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dfi-led-matrix/eigener_ctrl/stm32f407-olimex/chibios/os/rt/include/chvt.h

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added Olimex stm32f407-E407 ChibiOS example
2018-01-08 23:16:11 +00:00
/*
ChibiOS - Copyright (C) 2006..2016 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 chvt.h
* @brief Time and Virtual Timers module macros and structures.
*
* @addtogroup time
* @{
*/
#ifndef CHVT_H
#define CHVT_H
/*===========================================================================*/
/* Module constants. */
/*===========================================================================*/
/**
* @name Special time constants
* @{
*/
/**
* @brief Zero time specification for some functions with a timeout
* specification.
* @note Not all functions accept @p TIME_IMMEDIATE as timeout parameter,
* see the specific function documentation.
*/
#define TIME_IMMEDIATE ((systime_t)0)
/**
* @brief Infinite time specification for all functions with a timeout
* specification.
* @note Not all functions accept @p TIME_INFINITE as timeout parameter,
* see the specific function documentation.
*/
#define TIME_INFINITE ((systime_t)-1)
/**
* @brief Maximum time constant.
*/
#define TIME_MAXIMUM ((systime_t)-2)
/** @} */
/**
* @brief Maximum unsigned integer.
*/
#define __UINT_MAX ((unsigned int)-1)
/*===========================================================================*/
/* Module pre-compile time settings. */
/*===========================================================================*/
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
#if (CH_CFG_ST_RESOLUTION != 16) && (CH_CFG_ST_RESOLUTION != 32)
#error "invalid CH_CFG_ST_RESOLUTION specified, must be 16 or 32"
#endif
#if CH_CFG_ST_FREQUENCY <= 0
#error "invalid CH_CFG_ST_FREQUENCY specified, must be greater than zero"
#endif
#if (CH_CFG_ST_TIMEDELTA < 0) || (CH_CFG_ST_TIMEDELTA == 1)
#error "invalid CH_CFG_ST_TIMEDELTA specified, must " \
"be zero or greater than one"
#endif
#if (CH_CFG_ST_TIMEDELTA > 0) && (CH_CFG_TIME_QUANTUM > 0)
#error "CH_CFG_TIME_QUANTUM not supported in tickless mode"
#endif
#if (CH_CFG_ST_TIMEDELTA > 0) && (CH_DBG_THREADS_PROFILING == TRUE)
#error "CH_DBG_THREADS_PROFILING not supported in tickless mode"
#endif
/*===========================================================================*/
/* Module data structures and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Module macros. */
/*===========================================================================*/
/**
* @name Fast time conversion utilities
* @{
*/
/**
* @brief Seconds to system ticks.
* @details Converts from seconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
* @note Use of this macro for large values is not secure because
* integer overflows, make sure your value can be correctly
* converted.
*
* @param[in] sec number of seconds
* @return The number of ticks.
*
* @api
*/
#define S2ST(sec) \
((systime_t)((uint32_t)(sec) * (uint32_t)CH_CFG_ST_FREQUENCY))
/**
* @brief Milliseconds to system ticks.
* @details Converts from milliseconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
* @note Use of this macro for large values is not secure because
* integer overflows, make sure your value can be correctly
* converted.
*
* @param[in] msec number of milliseconds
* @return The number of ticks.
*
* @api
*/
#define MS2ST(msec) \
((systime_t)(((((uint32_t)(msec)) * \
((uint32_t)CH_CFG_ST_FREQUENCY)) + 999UL) / 1000UL))
/**
* @brief Microseconds to system ticks.
* @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] usec number of microseconds
* @return The number of ticks.
*
* @api
*/
#define US2ST(usec) \
((systime_t)(((((uint32_t)(usec)) * \
((uint32_t)CH_CFG_ST_FREQUENCY)) + 999999UL) / 1000000UL))
/**
* @brief System ticks 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] n number of system ticks
* @return The number of seconds.
*
* @api
*/
#define ST2S(n) (((n) + CH_CFG_ST_FREQUENCY - 1UL) / CH_CFG_ST_FREQUENCY)
/**
* @brief System ticks 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] n number of system ticks
* @return The number of milliseconds.
*
* @api
*/
#define ST2MS(n) (((n) * 1000UL + CH_CFG_ST_FREQUENCY - 1UL) / \
CH_CFG_ST_FREQUENCY)
/**
* @brief System ticks 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] n number of system ticks
* @return The number of microseconds.
*
* @api
*/
#define ST2US(n) (((n) * 1000000UL + CH_CFG_ST_FREQUENCY - 1UL) / \
CH_CFG_ST_FREQUENCY)
/** @} */
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
/*
* Virtual Timers APIs.
*/
#ifdef __cplusplus
extern "C" {
#endif
void _vt_init(void);
void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,
vtfunc_t vtfunc, void *par);
void chVTDoResetI(virtual_timer_t *vtp);
#ifdef __cplusplus
}
#endif
/*===========================================================================*/
/* Module inline functions. */
/*===========================================================================*/
/**
* @name Secure time conversion utilities
* @{
*/
/**
* @brief Seconds to system ticks.
* @details Converts from seconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
* @note This function uses a 64 bits internal representation,
* use with non-constant parameters can lead to inefficient
* code because 64 bits arithmetic would be used at runtime.
*
* @param[in] sec number of seconds
* @return The number of ticks.
*
* @api
*/
static inline systime_t LL_S2ST(unsigned int sec) {
uint64_t ticks = (uint64_t)sec * (uint64_t)CH_CFG_ST_FREQUENCY;
chDbgAssert(ticks <= (uint64_t)TIME_MAXIMUM, "conversion overflow");
return (systime_t)ticks;
}
/**
* @brief Milliseconds to system ticks.
* @details Converts from milliseconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
* @note This function uses a 64 bits internal representation,
* use with non-constant parameters can lead to inefficient
* code because 64 bits arithmetic would be used at runtime.
*
* @param[in] msec number of milliseconds
* @return The number of ticks.
*
* @api
*/
static inline systime_t LL_MS2ST(unsigned int msec) {
uint64_t ticks = (((uint64_t)msec * (uint64_t)CH_CFG_ST_FREQUENCY) + 999ULL)
/ 1000ULL;
chDbgAssert(ticks <= (uint64_t)TIME_MAXIMUM, "conversion overflow");
return (systime_t)ticks;
}
/**
* @brief Microseconds to system ticks.
* @details Converts from microseconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
* @note This function uses a 64 bits internal representation,
* use with non-constant parameters can lead to inefficient
* code because 64 bits arithmetic would be used at runtime.
*
* @param[in] usec number of microseconds
* @return The number of ticks.
*
* @api
*/
static inline systime_t LL_US2ST(unsigned int usec) {
uint64_t ticks = (((uint64_t)usec * (uint64_t)CH_CFG_ST_FREQUENCY) + 999999ULL)
/ 1000000ULL;
chDbgAssert(ticks <= (uint64_t)TIME_MAXIMUM, "conversion overflow");
return (systime_t)ticks;
}
/**
* @brief System ticks to seconds.
* @details Converts from system ticks number to seconds.
* @note The result is rounded up to the next second boundary.
* @note This function uses a 64 bits internal representation,
* use with non-constant parameters can lead to inefficient
* code because 64 bits arithmetic would be used at runtime.
*
* @param[in] n number of system ticks
* @return The number of seconds.
*
* @api
*/
static inline unsigned int LL_ST2S(systime_t n) {
uint64_t sec = ((uint64_t)n + (uint64_t)CH_CFG_ST_FREQUENCY - 1ULL)
/ (uint64_t)CH_CFG_ST_FREQUENCY;
chDbgAssert(sec < (uint64_t)__UINT_MAX, "conversion overflow");
return (unsigned int)sec;
}
/**
* @brief System ticks to milliseconds.
* @details Converts from system ticks number to milliseconds.
* @note The result is rounded up to the next millisecond boundary.
* @note This function uses a 64 bits internal representation,
* use with non-constant parameters can lead to inefficient
* code because 64 bits arithmetic would be used at runtime.
*
* @param[in] n number of system ticks
* @return The number of milliseconds.
*
* @api
*/
static inline unsigned int LL_ST2MS(systime_t n) {
uint64_t msec = (((uint64_t)n * 1000ULL) + (uint64_t)CH_CFG_ST_FREQUENCY - 1ULL)
/ (uint64_t)CH_CFG_ST_FREQUENCY;
chDbgAssert(msec < (uint64_t)__UINT_MAX, "conversion overflow");
return (unsigned int)msec;
}
/**
* @brief System ticks to microseconds.
* @details Converts from system ticks number to microseconds.
* @note The result is rounded up to the next microsecond boundary.
* @note This function uses a 64 bits internal representation,
* use with non-constant parameters can lead to inefficient
* code because 64 bits arithmetic would be used at runtime.
*
* @param[in] n number of system ticks
* @return The number of microseconds.
*
* @api
*/
static inline unsigned int LL_ST2US(systime_t n) {
uint64_t usec = (((uint64_t)n * 1000000ULL) + (uint64_t)CH_CFG_ST_FREQUENCY - 1ULL)
/ (uint64_t)CH_CFG_ST_FREQUENCY;
chDbgAssert(usec < (uint64_t)__UINT_MAX, "conversion overflow");
return (unsigned int)usec;
}
/** @} */
/**
* @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 systime_t chVTTimeElapsedSinceX(systime_t start) {
return chVTGetSystemTimeX() - start;
}
/**
* @brief Checks if the specified time is within the specified time window.
* @note When start==end then the function returns always true because the
* whole time range is specified.
* @note This function can be called from any context.
*
* @param[in] time the time to be verified
* @param[in] start the start of the time window (inclusive)
* @param[in] end the end of the time window (non inclusive)
* @retval true current time within the specified time window.
* @retval false current time not within the specified time window.
*
* @xclass
*/
static inline bool chVTIsTimeWithinX(systime_t time,
systime_t start,
systime_t end) {
return (bool)((systime_t)(time - start) < (systime_t)(end - start));
}
/**
* @brief Checks if the current system time is within the specified time
* window.
* @note When start==end then the function returns always true because the
* whole time range is specified.
*
* @param[in] start the start of the time window (inclusive)
* @param[in] end the end of the time window (non inclusive)
* @retval true current time within the specified time window.
* @retval false current time not within the specified time window.
*
* @xclass
*/
static inline bool chVTIsSystemTimeWithinX(systime_t start, systime_t end) {
return chVTIsTimeWithinX(chVTGetSystemTimeX(), start, end);
}
/**
* @brief Checks if the current system time is within the specified time
* window.
* @note When start==end then the function returns always true because the
* whole time range is specified.
*
* @param[in] start the start of the time window (inclusive)
* @param[in] end the end of the time window (non inclusive)
* @retval true current time within the specified time window.
* @retval false current time not within the specified time window.
*
* @api
*/
static inline bool chVTIsSystemTimeWithin(systime_t start, systime_t end) {
return chVTIsTimeWithinX(chVTGetSystemTime(), start, end);
}
/**
* @brief Returns 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(systime_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.lasttime + ch.vtlist.next->delta +
CH_CFG_ST_TIMEDELTA - 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(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(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, systime_t delay,
vtfunc_t vtfunc, void *par) {
chVTResetI(vtp);
chVTDoSetI(vtp, delay, vtfunc, par);
}
/**
* @brief Enables a virtual timer.
* @details If the virtual timer was already enabled then it is re-enabled
* using the new parameters.
* @pre The timer must have been initialized using @p chVTObjectInit()
* or @p chVTDoSetI().
*
* @param[in] vtp the @p virtual_timer_t structure pointer
* @param[in] delay the number of ticks before the operation timeouts, the
* special values are handled as follow:
* - @a TIME_INFINITE is allowed but interpreted as a
* normal time specification.
* - @a TIME_IMMEDIATE this value is not allowed.
* .
* @param[in] vtfunc the timer callback function. After invoking the
* callback the timer is disabled and the structure can
* be disposed or reused.
* @param[in] par a parameter that will be passed to the callback
* function
*
* @api
*/
static inline void chVTSet(virtual_timer_t *vtp, systime_t delay,
vtfunc_t vtfunc, void *par) {
chSysLock();
chVTSetI(vtp, delay, vtfunc, par);
chSysUnlock();
}
/**
* @brief Virtual timers ticker.
* @note The system lock is released before entering the callback and
* re-acquired immediately after. It is callback's responsibility
* to acquire the lock if needed. This is done in order to reduce
* interrupts jitter when many timers are in use.
*
* @iclass
*/
static inline void chVTDoTickI(void) {
chDbgCheckClassI();
#if CH_CFG_ST_TIMEDELTA == 0
ch.vtlist.systime++;
if (&ch.vtlist != (virtual_timers_list_t *)ch.vtlist.next) {
/* The list is not empty, processing elements on top.*/
--ch.vtlist.next->delta;
while (ch.vtlist.next->delta == (systime_t)0) {
virtual_timer_t *vtp;
vtfunc_t fn;
vtp = ch.vtlist.next;
fn = vtp->func;
vtp->func = NULL;
vtp->next->prev = (virtual_timer_t *)&ch.vtlist;
ch.vtlist.next = vtp->next;
chSysUnlockFromISR();
fn(vtp->par);
chSysLockFromISR();
}
}
#else /* CH_CFG_ST_TIMEDELTA > 0 */
virtual_timer_t *vtp;
systime_t now, delta;
/* First timer to be processed.*/
vtp = ch.vtlist.next;
now = chVTGetSystemTimeX();
/* All timers within the time window are triggered and removed,
note that the loop is stopped by the timers header having
"ch.vtlist.vt_delta == (systime_t)-1" which is greater than
all deltas.*/
while (vtp->delta <= (systime_t)(now - ch.vtlist.lasttime)) {
vtfunc_t fn;
/* The "last time" becomes this timer's expiration time.*/
ch.vtlist.lasttime += vtp->delta;
vtp->next->prev = (virtual_timer_t *)&ch.vtlist;
ch.vtlist.next = vtp->next;
fn = vtp->func;
vtp->func = NULL;
/* if the list becomes empty then the timer is stopped.*/
if (ch.vtlist.next == (virtual_timer_t *)&ch.vtlist) {
port_timer_stop_alarm();
}
/* Leaving the system critical zone in order to execute the callback
and in order to give a preemption chance to higher priority
interrupts.*/
chSysUnlockFromISR();
/* The callback is invoked outside the kernel critical zone.*/
fn(vtp->par);
/* Re-entering the critical zone in order to continue the exploration
of the list.*/
chSysLockFromISR();
/* Next element in the list, the current time could have advanced so
recalculating the time window.*/
vtp = ch.vtlist.next;
now = chVTGetSystemTimeX();
}
/* if the list is empty, nothing else to do.*/
if (ch.vtlist.next == (virtual_timer_t *)&ch.vtlist) {
return;
}
/* Recalculating the next alarm time.*/
delta = ch.vtlist.lasttime + vtp->delta - now;
if (delta < (systime_t)CH_CFG_ST_TIMEDELTA) {
delta = (systime_t)CH_CFG_ST_TIMEDELTA;
}
port_timer_set_alarm(now + delta);
chDbgAssert((chVTGetSystemTimeX() - ch.vtlist.lasttime) <=
(now + delta - ch.vtlist.lasttime),
"exceeding delta");
#endif /* CH_CFG_ST_TIMEDELTA > 0 */
}
#endif /* CHVT_H */
/** @} */