbgCheckClassI();
chDbgCheck((vtp != NULL) && (vtfunc != NULL) && (delay != TIME_IMMEDIATE));
/* Current system time.*/
now = chVTGetSystemTimeX();
/* Timer initialization.*/
vtp->par = par;
vtp->func = vtfunc;
vtp->last = now;
vtp->reload = (sysinterval_t)0;
/* Inserting the timer in the delta list.*/
vt_enqueue(vtlp, vtp, vtp->last, delay);
}
/**
* @brief Enables a continuous virtual timer.
* @details The timer is enabled and programmed to trigger after the delay
* specified as parameter.
* @pre The timer must not be already armed before calling this function.
* @note The callback function is invoked from interrupt context.
*
* @param[out] 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
*/
void chVTDoSetContinuousI(virtual_timer_t *vtp, sysinterval_t delay,
vtfunc_t vtfunc, void *par) {
virtual_timers_list_t *vtlp = &currcore->vtlist;
systime_t now;
chDbgCheckClassI();
chDbgCheck((vtp != NULL) && (vtfunc != NULL) && (delay != TIME_IMMEDIATE));
/* Current system time.*/
now = chVTGetSystemTimeX();
/* Timer initialization.*/
vtp->par = par;
vtp->func = vtfunc;
vtp->last = now;
vtp->reload = delay;
/* Inserting the timer in the delta list.*/
vt_enqueue(vtlp, vtp, vtp->last, delay);
}
/**
* @brief Disables a Virtual Timer.
* @pre The timer must be in armed state before calling this function.
*
* @param[in] vtp the @p virtual_timer_t structure pointer
*
* @iclass
*/
void chVTDoResetI(virtual_timer_t *vtp) {
virtual_timers_list_t *vtlp = &currcore->vtlist;
chDbgCheckClassI();
chDbgCheck(vtp != NULL);
chDbgAssert(chVTIsArmedI(vtp), "timer not armed");
#if CH_CFG_ST_TIMEDELTA == 0
/* The delta of the timer is added to the next timer.*/
vtp->dlist.next->delta += vtp->dlist.delta;
/* Removing the element from the delta list, marking it as not armed.*/
vtp->dlist.prev->next = vtp->dlist.next;
vtp->dlist.next->prev = vtp->dlist.prev;
vtp->dlist.next = NULL;
/* The above code changes the value in the header when the removed element
is the last of the list, restoring it.*/
vtlp->dlist.delta = (sysinterval_t)-1;
#else /* CH_CFG_ST_TIMEDELTA > 0 */
sysinterval_t nowdelta, delta;
/* If the timer is not the first of the list then it is simply unlinked
else the operation is more complex.*/
if (!is_first_timer(&vtlp->dlist, &vtp->dlist)) {
/* Removing the element from the delta list.*/
vtp->dlist.prev->next = vtp->dlist.next;
vtp->dlist.next->prev = vtp->dlist.prev;
/* Adding delta to the next element, if it is not the last one.*/
if (is_timer(&vtlp->dlist, vtp->dlist.next))
vtp->dlist.next->delta += vtp->dlist.delta;
/* Marking timer as not armed.*/
vtp->dlist.next = NULL;
return;
}
/* Removing the first timer from the list, marking it as not armed.*/
vtlp->dlist.next = vtp->dlist.next;
vtlp->dlist.next->prev = &vtlp->dlist;
vtp->dlist.next = NULL;
/* If the list become empty then the alarm timer is stopped and done.*/
if (is_vtlist_empty(&vtlp->dlist)) {
port_timer_stop_alarm();
return;
}
/* The delta of the removed timer is added to the new first timer.*/
vtlp->dlist.next->delta += vtp->dlist.delta;
/* If the new first timer has a delta of zero then the alarm is not
modified, the already programmed alarm will serve it.*/
/* if (vtlp->dlist.next->delta == 0) {
return;
}*/
/* Distance in ticks between the last alarm event and current time.*/
nowdelta = chTimeDiffX(vtlp->lasttime, chVTGetSystemTimeX());
/* If the current time surpassed the time of the next element in list
then the event interrupt is already pending, just return.*/
if (nowdelta >= vtlp->dlist.next->delta) {
return;
}
/* Distance from the next scheduled event and now.*/
delta = vtlp->dlist.next->delta - nowdelta;
/* Making sure to not schedule an event closer than CH_CFG_ST_TIMEDELTA
ticks from now.*/
if (delta < (sysinterval_t)CH_CFG_ST_TIMEDELTA) {
delta = nowdelta + (sysinterval_t)CH_CFG_ST_TIMEDELTA;
}
else {
delta = nowdelta + delta;
#if CH_CFG_INTERVALS_SIZE > CH_CFG_ST_RESOLUTION
/* The delta could be too large for the physical timer to handle.*/
if (delta > (sysinterval_t)TIME_MAX_SYSTIME) {
delta = (sysinterval_t)TIME_MAX_SYSTIME;
}
#endif
}
port_timer_set_alarm(chTimeAddX(vtlp->lasttime, delta));
#endif /* CH_CFG_ST_TIMEDELTA > 0 */
}
/**
* @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
*/
void chVTDoTickI(void) {
virtual_timers_list_t *vtlp = &currcore->vtlist;
chDbgCheckClassI();
#if CH_CFG_ST_TIMEDELTA == 0
vtlp->systime++;
if (!is_vtlist_empty(&vtlp->dlist)) {
/* The list is not empty, processing elements on top.*/
--vtlp->dlist.next->delta;
while (vtlp->dlist.next->delta == (sysinterval_t)0) {
virtual_timer_t *vtp;
/* Triggered timer.*/
vtp = (virtual_timer_t *)vtlp->dlist.next;
/* Removing the element from the delta list, marking it as not armed.*/
vtp->dlist.next->prev = &vtlp->dlist;
vtlp->dlist.next = vtp->dlist.next;
vtp->dlist.next = NULL;
chSysUnlockFromISR();
vtp->func(vtp->par);
chSysLockFromISR();
}
}
#else /* CH_CFG_ST_TIMEDELTA > 0 */
delta_list_t *dlp;
sysinterval_t delta, nowdelta;
systime_t now = chVTGetSystemTimeX();
/* Looping through timers.*/
dlp = vtlp->dlist.next;
while (true) {
/* Delta between current time and last execution time.*/
nowdelta = chTimeDiffX(vtlp->lasttime, now);
/* The list scan is limited by the timers header having
"vtlp->dlist.delta == (sysinterval_t)-1" which is
greater than all deltas.*/
if (nowdelta < dlp->delta) {
break;
}
/* Consuming all timers between "vtp->lasttime" and now.*/
do {
virtual_timer_t *vtp = (virtual_timer_t *)dlp;
/* The "last time" becomes this timer's expiration time.*/
vtlp->lasttime += dlp->delta;
nowdelta -= dlp->delta;
/* Removing the timer from the list, marking it as not armed.*/
dlp->next->prev = &vtlp->dlist;
vtlp->dlist.next = dlp->next;
dlp->next = NULL;
/* If the list becomes empty then the timer is stopped.*/
if (is_vtlist_empty(&vtlp->dlist)) {
port_timer_stop_alarm();
}
/* Now "last" marks the current deadline based on the stored
reload value. It is done before calling the callback because
the reload value could change. Note that "reload" could be
zero, no harm.*/
vtp->last = chTimeAddX(vtp->last, vtp->reload);
/* The callback is invoked outside the kernel critical zone.*/
chSysUnlockFromISR();
vtp->func(vtp->par);
chSysLockFromISR();
/* Getting again the system time after executing the callback in
order to reduce error.*/
now = chVTGetSystemTimeX();
/* If a reload is defined the timer needs to be restarted.*/
if (vtp->reload > (sysinterval_t)0) {
sysinterval_t skipped_delta;
/* Calculating how much the real current time skipped past the
hypothetical current deadline.*/
skipped_delta = chTimeDiffX(vtp->last, now);
chDbgAssert(skipped_delta < vtp->reload, "skipped deadline");
/* Enqueuing the timer again using the calculated delta.*/
vt_enqueue(vtlp, vtp, now, vtp->reload - skipped_delta);
}
/* Next element in the list.*/
dlp = vtlp->dlist.next;
}
while (dlp->delta <= nowdelta);
}
/* If the list is empty, nothing else to do.*/
if (is_vtlist_empty(&vtlp->dlist)) {
return;
}
/* The "unprocessed nowdelta" time slice is added to "last time"
and subtracted to next timer's delta.*/
// vtlp->lasttime += nowdelta;
vtlp->lasttime = chTimeAddX(vtlp->lasttime, nowdelta);
vtlp->dlist.next->delta -= nowdelta;
/* Recalculating the next alarm time.*/
delta = dlp->delta - chTimeDiffX(vtlp->lasttime, now);
if (delta < (sysinterval_t)CH_CFG_ST_TIMEDELTA) {
delta = (sysinterval_t)CH_CFG_ST_TIMEDELTA;
}
#if CH_CFG_INTERVALS_SIZE > CH_CFG_ST_RESOLUTION
/* The delta could be too large for the physical timer to handle.*/
else if (delta > (sysinterval_t)TIME_MAX_SYSTIME) {
delta = (sysinterval_t)TIME_MAX_SYSTIME;
}
#endif
port_timer_set_alarm(chTimeAddX(now, delta));
chDbgAssert(chTimeDiffX(vtlp->lasttime, chVTGetSystemTimeX()) <=
chTimeDiffX(vtlp->lasttime, chTimeAddX(now, delta)),
"exceeding delta");
#endif /* CH_CFG_ST_TIMEDELTA > 0 */
}
#if (CH_CFG_USE_TIMESTAMP == TRUE) || defined(__DOXYGEN__)
/**
* @brief Generates a monotonic time stamp.
* @details This function generates a monotonic time stamp synchronized with
* the system time. The time stamp has the same resolution of
* system time.
* @note There is an assumption, this function must be called at
* least once before the system time wraps back to zero or
* synchronization is lost. You may use a periodic virtual timer with
* a very large interval in order to keep time stamps synchronized
* by calling this function.
*
* @return The time stamp.
*
* @iclass
*/
systimestamp_t chVTGetTimeStampI(void) {
os_instance_t * oip = currcore;
systimestamp_t last, stamp;
systime_t now;
chDbgCheckClassI();
/* Current system time.*/
now = chVTGetSystemTimeX();
/* Last time stamp generated.*/
last = oip->vtlist.laststamp;
/* Interval between the last time stamp and current time used for a new
time stamp. Note that this fails if the interval is larger than a
systime_t type.*/
stamp = last + (systimestamp_t)chTimeDiffX((systime_t)last, now);
chDbgAssert(oip->vtlist.laststamp <= stamp, "wrapped");
/* Storing the new stamp.*/
oip->vtlist.laststamp = stamp;
return stamp;
}
/**
* @brief Resets and re-synchronizes the time stamps monotonic counter.
*
* @iclass
*/
void chVTResetTimeStampI(void) {
chDbgCheckClassI();
currcore->vtlist.laststamp = (systimestamp_t)chVTGetSystemTimeX();
}
#endif /* CH_CFG_USE_TIMESTAMP == TRUE */
/** @} */

1
readme.txt
View File

@ -74,6 +74,7 @@
*****************************************************************************
*** Next ***
- NEW: Reload feature added to RT virtual timers.
- NEW: Upgraded the clock initialization for STM32G0, STM32L4 and STM32L4++
to the new standard (started with STM32G4).
- NEW: Added support for STM32L422.

91
testrt/VT_STORM/debug/TEST-RT-VT_STORM (build-stm32g474re_nucleo64-ch.elf)(OpenOCD, Flash and Run).launch
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@ -1,49 +1,42 @@
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21
testrt/VT_STORM/debug/TEST-RT-VT_STORM (build-stm32g474re_nucleo64-ch.elf)(OpenOCD, Just Run).launch
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<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.imageFileName" value="C:/_projects/chibios-trunk/testrt/VT_STORM/build/stm32g474re_nucleo64/ch.elf"/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.imageOffset" value=""/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.initCommands" value="set remotetimeout 20&#13;&#10;monitor reset init&#13;&#10;monitor sleep 50&#13;&#10;"/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost"/>
@ -17,12 +17,12 @@
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setResume" value="true"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setStopAt" value="true"/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.stopAt" value="main"/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.symbolsFileName" value=""/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.symbolsFileName" value="C:/_projects/chibios-trunk/testrt/VT_STORM/build/stm32g474re_nucleo64/ch.elf"/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.symbolsOffset" value=""/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useFileForImage" value="false"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useFileForSymbols" value="false"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useProjBinaryForImage" value="true"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useProjBinaryForSymbols" value="true"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useFileForImage" value="true"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useFileForSymbols" value="true"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useProjBinaryForImage" value="false"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useProjBinaryForSymbols" value="false"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useRemoteTarget" value="true"/>
<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="arm-none-eabi-gdb"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.REMOTE_TIMEOUT_ENABLED" value="false"/>
@ -31,18 +31,11 @@
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
<stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="remote"/>
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="build/stm32g474re_nucleo64/ch.elf"/>
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="C:/_projects/chibios-trunk/testrt/VT_STORM/build/stm32g474re_nucleo64/ch.elf"/>
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="TEST-RT-VT_STORM"/>
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value=""/>
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
<listEntry value="/TEST-RT-VT_STORM"/>
</listAttribute>
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
<listEntry value="4"/>
</listAttribute>
<listAttribute key="org.eclipse.debug.ui.favoriteGroups">
<listEntry value="org.eclipse.debug.ui.launchGroup.debug"/>
</listAttribute>
</launchConfiguration>