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ChibiOS/os/rt/include/chvt.h

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/*
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 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.
* @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 */
/** @} */
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