diff options
| author | Giovanni Di Sirio <gdisirio@gmail.com> | 2017-10-16 09:31:32 +0000 |
|---|---|---|
| committer | Giovanni Di Sirio <gdisirio@gmail.com> | 2017-10-16 09:31:32 +0000 |
| commit | 6bbfd2126f0cd20c733b78682d322250d8223d93 (patch) | |
| tree | 9f9856ad4e17aeee3dba156e5211eb0579061844 | |
| parent | 97442e7faaed76d0da347c96df3da2122e033bd1 (diff) | |
| parent | 5596d3e69e0d1c7c9a7b07f9bf83416d2c25cd8b (diff) | |
| download | ChibiOS-6bbfd2126f0cd20c733b78682d322250d8223d93.tar.gz ChibiOS-6bbfd2126f0cd20c733b78682d322250d8223d93.tar.bz2 ChibiOS-6bbfd2126f0cd20c733b78682d322250d8223d93.zip | |
Reintegrated RT5 point1 branch.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@10833 35acf78f-673a-0410-8e92-d51de3d6d3f4
45 files changed, 944 insertions, 586 deletions
diff --git a/demos/STM32/RT-STM32F746G-DISCOVERY/Makefile b/demos/STM32/RT-STM32F746G-DISCOVERY/Makefile index 0273b285d..94853d1b3 100644 --- a/demos/STM32/RT-STM32F746G-DISCOVERY/Makefile +++ b/demos/STM32/RT-STM32F746G-DISCOVERY/Makefile @@ -5,7 +5,7 @@ # Compiler options here.
ifeq ($(USE_OPT),)
- USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
+ USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16
endif
# C specific options here (added to USE_OPT).
@@ -103,7 +103,7 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk include $(CHIBIOS)/os/rt/rt.mk
include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
# Other files (optional).
-include $(CHIBIOS)/test/rt/test.mk
+#include $(CHIBIOS)/test/rt/test.mk
# Define linker script file here
LDSCRIPT= $(STARTUPLD)/STM32F746xG.ld
diff --git a/demos/STM32/RT-STM32F746G-DISCOVERY/chconf.h b/demos/STM32/RT-STM32F746G-DISCOVERY/chconf.h index 0c2c44ee3..bba658831 100644 --- a/demos/STM32/RT-STM32F746G-DISCOVERY/chconf.h +++ b/demos/STM32/RT-STM32F746G-DISCOVERY/chconf.h @@ -42,14 +42,26 @@ * @brief System time counter resolution.
* @note Allowed values are 16 or 32 bits.
*/
-#define CH_CFG_ST_RESOLUTION 32
+#define CH_CFG_ST_RESOLUTION 16
/**
* @brief System tick frequency.
* @details Frequency of the system timer that drives the system ticks. This
* setting also defines the system tick time unit.
*/
-#define CH_CFG_ST_FREQUENCY 10000
+#define CH_CFG_ST_FREQUENCY 100000
+
+/**
+ * @brief Time intervals data size.
+ * @note Allowed values are 16, 32 or 64 bits.
+ */
+#define CH_CFG_INTERVALS_SIZE 32
+
+/**
+ * @brief Time types data size.
+ * @note Allowed values are 16 or 32 bits.
+ */
+#define CH_CFG_TIME_TYPES_SIZE 32
/**
* @brief Time delta constant for the tick-less mode.
diff --git a/demos/STM32/RT-STM32F746G-DISCOVERY/debug/RT-STM32F746G-DISCOVERY (OpenOCD, Flash and Run).launch b/demos/STM32/RT-STM32F746G-DISCOVERY/debug/RT-STM32F746G-DISCOVERY (OpenOCD, Flash and Run).launch index 4b21ba8fe..620c606b2 100644 --- a/demos/STM32/RT-STM32F746G-DISCOVERY/debug/RT-STM32F746G-DISCOVERY (OpenOCD, Flash and Run).launch +++ b/demos/STM32/RT-STM32F746G-DISCOVERY/debug/RT-STM32F746G-DISCOVERY (OpenOCD, Flash and Run).launch @@ -33,7 +33,7 @@ <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_REGISTER_GROUPS" value=""/> -<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><contentList/>"/> +<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><contentList><content id="delta-next-vtlist-null-_idle_thread.lto_priv.25-(format)" val="4"/></contentList>"/> <stringAttribute key="org.eclipse.cdt.launch.GLOBAL_VARIABLES" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?> <globalVariableList/> "/> <stringAttribute key="org.eclipse.cdt.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?> <memoryBlockExpressionList> <memoryBlockExpressionItem> <expression text="0x0"/> </memoryBlockExpressionItem> </memoryBlockExpressionList> "/> <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="./build/ch.elf"/> diff --git a/demos/STM32/RT-STM32F746G-DISCOVERY/debug/RT-STM32F746G-DISCOVERY (OpenOCD, Just Run).launch b/demos/STM32/RT-STM32F746G-DISCOVERY/debug/RT-STM32F746G-DISCOVERY (OpenOCD, Just Run).launch index 3e12199dc..c64a7eb53 100644 --- a/demos/STM32/RT-STM32F746G-DISCOVERY/debug/RT-STM32F746G-DISCOVERY (OpenOCD, Just Run).launch +++ b/demos/STM32/RT-STM32F746G-DISCOVERY/debug/RT-STM32F746G-DISCOVERY (OpenOCD, Just Run).launch @@ -33,7 +33,7 @@ <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="0"/>
<stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_REGISTER_GROUPS" value=""/>
-<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><contentList><content id="vt_delta-null-chVTDoSetI-(format)" val="4"/><content id="r3-(format)" val="4"/></contentList>"/>
+<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><contentList><content id="r3-(format)" val="4"/><content id="vt_delta-null-chVTDoSetI-(format)" val="4"/></contentList>"/>
<stringAttribute key="org.eclipse.cdt.launch.GLOBAL_VARIABLES" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?> <globalVariableList/> "/>
<stringAttribute key="org.eclipse.cdt.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?> <memoryBlockExpressionList/> "/>
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="./build/ch.elf"/>
diff --git a/demos/STM32/RT-STM32F746G-DISCOVERY/main.c b/demos/STM32/RT-STM32F746G-DISCOVERY/main.c index 6db5cde31..5199ddf37 100644 --- a/demos/STM32/RT-STM32F746G-DISCOVERY/main.c +++ b/demos/STM32/RT-STM32F746G-DISCOVERY/main.c @@ -16,7 +16,7 @@ #include "ch.h"
#include "hal.h"
-#include "ch_test.h"
+//#include "ch_test.h"
/*
* This is a periodic thread that does absolutely nothing except flashing
@@ -29,9 +29,9 @@ static THD_FUNCTION(Thread1, arg) { chRegSetThreadName("blinker");
while (true) {
palSetLine(LINE_ARD_D13);
- chThdSleepMilliseconds(500);
+ chThdSleepMilliseconds(1000);
palClearLine(LINE_ARD_D13);
- chThdSleepMilliseconds(500);
+ chThdSleepMilliseconds(1000);
}
}
@@ -64,15 +64,15 @@ int main(void) { /*
* Creates the example thread.
*/
- chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
+ chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO+1, Thread1, NULL);
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and check the button state.
*/
while (true) {
- if (palReadLine(LINE_BUTTON_USER))
- test_execute((BaseSequentialStream *)&SD1);
- chThdSleepMilliseconds(500);
+// if (palReadLine(LINE_BUTTON_USER))
+// test_execute((BaseSequentialStream *)&SD1);
+ chThdSleepMilliseconds(2000);
}
}
diff --git a/os/common/oslib/include/chbsem.h b/os/common/oslib/include/chbsem.h index 3a6956017..bf77700d1 100644 --- a/os/common/oslib/include/chbsem.h +++ b/os/common/oslib/include/chbsem.h @@ -166,7 +166,7 @@ static inline msg_t chBSemWaitS(binary_semaphore_t *bsp) { * @brief Wait operation on the binary semaphore.
*
* @param[in] bsp pointer to a @p binary_semaphore_t structure
- * @param[in] time the number of ticks before the operation timeouts,
+ * @param[in] timeout the number of ticks before the operation timeouts,
* the following special values are allowed:
* - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout.
@@ -182,18 +182,18 @@ static inline msg_t chBSemWaitS(binary_semaphore_t *bsp) { * @sclass
*/
static inline msg_t chBSemWaitTimeoutS(binary_semaphore_t *bsp,
- systime_t time) {
+ sysinterval_t timeout) {
chDbgCheckClassS();
- return chSemWaitTimeoutS(&bsp->sem, time);
+ return chSemWaitTimeoutS(&bsp->sem, timeout);
}
/**
* @brief Wait operation on the binary semaphore.
*
* @param[in] bsp pointer to a @p binary_semaphore_t structure
- * @param[in] time the number of ticks before the operation timeouts,
+ * @param[in] timeout the number of ticks before the operation timeouts,
* the following special values are allowed:
* - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout.
@@ -209,9 +209,9 @@ static inline msg_t chBSemWaitTimeoutS(binary_semaphore_t *bsp, * @api
*/
static inline msg_t chBSemWaitTimeout(binary_semaphore_t *bsp,
- systime_t time) {
+ sysinterval_t timeout) {
- return chSemWaitTimeout(&bsp->sem, time);
+ return chSemWaitTimeout(&bsp->sem, timeout);
}
/**
diff --git a/os/common/oslib/include/chfifo.h b/os/common/oslib/include/chfifo.h index 1df57ef41..78ba16132 100644 --- a/os/common/oslib/include/chfifo.h +++ b/os/common/oslib/include/chfifo.h @@ -164,7 +164,7 @@ static inline void *chFifoTakeObjectI(objects_fifo_t *ofp) { * @sclass
*/
static inline void *chFifoTakeObjectTimeoutS(objects_fifo_t *ofp,
- systime_t timeout) {
+ sysinterval_t timeout) {
return chGuardedPoolAllocTimeoutS(&ofp->free, timeout);
}
@@ -185,7 +185,7 @@ static inline void *chFifoTakeObjectTimeoutS(objects_fifo_t *ofp, * @api
*/
static inline void *chFifoTakeObjectTimeout(objects_fifo_t *ofp,
- systime_t timeout) {
+ sysinterval_t timeout) {
return chGuardedPoolAllocTimeout(&ofp->free, timeout);
}
@@ -304,7 +304,7 @@ static inline msg_t chFifoReceiveObjectI(objects_fifo_t *ofp, */
static inline msg_t chFifoReceiveObjectTimeoutS(objects_fifo_t *ofp,
void **objpp,
- systime_t timeout) {
+ sysinterval_t timeout) {
return chMBFetchTimeoutS(&ofp->mbx, (msg_t *)objpp, timeout);
}
@@ -327,7 +327,7 @@ static inline msg_t chFifoReceiveObjectTimeoutS(objects_fifo_t *ofp, */
static inline msg_t chFifoReceiveObjectTimeout(objects_fifo_t *ofp,
void **objpp,
- systime_t timeout) {
+ sysinterval_t timeout) {
return chMBFetchTimeout(&ofp->mbx, (msg_t *)objpp, timeout);
}
diff --git a/os/common/oslib/include/chmboxes.h b/os/common/oslib/include/chmboxes.h index e6ffd7b82..2c9d09296 100644 --- a/os/common/oslib/include/chmboxes.h +++ b/os/common/oslib/include/chmboxes.h @@ -112,14 +112,14 @@ extern "C" { void chMBObjectInit(mailbox_t *mbp, msg_t *buf, size_t n);
void chMBReset(mailbox_t *mbp);
void chMBResetI(mailbox_t *mbp);
- msg_t chMBPostTimeout(mailbox_t *mbp, msg_t msg, systime_t timeout);
- msg_t chMBPostTimeoutS(mailbox_t *mbp, msg_t msg, systime_t timeout);
+ msg_t chMBPostTimeout(mailbox_t *mbp, msg_t msg, sysinterval_t timeout);
+ msg_t chMBPostTimeoutS(mailbox_t *mbp, msg_t msg, sysinterval_t timeout);
msg_t chMBPostI(mailbox_t *mbp, msg_t msg);
- msg_t chMBPostAheadTimeout(mailbox_t *mbp, msg_t msg, systime_t timeout);
- msg_t chMBPostAheadTimeoutS(mailbox_t *mbp, msg_t msg, systime_t timeout);
+ msg_t chMBPostAheadTimeout(mailbox_t *mbp, msg_t msg, sysinterval_t timeout);
+ msg_t chMBPostAheadTimeoutS(mailbox_t *mbp, msg_t msg, sysinterval_t timeout);
msg_t chMBPostAheadI(mailbox_t *mbp, msg_t msg);
- msg_t chMBFetchTimeout(mailbox_t *mbp, msg_t *msgp, systime_t timeout);
- msg_t chMBFetchTimeoutS(mailbox_t *mbp, msg_t *msgp, systime_t timeout);
+ msg_t chMBFetchTimeout(mailbox_t *mbp, msg_t *msgp, sysinterval_t timeout);
+ msg_t chMBFetchTimeoutS(mailbox_t *mbp, msg_t *msgp, sysinterval_t timeout);
msg_t chMBFetchI(mailbox_t *mbp, msg_t *msgp);
#ifdef __cplusplus
}
diff --git a/os/common/oslib/include/chmempools.h b/os/common/oslib/include/chmempools.h index 0e9773374..1923404b3 100644 --- a/os/common/oslib/include/chmempools.h +++ b/os/common/oslib/include/chmempools.h @@ -164,9 +164,9 @@ extern "C" { unsigned align);
void chGuardedPoolLoadArray(guarded_memory_pool_t *gmp, void *p, size_t n);
void *chGuardedPoolAllocTimeoutS(guarded_memory_pool_t *gmp,
- systime_t timeout);
+ sysinterval_t timeout);
void *chGuardedPoolAllocTimeout(guarded_memory_pool_t *gmp,
- systime_t timeout);
+ sysinterval_t timeout);
void chGuardedPoolFreeI(guarded_memory_pool_t *gmp, void *objp);
void chGuardedPoolFree(guarded_memory_pool_t *gmp, void *objp);
#endif
diff --git a/os/common/oslib/src/chmboxes.c b/os/common/oslib/src/chmboxes.c index 5f2f9b6a3..48b5b4f01 100644 --- a/os/common/oslib/src/chmboxes.c +++ b/os/common/oslib/src/chmboxes.c @@ -162,7 +162,7 @@ void chMBResetI(mailbox_t *mbp) { *
* @api
*/
-msg_t chMBPostTimeout(mailbox_t *mbp, msg_t msg, systime_t timeout) {
+msg_t chMBPostTimeout(mailbox_t *mbp, msg_t msg, sysinterval_t timeout) {
msg_t rdymsg;
chSysLock();
@@ -191,7 +191,7 @@ msg_t chMBPostTimeout(mailbox_t *mbp, msg_t msg, systime_t timeout) { *
* @sclass
*/
-msg_t chMBPostTimeoutS(mailbox_t *mbp, msg_t msg, systime_t timeout) {
+msg_t chMBPostTimeoutS(mailbox_t *mbp, msg_t msg, sysinterval_t timeout) {
msg_t rdymsg;
chDbgCheckClassS();
@@ -287,7 +287,7 @@ msg_t chMBPostI(mailbox_t *mbp, msg_t msg) { *
* @api
*/
-msg_t chMBPostAheadTimeout(mailbox_t *mbp, msg_t msg, systime_t timeout) {
+msg_t chMBPostAheadTimeout(mailbox_t *mbp, msg_t msg, sysinterval_t timeout) {
msg_t rdymsg;
chSysLock();
@@ -316,7 +316,7 @@ msg_t chMBPostAheadTimeout(mailbox_t *mbp, msg_t msg, systime_t timeout) { *
* @sclass
*/
-msg_t chMBPostAheadTimeoutS(mailbox_t *mbp, msg_t msg, systime_t timeout) {
+msg_t chMBPostAheadTimeoutS(mailbox_t *mbp, msg_t msg, sysinterval_t timeout) {
msg_t rdymsg;
chDbgCheckClassS();
@@ -412,7 +412,7 @@ msg_t chMBPostAheadI(mailbox_t *mbp, msg_t msg) { *
* @api
*/
-msg_t chMBFetchTimeout(mailbox_t *mbp, msg_t *msgp, systime_t timeout) {
+msg_t chMBFetchTimeout(mailbox_t *mbp, msg_t *msgp, sysinterval_t timeout) {
msg_t rdymsg;
chSysLock();
@@ -441,7 +441,7 @@ msg_t chMBFetchTimeout(mailbox_t *mbp, msg_t *msgp, systime_t timeout) { *
* @sclass
*/
-msg_t chMBFetchTimeoutS(mailbox_t *mbp, msg_t *msgp, systime_t timeout) {
+msg_t chMBFetchTimeoutS(mailbox_t *mbp, msg_t *msgp, sysinterval_t timeout) {
msg_t rdymsg;
chDbgCheckClassS();
diff --git a/os/common/oslib/src/chmempools.c b/os/common/oslib/src/chmempools.c index aec47400c..5e23273f5 100644 --- a/os/common/oslib/src/chmempools.c +++ b/os/common/oslib/src/chmempools.c @@ -268,7 +268,7 @@ void chGuardedPoolLoadArray(guarded_memory_pool_t *gmp, void *p, size_t n) { * @sclass
*/
void *chGuardedPoolAllocTimeoutS(guarded_memory_pool_t *gmp,
- systime_t timeout) {
+ sysinterval_t timeout) {
msg_t msg;
msg = chSemWaitTimeoutS(&gmp->sem, timeout);
@@ -295,7 +295,7 @@ void *chGuardedPoolAllocTimeoutS(guarded_memory_pool_t *gmp, * @api
*/
void *chGuardedPoolAllocTimeout(guarded_memory_pool_t *gmp,
- systime_t timeout) {
+ sysinterval_t timeout) {
void *p;
chSysLock();
diff --git a/os/hal/include/hal_buffers.h b/os/hal/include/hal_buffers.h index 7d776f4a7..ac541d286 100644 --- a/os/hal/include/hal_buffers.h +++ b/os/hal/include/hal_buffers.h @@ -284,14 +284,14 @@ extern "C" { uint8_t *ibqGetEmptyBufferI(input_buffers_queue_t *ibqp);
void ibqPostFullBufferI(input_buffers_queue_t *ibqp, size_t size);
msg_t ibqGetFullBufferTimeout(input_buffers_queue_t *ibqp,
- systime_t timeout);
+ sysinterval_t timeout);
msg_t ibqGetFullBufferTimeoutS(input_buffers_queue_t *ibqp,
- systime_t timeout);
+ sysinterval_t timeout);
void ibqReleaseEmptyBuffer(input_buffers_queue_t *ibqp);
void ibqReleaseEmptyBufferS(input_buffers_queue_t *ibqp);
- msg_t ibqGetTimeout(input_buffers_queue_t *ibqp, systime_t timeout);
+ msg_t ibqGetTimeout(input_buffers_queue_t *ibqp, sysinterval_t timeout);
size_t ibqReadTimeout(input_buffers_queue_t *ibqp, uint8_t *bp,
- size_t n, systime_t timeout);
+ size_t n, sysinterval_t timeout);
void obqObjectInit(output_buffers_queue_t *obqp, bool suspended, uint8_t *bp,
size_t size, size_t n, bqnotify_t onfy, void *link);
void obqResetI(output_buffers_queue_t *obqp);
@@ -299,15 +299,15 @@ extern "C" { size_t *sizep);
void obqReleaseEmptyBufferI(output_buffers_queue_t *obqp);
msg_t obqGetEmptyBufferTimeout(output_buffers_queue_t *obqp,
- systime_t timeout);
+ sysinterval_t timeout);
msg_t obqGetEmptyBufferTimeoutS(output_buffers_queue_t *obqp,
- systime_t timeout);
+ sysinterval_t timeout);
void obqPostFullBuffer(output_buffers_queue_t *obqp, size_t size);
void obqPostFullBufferS(output_buffers_queue_t *obqp, size_t size);
msg_t obqPutTimeout(output_buffers_queue_t *obqp, uint8_t b,
- systime_t timeout);
+ sysinterval_t timeout);
size_t obqWriteTimeout(output_buffers_queue_t *obqp, const uint8_t *bp,
- size_t n, systime_t timeout);
+ size_t n, sysinterval_t timeout);
bool obqTryFlushI(output_buffers_queue_t *obqp);
void obqFlush(output_buffers_queue_t *obqp);
#ifdef __cplusplus
diff --git a/os/hal/include/hal_can.h b/os/hal/include/hal_can.h index e91d8bd8b..78bd12a20 100644 --- a/os/hal/include/hal_can.h +++ b/os/hal/include/hal_can.h @@ -152,11 +152,11 @@ extern "C" { msg_t canTransmitTimeout(CANDriver *canp,
canmbx_t mailbox,
const CANTxFrame *ctfp,
- systime_t timeout);
+ sysinterval_t timeout);
msg_t canReceiveTimeout(CANDriver *canp,
canmbx_t mailbox,
CANRxFrame *crfp,
- systime_t timeout);
+ sysinterval_t timeout);
#if CAN_USE_SLEEP_MODE
void canSleep(CANDriver *canp);
void canWakeup(CANDriver *canp);
diff --git a/os/hal/include/hal_channels.h b/os/hal/include/hal_channels.h index 748dbe04a..f0d8f4d77 100644 --- a/os/hal/include/hal_channels.h +++ b/os/hal/include/hal_channels.h @@ -51,14 +51,15 @@ #define _base_channel_methods \
_base_sequential_stream_methods \
/* Channel put method with timeout specification.*/ \
- msg_t (*putt)(void *instance, uint8_t b, systime_t time); \
+ msg_t (*putt)(void *instance, uint8_t b, sysinterval_t time); \
/* Channel get method with timeout specification.*/ \
- msg_t (*gett)(void *instance, systime_t time); \
+ msg_t (*gett)(void *instance, sysinterval_t time); \
/* Channel write method with timeout specification.*/ \
size_t (*writet)(void *instance, const uint8_t *bp, \
- size_t n, systime_t time); \
+ size_t n, sysinterval_t time); \
/* Channel read method with timeout specification.*/ \
- size_t (*readt)(void *instance, uint8_t *bp, size_t n, systime_t time); \
+ size_t (*readt)(void *instance, uint8_t *bp, size_t n, \
+ sysinterval_t time); \
/* Channel put method with timeout specification.*/ \
msg_t (*ctl)(void *instance, unsigned int operation, void *arg);
diff --git a/os/hal/include/hal_i2c.h b/os/hal/include/hal_i2c.h index c9c8409cb..379c56308 100644 --- a/os/hal/include/hal_i2c.h +++ b/os/hal/include/hal_i2c.h @@ -145,11 +145,11 @@ extern "C" { i2caddr_t addr,
const uint8_t *txbuf, size_t txbytes,
uint8_t *rxbuf, size_t rxbytes,
- systime_t timeout);
+ sysinterval_t timeout);
msg_t i2cMasterReceiveTimeout(I2CDriver *i2cp,
i2caddr_t addr,
uint8_t *rxbuf, size_t rxbytes,
- systime_t timeout);
+ sysinterval_t timeout);
#if I2C_USE_MUTUAL_EXCLUSION == TRUE
void i2cAcquireBus(I2CDriver *i2cp);
void i2cReleaseBus(I2CDriver *i2cp);
diff --git a/os/hal/include/hal_mac.h b/os/hal/include/hal_mac.h index 5c7bc82de..0ca5e5fcd 100644 --- a/os/hal/include/hal_mac.h +++ b/os/hal/include/hal_mac.h @@ -184,11 +184,11 @@ extern "C" { void macSetAddress(MACDriver *macp, const uint8_t *p);
msg_t macWaitTransmitDescriptor(MACDriver *macp,
MACTransmitDescriptor *tdp,
- systime_t timeout);
+ sysinterval_t timeout);
void macReleaseTransmitDescriptor(MACTransmitDescriptor *tdp);
msg_t macWaitReceiveDescriptor(MACDriver *macp,
MACReceiveDescriptor *rdp,
- systime_t timeout);
+ sysinterval_t timeout);
void macReleaseReceiveDescriptor(MACReceiveDescriptor *rdp);
bool macPollLinkStatus(MACDriver *macp);
#ifdef __cplusplus
diff --git a/os/hal/include/hal_pal.h b/os/hal/include/hal_pal.h index e2d85f0fe..fdf4e2586 100644 --- a/os/hal/include/hal_pal.h +++ b/os/hal/include/hal_pal.h @@ -1006,8 +1006,9 @@ extern "C" { void palSetLineCallbackI(ioline_t line, palcallback_t cb, void *arg);
#endif /* PAL_USE_CALLBACKS */
#if PAL_USE_WAIT || defined(__DOXYGEN__)
- msg_t palWaitPadTimeoutS(ioportid_t port, iopadid_t pad, systime_t timeout);
- msg_t palWaitLineTimeoutS(ioline_t line, systime_t timeout);
+ msg_t palWaitPadTimeoutS(ioportid_t port, iopadid_t pad,
+ sysinterval_t timeout);
+ msg_t palWaitLineTimeoutS(ioline_t line, sysinterval_t timeout);
#endif /* PAL_USE_WAIT */
#ifdef __cplusplus
}
diff --git a/os/hal/include/hal_queues.h b/os/hal/include/hal_queues.h index 1f2777e76..ffafc8805 100644 --- a/os/hal/include/hal_queues.h +++ b/os/hal/include/hal_queues.h @@ -278,17 +278,17 @@ extern "C" { qnotify_t infy, void *link);
void iqResetI(input_queue_t *iqp);
msg_t iqPutI(input_queue_t *iqp, uint8_t b);
- msg_t iqGetTimeout(input_queue_t *iqp, systime_t timeout);
+ msg_t iqGetTimeout(input_queue_t *iqp, sysinterval_t timeout);
size_t iqReadTimeout(input_queue_t *iqp, uint8_t *bp,
- size_t n, systime_t timeout);
+ size_t n, sysinterval_t timeout);
void oqObjectInit(output_queue_t *oqp, uint8_t *bp, size_t size,
qnotify_t onfy, void *link);
void oqResetI(output_queue_t *oqp);
- msg_t oqPutTimeout(output_queue_t *oqp, uint8_t b, systime_t timeout);
+ msg_t oqPutTimeout(output_queue_t *oqp, uint8_t b, sysinterval_t timeout);
msg_t oqGetI(output_queue_t *oqp);
size_t oqWriteTimeout(output_queue_t *oqp, const uint8_t *bp,
- size_t n, systime_t timeout);
+ size_t n, sysinterval_t timeout);
#ifdef __cplusplus
}
#endif
diff --git a/os/hal/include/hal_uart.h b/os/hal/include/hal_uart.h index 5523b82f1..01d61df7a 100644 --- a/os/hal/include/hal_uart.h +++ b/os/hal/include/hal_uart.h @@ -359,11 +359,11 @@ extern "C" { size_t uartStopReceiveI(UARTDriver *uartp);
#if UART_USE_WAIT == TRUE
msg_t uartSendTimeout(UARTDriver *uartp, size_t *np,
- const void *txbuf, systime_t timeout);
+ const void *txbuf, sysinterval_t timeout);
msg_t uartSendFullTimeout(UARTDriver *uartp, size_t *np,
- const void *txbuf, systime_t timeout);
+ const void *txbuf, sysinterval_t timeout);
msg_t uartReceiveTimeout(UARTDriver *uartp, size_t *np,
- void *rxbuf, systime_t timeout);
+ void *rxbuf, sysinterval_t timeout);
#endif
#if UART_USE_MUTUAL_EXCLUSION == TRUE
void uartAcquireBus(UARTDriver *uartp);
diff --git a/os/hal/osal/nil/osal.h b/os/hal/osal/nil/osal.h index 5f3ff1bc5..9a8d16d12 100644 --- a/os/hal/osal/nil/osal.h +++ b/os/hal/osal/nil/osal.h @@ -875,8 +875,9 @@ static inline void osalEventBroadcastFlags(event_source_t *esp, osalDbgCheck(esp != NULL);
chSysLock();
- osalEventBroadcastFlagsI(esp, flags);
- chSchRescheduleS();
+ esp->flags |= flags;
+ if (esp->cb != NULL) {
+ esp->cb(esp);
chSysUnlock();
}
diff --git a/os/hal/osal/rt/osal.h b/os/hal/osal/rt/osal.h index c99b4c92a..c81edef4f 100644 --- a/os/hal/osal/rt/osal.h +++ b/os/hal/osal/rt/osal.h @@ -67,8 +67,8 @@ * @name Special time constants
* @{
*/
-#define TIME_IMMEDIATE ((systime_t)0)
-#define TIME_INFINITE ((systime_t)-1)
+#define TIME_IMMEDIATE ((sysinterval_t)0)
+#define TIME_INFINITE ((sysinterval_t)-1)
/** @} */
#endif
@@ -150,6 +150,13 @@ typedef uint32_t systime_t; #if 0
/**
+ * @brief Type of system time counter.
+ */
+typedef uint32_t sysinterval_t;
+#endif
+
+#if 0
+/**
* @brief Type of realtime counter.
*/
typedef uint32_t rtcnt_t;
@@ -179,14 +186,15 @@ typedef uint32_t eventflags_t; * API and are implementation-dependent.
*/
typedef struct {
- volatile eventflags_t flags; /**< @brief Flags stored into the
- object. */
+ volatile eventflags_t flags; /**< @brief Stored event flags. */
+ eventcallback_t cb; /**< @brief Event source callback. */
+ void *param; /**< @brief User defined field. */
} event_source_t;
#endif
/**
* @brief Type of a mutex.
- * @note If the OS does not support mutexes or there is no OS then them
+ * @note If the OS does not support mutexes or there is no OS then the
* mechanism can be simulated.
*/
#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__)
@@ -304,36 +312,36 @@ typedef struct { * @details Converts from seconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
*
- * @param[in] sec number of seconds
+ * @param[in] secs number of seconds
* @return The number of ticks.
*
* @api
*/
-#define OSAL_S2ST(sec) S2ST(sec)
+#define OSAL_S2I(secs) TIME_S2I(secs)
/**
* @brief Milliseconds to system ticks.
* @details Converts from milliseconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
*
- * @param[in] msec number of milliseconds
+ * @param[in] msecs number of milliseconds
* @return The number of ticks.
*
* @api
*/
-#define OSAL_MS2ST(msec) MS2ST(msec)
+#define OSAL_MS2I(msecs) TIME_MS2I(msecs)
/**
* @brief Microseconds to system ticks.
* @details Converts from microseconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
*
- * @param[in] usec number of microseconds
+ * @param[in] usecs number of microseconds
* @return The number of ticks.
*
* @api
*/
-#define OSAL_US2ST(usec) US2ST(usec)
+#define OSAL_US2I(usecs) TIME_US2I(usecs)
/** @} */
/**
@@ -392,11 +400,11 @@ typedef struct { * system tick clock.
* @note The maximum specifiable value is implementation dependent.
*
- * @param[in] sec time in seconds, must be different from zero
+ * @param[in] secs time in seconds, must be different from zero
*
* @api
*/
-#define osalThreadSleepSeconds(sec) osalThreadSleep(OSAL_S2ST(sec))
+#define osalThreadSleepSeconds(secs) osalThreadSleep(OSAL_S2I(secs))
/**
* @brief Delays the invoking thread for the specified number of
@@ -405,11 +413,11 @@ typedef struct { * system tick clock.
* @note The maximum specifiable value is implementation dependent.
*
- * @param[in] msec time in milliseconds, must be different from zero
+ * @param[in] msecs time in milliseconds, must be different from zero
*
* @api
*/
-#define osalThreadSleepMilliseconds(msec) osalThreadSleep(OSAL_MS2ST(msec))
+#define osalThreadSleepMilliseconds(msecs) osalThreadSleep(OSAL_MS2I(msecs))
/**
* @brief Delays the invoking thread for the specified number of
@@ -418,11 +426,11 @@ typedef struct { * system tick clock.
* @note The maximum specifiable value is implementation dependent.
*
- * @param[in] usec time in microseconds, must be different from zero
+ * @param[in] usecs time in microseconds, must be different from zero
*
* @api
*/
-#define osalThreadSleepMicroseconds(usec) osalThreadSleep(OSAL_US2ST(usec))
+#define osalThreadSleepMicroseconds(usecs) osalThreadSleep(OSAL_US2I(usecs))
/** @} */
/*===========================================================================*/
@@ -619,6 +627,35 @@ static inline systime_t osalOsGetSystemTimeX(void) { }
/**
+ * @brief Adds an interval to a system time returning a system time.
+ *
+ * @param[in] systime base system time
+ * @param[in] interval interval to be added
+ * @return The new system time.
+ *
+ * @xclass
+ */
+static inline systime_t osalTimeAddX(systime_t systime,
+ sysinterval_t interval) {
+
+ return chTimeAddX(systime, interval);
+}
+
+/**
+ * @brief Subtracts two system times returning an interval.
+ *
+ * @param[in] start first system time
+ * @param[in] end second system time
+ * @return The interval representing the time difference.
+ *
+ * @xclass
+ */
+static inline sysinterval_t osalTimeDiffX(systime_t start, systime_t end) {
+
+ return chTimeDiffX(start, end);
+}
+
+/**
* @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.
@@ -632,17 +669,17 @@ static inline systime_t osalOsGetSystemTimeX(void) { *
* @xclass
*/
-static inline bool osalOsIsTimeWithinX(systime_t time,
- systime_t start,
- systime_t end) {
+static inline bool osalTimeIsInRangeX(systime_t time,
+ systime_t start,
+ systime_t end) {
- return chVTIsTimeWithinX(time, start, end);
+ return chTimeIsInRangeX(time, start, end);
}
/**
* @brief Suspends the invoking thread for the specified time.
*
- * @param[in] time the delay in system ticks, the special values are
+ * @param[in] delay the delay in system ticks, the special values are
* handled as follow:
* - @a TIME_INFINITE is allowed but interpreted as a
* normal time specification.
@@ -651,15 +688,15 @@ static inline bool osalOsIsTimeWithinX(systime_t time, *
* @sclass
*/
-static inline void osalThreadSleepS(systime_t time) {
+static inline void osalThreadSleepS(sysinterval_t delay) {
- chThdSleepS(time);
+ chThdSleepS(delay);
}
/**
* @brief Suspends the invoking thread for the specified time.
*
- * @param[in] time the delay in system ticks, the special values are
+ * @param[in] delay the delay in system ticks, the special values are
* handled as follow:
* - @a TIME_INFINITE is allowed but interpreted as a
* normal time specification.
@@ -668,9 +705,9 @@ static inline void osalThreadSleepS(systime_t time) { *
* @api
*/
-static inline void osalThreadSleep(systime_t time) {
+static inline void osalThreadSleep(sysinterval_t delay) {
- chThdSleep(time);
+ chThdSleep(delay);
}
/**
@@ -708,7 +745,7 @@ static inline msg_t osalThreadSuspendS(thread_reference_t *trp) { * @sclass
*/
static inline msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp,
- systime_t timeout) {
+ sysinterval_t timeout) {
return chThdSuspendTimeoutS(trp, timeout);
}
@@ -761,7 +798,7 @@ static inline void osalThreadQueueObjectInit(threads_queue_t *tqp) { * dequeued or the specified timeouts expires.
*
* @param[in] tqp pointer to the threads queue object
- * @param[in] time the timeout in system ticks, the special values are
+ * @param[in] timeout the timeout in system ticks, the special values are
* handled as follow:
* - @a TIME_INFINITE the thread enters an infinite sleep
* state.
@@ -779,9 +816,9 @@ static inline void osalThreadQueueObjectInit(threads_queue_t *tqp) { * @sclass
*/
static inline msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp,
- systime_t time) {
+ sysinterval_t timeout) {
- return chThdEnqueueTimeoutS(tqp, time);
+ return chThdEnqueueTimeoutS(tqp, timeout);
}
/**
@@ -823,9 +860,13 @@ static inline void osalEventObjectInit(event_source_t *esp) { chEvtObjectInit(esp);
}
#else
-static inline void osalEventObjectInit(event_source_t *esp) {
+static inline void osalEventObjectInit(osal_event_source_t *esp) {
+
+ osalDbgCheck(esp != NULL);
esp->flags = 0;
+ esp->cb = NULL;
+ esp->param = NULL;
}
#endif
@@ -847,7 +888,12 @@ static inline void osalEventBroadcastFlagsI(event_source_t *esp, static inline void osalEventBroadcastFlagsI(event_source_t *esp,
eventflags_t flags) {
+ osalDbgCheck(esp != NULL);
+
esp->flags |= flags;
+ if (esp->cb != NULL) {
+ esp->cb(esp);
+ }
}
#endif
@@ -868,12 +914,42 @@ static inline void osalEventBroadcastFlags(event_source_t *esp, #else
static inline void osalEventBroadcastFlags(event_source_t *esp,
eventflags_t flags) {
+
+ osalDbgCheck(esp != NULL);
+
osalSysLock();
esp->flags |= flags;
+ if (esp->cb != NULL) {
+ esp->cb(esp);
osalSysUnlock();
}
#endif
+#if !CH_CFG_USE_EVENTS || defined(__DOXYGEN__)
+/**
+ * @brief Event callback setup.
+ * @note The callback is invoked from ISR context and can
+ * only invoke I-Class functions. The callback is meant
+ * to wakeup the task that will handle the event by
+ * calling @p osalEventGetAndClearFlagsI().
+ *
+ * @param[in] esp pointer to the event flags object
+ * @param[in] cb pointer to the callback function
+ * @param[in] param parameter to be passed to the callback function
+ *
+ * @api
+ */
+static inline void osalEventSetCallback(event_source_t *esp,
+ eventcallback_t cb,
+ void *param) {
+
+ osalDbgCheck(esp != NULL);
+
+ esp->cb = cb;
+ esp->param = param;
+}
+#endif
+
/**
* @brief Initializes s @p mutex_t object.
*
diff --git a/os/hal/src/hal_buffers.c b/os/hal/src/hal_buffers.c index 871fd0a42..0f1e35440 100644 --- a/os/hal/src/hal_buffers.c +++ b/os/hal/src/hal_buffers.c @@ -188,7 +188,7 @@ void ibqPostFullBufferI(input_buffers_queue_t *ibqp, size_t size) { * @api
*/
msg_t ibqGetFullBufferTimeout(input_buffers_queue_t *ibqp,
- systime_t timeout) {
+ sysinterval_t timeout) {
msg_t msg;
osalSysLock();
@@ -220,7 +220,7 @@ msg_t ibqGetFullBufferTimeout(input_buffers_queue_t *ibqp, * @sclass
*/
msg_t ibqGetFullBufferTimeoutS(input_buffers_queue_t *ibqp,
- systime_t timeout) {
+ sysinterval_t timeout) {
osalDbgCheckClassS();
@@ -306,7 +306,7 @@ void ibqReleaseEmptyBuffer(input_buffers_queue_t *ibqp) { *
* @api
*/
-msg_t ibqGetTimeout(input_buffers_queue_t *ibqp, systime_t timeout) {
+msg_t ibqGetTimeout(input_buffers_queue_t *ibqp, sysinterval_t timeout) {
msg_t msg;
osalSysLock();
@@ -356,9 +356,9 @@ msg_t ibqGetTimeout(input_buffers_queue_t *ibqp, systime_t timeout) { * @api
*/
size_t ibqReadTimeout(input_buffers_queue_t *ibqp, uint8_t *bp,
- size_t n, systime_t timeout) {
+ size_t n, sysinterval_t timeout) {
size_t r = 0;
- systime_t deadline;
+ sysinterval_t deadline;
osalDbgCheck(n > 0U);
@@ -380,7 +380,7 @@ size_t ibqReadTimeout(input_buffers_queue_t *ibqp, uint8_t *bp, msg = ibqGetFullBufferTimeoutS(ibqp, timeout);
}
else {
- systime_t next_timeout = deadline - osalOsGetSystemTimeX();
+ sysinterval_t next_timeout = deadline - osalOsGetSystemTimeX();
/* Handling the case where the system time went past the deadline,
in this case next becomes a very high number because the system
@@ -562,7 +562,7 @@ void obqReleaseEmptyBufferI(output_buffers_queue_t *obqp) { * @api
*/
msg_t obqGetEmptyBufferTimeout(output_buffers_queue_t *obqp,
- systime_t timeout) {
+ sysinterval_t timeout) {
msg_t msg;
osalSysLock();
@@ -594,7 +594,7 @@ msg_t obqGetEmptyBufferTimeout(output_buffers_queue_t *obqp, * @sclass
*/
msg_t obqGetEmptyBufferTimeoutS(output_buffers_queue_t *obqp,
- systime_t timeout) {
+ sysinterval_t timeout) {
osalDbgCheckClassS();
@@ -688,7 +688,7 @@ void obqPostFullBufferS(output_buffers_queue_t *obqp, size_t size) { * @api
*/
msg_t obqPutTimeout(output_buffers_queue_t *obqp, uint8_t b,
- systime_t timeout) {
+ sysinterval_t timeout) {
msg_t msg;
osalSysLock();
@@ -738,9 +738,9 @@ msg_t obqPutTimeout(output_buffers_queue_t *obqp, uint8_t b, * @api
*/
size_t obqWriteTimeout(output_buffers_queue_t *obqp, const uint8_t *bp,
- size_t n, systime_t timeout) {
+ size_t n, sysinterval_t timeout) {
size_t w = 0;
- systime_t deadline;
+ sysinterval_t deadline;
osalDbgCheck(n > 0U);
@@ -762,7 +762,7 @@ size_t obqWriteTimeout(output_buffers_queue_t *obqp, const uint8_t *bp, msg = obqGetEmptyBufferTimeoutS(obqp, timeout);
}
else {
- systime_t next_timeout = deadline - osalOsGetSystemTimeX();
+ sysinterval_t next_timeout = deadline - osalOsGetSystemTimeX();
/* Handling the case where the system time went past the deadline,
in this case next becomes a very high number because the system
diff --git a/os/hal/src/hal_can.c b/os/hal/src/hal_can.c index 014d59c70..122e5eb76 100644 --- a/os/hal/src/hal_can.c +++ b/os/hal/src/hal_can.c @@ -233,7 +233,7 @@ bool canTryReceiveI(CANDriver *canp, msg_t canTransmitTimeout(CANDriver *canp,
canmbx_t mailbox,
const CANTxFrame *ctfp,
- systime_t timeout) {
+ sysinterval_t timeout) {
osalDbgCheck((canp != NULL) && (ctfp != NULL) &&
(mailbox <= (canmbx_t)CAN_TX_MAILBOXES));
@@ -281,7 +281,7 @@ msg_t canTransmitTimeout(CANDriver *canp, msg_t canReceiveTimeout(CANDriver *canp,
canmbx_t mailbox,
CANRxFrame *crfp,
- systime_t timeout) {
+ sysinterval_t timeout) {
osalDbgCheck((canp != NULL) && (crfp != NULL) &&
(mailbox <= (canmbx_t)CAN_RX_MAILBOXES));
diff --git a/os/hal/src/hal_i2c.c b/os/hal/src/hal_i2c.c index 54a362f0c..02d405daa 100644 --- a/os/hal/src/hal_i2c.c +++ b/os/hal/src/hal_i2c.c @@ -173,7 +173,7 @@ msg_t i2cMasterTransmitTimeout(I2CDriver *i2cp, size_t txbytes,
uint8_t *rxbuf,
size_t rxbytes,
- systime_t timeout) {
+ sysinterval_t timeout) {
msg_t rdymsg;
osalDbgCheck((i2cp != NULL) && (addr != 0U) &&
@@ -222,7 +222,7 @@ msg_t i2cMasterReceiveTimeout(I2CDriver *i2cp, i2caddr_t addr,
uint8_t *rxbuf,
size_t rxbytes,
- systime_t timeout){
+ sysinterval_t timeout) {
msg_t rdymsg;
diff --git a/os/hal/src/hal_mac.c b/os/hal/src/hal_mac.c index 7d0f4cf43..2ae0b677d 100644 --- a/os/hal/src/hal_mac.c +++ b/os/hal/src/hal_mac.c @@ -149,7 +149,7 @@ void macStop(MACDriver *macp) { */
msg_t macWaitTransmitDescriptor(MACDriver *macp,
MACTransmitDescriptor *tdp,
- systime_t timeout) {
+ sysinterval_t timeout) {
msg_t msg;
systime_t now;
@@ -157,7 +157,7 @@ msg_t macWaitTransmitDescriptor(MACDriver *macp, osalDbgAssert(macp->state == MAC_ACTIVE, "not active");
while (((msg = mac_lld_get_transmit_descriptor(macp, tdp)) != MSG_OK) &&
- (timeout > (systime_t)0)) {
+ (timeout > (sysinterval_t)0)) {
osalSysLock();
now = osalOsGetSystemTimeX();
msg = osalThreadEnqueueTimeoutS(&macp->tdqueue, timeout);
@@ -209,7 +209,7 @@ void macReleaseTransmitDescriptor(MACTransmitDescriptor *tdp) { */
msg_t macWaitReceiveDescriptor(MACDriver *macp,
MACReceiveDescriptor *rdp,
- systime_t timeout) {
+ sysinterval_t timeout) {
msg_t msg;
systime_t now;
@@ -217,7 +217,7 @@ msg_t macWaitReceiveDescriptor(MACDriver *macp, osalDbgAssert(macp->state == MAC_ACTIVE, "not active");
while (((msg = mac_lld_get_receive_descriptor(macp, rdp)) != MSG_OK) &&
- (timeout > (systime_t)0)) {
+ (timeout > (sysinterval_t)0)) {
osalSysLock();
now = osalOsGetSystemTimeX();
msg = osalThreadEnqueueTimeoutS(&macp->rdqueue, timeout);
diff --git a/os/hal/src/hal_pal.c b/os/hal/src/hal_pal.c index b46c9e7ea..3a83005ec 100644 --- a/os/hal/src/hal_pal.c +++ b/os/hal/src/hal_pal.c @@ -167,7 +167,9 @@ void palSetLineCallbackI(ioline_t line, palcallback_t cb, void *arg) { *
* @sclass
*/
-msg_t palWaitPadTimeoutS(ioportid_t port, iopadid_t pad, systime_t timeout) {
+msg_t palWaitPadTimeoutS(ioportid_t port,
+ iopadid_t pad,
+ sysinterval_t timeout) {
palevent_t *pep = pal_lld_get_pad_event(port, pad);
return osalThreadEnqueueTimeoutS(&pep->threads, timeout);
@@ -186,7 +188,8 @@ msg_t palWaitPadTimeoutS(ioportid_t port, iopadid_t pad, systime_t timeout) { *
* @sclass
*/
-msg_t palWaitLineTimeoutS(ioline_t line, systime_t timeout) {
+msg_t palWaitLineTimeoutS(ioline_t line,
+ sysinterval_t timeout) {
palevent_t *pep = pal_lld_get_line_event(line);
return osalThreadEnqueueTimeoutS(&pep->threads, timeout);
diff --git a/os/hal/src/hal_queues.c b/os/hal/src/hal_queues.c index d0ef6f489..66e8a89cd 100644 --- a/os/hal/src/hal_queues.c +++ b/os/hal/src/hal_queues.c @@ -138,7 +138,7 @@ msg_t iqPutI(input_queue_t *iqp, uint8_t b) { *
* @api
*/
-msg_t iqGetTimeout(input_queue_t *iqp, systime_t timeout) {
+msg_t iqGetTimeout(input_queue_t *iqp, sysinterval_t timeout) {
uint8_t b;
osalSysLock();
@@ -194,7 +194,7 @@ msg_t iqGetTimeout(input_queue_t *iqp, systime_t timeout) { * @api
*/
size_t iqReadTimeout(input_queue_t *iqp, uint8_t *bp,
- size_t n, systime_t timeout) {
+ size_t n, sysinterval_t timeout) {
systime_t deadline;
qnotify_t nfy = iqp->q_notify;
size_t r = 0;
@@ -206,7 +206,7 @@ size_t iqReadTimeout(input_queue_t *iqp, uint8_t *bp, /* Time deadline for the whole operation, note the result is invalid
when timeout is TIME_INFINITE or TIME_IMMEDIATE but in that case
the deadline is not used.*/
- deadline = osalOsGetSystemTimeX() + timeout;
+ deadline = osalTimeAddX(osalOsGetSystemTimeX(), timeout);
while (true) {
/* Waiting until there is a character available or a timeout occurs.*/
@@ -219,7 +219,8 @@ size_t iqReadTimeout(input_queue_t *iqp, uint8_t *bp, msg = osalThreadEnqueueTimeoutS(&iqp->q_waiting, timeout);
}
else {
- systime_t next_timeout = deadline - osalOsGetSystemTimeX();
+ sysinterval_t next_timeout = osalTimeDiffX(osalOsGetSystemTimeX(),
+ deadline);
/* Handling the case where the system time went past the deadline,
in this case next becomes a very high number because the system
@@ -334,7 +335,7 @@ void oqResetI(output_queue_t *oqp) { *
* @api
*/
-msg_t oqPutTimeout(output_queue_t *oqp, uint8_t b, systime_t timeout) {
+msg_t oqPutTimeout(output_queue_t *oqp, uint8_t b, sysinterval_t timeout) {
osalSysLock();
@@ -419,7 +420,7 @@ msg_t oqGetI(output_queue_t *oqp) { * @api
*/
size_t oqWriteTimeout(output_queue_t *oqp, const uint8_t *bp,
- size_t n, systime_t timeout) {
+ size_t n, sysinterval_t timeout) {
systime_t deadline;
qnotify_t nfy = oqp->q_notify;
size_t w = 0;
@@ -431,7 +432,7 @@ size_t oqWriteTimeout(output_queue_t *oqp, const uint8_t *bp, /* Time deadline for the whole operation, note the result is invalid
when timeout is TIME_INFINITE or TIME_IMMEDIATE but in that case
the deadline is not used.*/
- deadline = osalOsGetSystemTimeX() + timeout;
+ deadline = osalTimeAddX(osalOsGetSystemTimeX(), timeout);
while (true) {
msg_t msg;
@@ -443,7 +444,8 @@ size_t oqWriteTimeout(output_queue_t *oqp, const uint8_t *bp, msg = osalThreadEnqueueTimeoutS(&oqp->q_waiting, timeout);
}
else {
- systime_t next_timeout = deadline - osalOsGetSystemTimeX();
+ sysinterval_t next_timeout = osalTimeDiffX(osalOsGetSystemTimeX(),
+ deadline);
/* Handling the case where the system time went past the deadline,
in this case next becomes a very high number because the system
diff --git a/os/hal/src/hal_serial.c b/os/hal/src/hal_serial.c index 5c24c8216..6658a44e0 100644 --- a/os/hal/src/hal_serial.c +++ b/os/hal/src/hal_serial.c @@ -69,22 +69,24 @@ static msg_t _get(void *ip) { return iqGetTimeout(&((SerialDriver *)ip)->iqueue, TIME_INFINITE);
}
-static msg_t _putt(void *ip, uint8_t b, systime_t timeout) {
+static msg_t _putt(void *ip, uint8_t b, sysinterval_t timeout) {
return oqPutTimeout(&((SerialDriver *)ip)->oqueue, b, timeout);
}
-static msg_t _gett(void *ip, systime_t timeout) {
+static msg_t _gett(void *ip, sysinterval_t timeout) {
return iqGetTimeout(&((SerialDriver *)ip)->iqueue, timeout);
}
-static size_t _writet(void *ip, const uint8_t *bp, size_t n, systime_t timeout) {
+static size_t _writet(void *ip, const uint8_t *bp, size_t n,
+ sysinterval_t timeout) {
return oqWriteTimeout(&((SerialDriver *)ip)->oqueue, bp, n, timeout);
}
-static size_t _readt(void *ip, uint8_t *bp, size_t n, systime_t timeout) {
+static size_t _readt(void *ip, uint8_t *bp, size_t n,
+ sysinterval_t timeout) {
return iqReadTimeout(&((SerialDriver *)ip)->iqueue, bp, n, timeout);
}
diff --git a/os/hal/src/hal_serial_usb.c b/os/hal/src/hal_serial_usb.c index 1af9b50a3..f2dcd6c32 100644 --- a/os/hal/src/hal_serial_usb.c +++ b/os/hal/src/hal_serial_usb.c @@ -104,22 +104,24 @@ static msg_t _get(void *ip) { return ibqGetTimeout(&((SerialUSBDriver *)ip)->ibqueue, TIME_INFINITE);
}
-static msg_t _putt(void *ip, uint8_t b, systime_t timeout) {
+static msg_t _putt(void *ip, uint8_t b, sysinterval_t timeout) {
return obqPutTimeout(&((SerialUSBDriver *)ip)->obqueue, b, timeout);
}
-static msg_t _gett(void *ip, systime_t timeout) {
+static msg_t _gett(void *ip, sysinterval_t timeout) {
return ibqGetTimeout(&((SerialUSBDriver *)ip)->ibqueue, timeout);
}
-static size_t _writet(void *ip, const uint8_t *bp, size_t n, systime_t timeout) {
+static size_t _writet(void *ip, const uint8_t *bp, size_t n,
+ sysinterval_t timeout) {
return obqWriteTimeout(&((SerialUSBDriver *)ip)->obqueue, bp, n, timeout);
}
-static size_t _readt(void *ip, uint8_t *bp, size_t n, systime_t timeout) {
+static size_t _readt(void *ip, uint8_t *bp, size_t n,
+ sysinterval_t timeout) {
return ibqReadTimeout(&((SerialUSBDriver *)ip)->ibqueue, bp, n, timeout);
}
diff --git a/os/hal/src/hal_uart.c b/os/hal/src/hal_uart.c index 89276f28f..ac3e4df3e 100644 --- a/os/hal/src/hal_uart.c +++ b/os/hal/src/hal_uart.c @@ -367,7 +367,7 @@ size_t uartStopReceiveI(UARTDriver *uartp) { * @api
*/
msg_t uartSendTimeout(UARTDriver *uartp, size_t *np,
- const void *txbuf, systime_t timeout) {
+ const void *txbuf, sysinterval_t timeout) {
msg_t msg;
osalDbgCheck((uartp != NULL) && (*np > 0U) && (txbuf != NULL));
@@ -412,7 +412,7 @@ msg_t uartSendTimeout(UARTDriver *uartp, size_t *np, * @api
*/
msg_t uartSendFullTimeout(UARTDriver *uartp, size_t *np,
- const void *txbuf, systime_t timeout) {
+ const void *txbuf, sysinterval_t timeout) {
msg_t msg;
osalDbgCheck((uartp != NULL) && (*np > 0U) && (txbuf != NULL));
@@ -459,7 +459,7 @@ msg_t uartSendFullTimeout(UARTDriver *uartp, size_t *np, * @api
*/
msg_t uartReceiveTimeout(UARTDriver *uartp, size_t *np,
- void *rxbuf, systime_t timeout) {
+ void *rxbuf, sysinterval_t timeout) {
msg_t msg;
osalDbgCheck((uartp != NULL) && (*np > 0U) && (rxbuf != NULL));
diff --git a/os/rt/include/ch.h b/os/rt/include/ch.h index e11a049ac..d3bd8217b 100644 --- a/os/rt/include/ch.h +++ b/os/rt/include/ch.h @@ -66,7 +66,7 @@ #define CH_KERNEL_PATCH 0
/** @} */
-/* Core headers.*/
+/* Configuration headers and checks.*/
#include "chtypes.h"
#include "chconf.h"
@@ -78,12 +78,23 @@ #error "obsolete or unknown configuration file"
#endif
+/* Early function prototypes required by the following headers.*/
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void chSysHalt(const char *reason);
+#ifdef __cplusplus
+}
+#endif
+
+/* Including everything else.*/
#include "chlicense.h"
#include "chchecks.h"
#include "chsystypes.h"
+#include "chdebug.h"
+#include "chtime.h"
#include "chalign.h"
#include "chcore.h"
-#include "chdebug.h"
#include "chtrace.h"
#include "chtm.h"
#include "chstats.h"
@@ -108,10 +119,6 @@ #include "chfactory.h"
#include "chdynamic.h"
-#if !defined(_CHIBIOS_RT_CONF_)
-#error "missing or wrong configuration file"
-#endif
-
#endif /* CH_H */
/** @} */
diff --git a/os/rt/include/chcond.h b/os/rt/include/chcond.h index bf1e02cd5..9b753f274 100644 --- a/os/rt/include/chcond.h +++ b/os/rt/include/chcond.h @@ -98,8 +98,8 @@ extern "C" { msg_t chCondWait(condition_variable_t *cp);
msg_t chCondWaitS(condition_variable_t *cp);
#if CH_CFG_USE_CONDVARS_TIMEOUT == TRUE
- msg_t chCondWaitTimeout(condition_variable_t *cp, systime_t time);
- msg_t chCondWaitTimeoutS(condition_variable_t *cp, systime_t time);
+ msg_t chCondWaitTimeout(condition_variable_t *cp, sysinterval_t timeout);
+ msg_t chCondWaitTimeoutS(condition_variable_t *cp, sysinterval_t timeout);
#endif
#ifdef __cplusplus
}
diff --git a/os/rt/include/chevents.h b/os/rt/include/chevents.h index 8b14ed112..d155e0e6d 100644 --- a/os/rt/include/chevents.h +++ b/os/rt/include/chevents.h @@ -141,9 +141,9 @@ extern "C" { eventmask_t chEvtWaitAll(eventmask_t events);
#endif
#if CH_CFG_USE_EVENTS_TIMEOUT == TRUE
- eventmask_t chEvtWaitOneTimeout(eventmask_t events, systime_t time);
- eventmask_t chEvtWaitAnyTimeout(eventmask_t events, systime_t time);
- eventmask_t chEvtWaitAllTimeout(eventmask_t events, systime_t time);
+ eventmask_t chEvtWaitOneTimeout(eventmask_t events, sysinterval_t timeout);
+ eventmask_t chEvtWaitAnyTimeout(eventmask_t events, sysinterval_t timeout);
+ eventmask_t chEvtWaitAllTimeout(eventmask_t events, sysinterval_t timeout);
#endif
#ifdef __cplusplus
}
diff --git a/os/rt/include/chschd.h b/os/rt/include/chschd.h index 79ff437a1..9d3b5dd4e 100644 --- a/os/rt/include/chschd.h +++ b/os/rt/include/chschd.h @@ -325,7 +325,7 @@ struct ch_thread { struct ch_virtual_timer {
virtual_timer_t *next; /**< @brief Next timer in the list. */
virtual_timer_t *prev; /**< @brief Previous timer in the list. */
- systime_t delta; /**< @brief Time delta before timeout. */
+ sysinterval_t delta; /**< @brief Time delta before timeout. */
vtfunc_t func; /**< @brief Timer callback function
pointer. */
void *par; /**< @brief Timer callback function
@@ -343,7 +343,7 @@ struct ch_virtual_timers_list { list. */
virtual_timer_t *prev; /**< @brief Last timer in the delta
list. */
- systime_t delta; /**< @brief Must be initialized to -1. */
+ sysinterval_t delta; /**< @brief Must be initialized to -1. */
#if (CH_CFG_ST_TIMEDELTA == 0) || defined(__DOXYGEN__)
volatile systime_t systime; /**< @brief System Time counter. */
#endif
@@ -476,7 +476,7 @@ extern "C" { thread_t *chSchReadyI(thread_t *tp);
thread_t *chSchReadyAheadI(thread_t *tp);
void chSchGoSleepS(tstate_t newstate);
- msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time);
+ msg_t chSchGoSleepTimeoutS(tstate_t newstate, sysinterval_t timeout);
void chSchWakeupS(thread_t *ntp, msg_t msg);
void chSchRescheduleS(void);
bool chSchIsPreemptionRequired(void);
diff --git a/os/rt/include/chsem.h b/os/rt/include/chsem.h index ef2848b16..d8958eeeb 100644 --- a/os/rt/include/chsem.h +++ b/os/rt/include/chsem.h @@ -93,8 +93,8 @@ extern "C" { void chSemResetI(semaphore_t *sp, cnt_t n);
msg_t chSemWait(semaphore_t *sp);
msg_t chSemWaitS(semaphore_t *sp);
- msg_t chSemWaitTimeout(semaphore_t *sp, systime_t time);
- msg_t chSemWaitTimeoutS(semaphore_t *sp, systime_t time);
+ msg_t chSemWaitTimeout(semaphore_t *sp, sysinterval_t timeout);
+ msg_t chSemWaitTimeoutS(semaphore_t *sp, sysinterval_t timeout);
void chSemSignal(semaphore_t *sp);
void chSemSignalI(semaphore_t *sp);
void chSemAddCounterI(semaphore_t *sp, cnt_t n);
diff --git a/os/rt/include/chsystypes.h b/os/rt/include/chsystypes.h index 527ff2e8b..dac7d297b 100644 --- a/os/rt/include/chsystypes.h +++ b/os/rt/include/chsystypes.h @@ -45,17 +45,6 @@ /*===========================================================================*/
/**
- * @brief Type of system time.
- */
-#if (CH_CFG_ST_RESOLUTION == 32) || defined(__DOXYGEN__)
-typedef uint32_t systime_t;
-#elif CH_CFG_ST_RESOLUTION == 16
-typedef uint16_t systime_t;
-#else
-#error "invalid CH_CFG_ST_RESOLUTION setting"
-#endif
-
-/**
* @extends threads_queue_t
*
* @brief Type of a thread structure.
diff --git a/os/rt/include/chthreads.h b/os/rt/include/chthreads.h index 6ac40d3b8..ade7dc30b 100644 --- a/os/rt/include/chthreads.h +++ b/os/rt/include/chthreads.h @@ -190,7 +190,7 @@ typedef struct { *
* @api
*/
-#define chThdSleepSeconds(sec) chThdSleep(S2ST(sec))
+#define chThdSleepSeconds(sec) chThdSleep(TIME_S2I(sec))
/**
* @brief Delays the invoking thread for the specified number of
@@ -206,7 +206,7 @@ typedef struct { *
* @api
*/
-#define chThdSleepMilliseconds(msec) chThdSleep(MS2ST(msec))
+#define chThdSleepMilliseconds(msec) chThdSleep(TIME_MS2I(msec))
/**
* @brief Delays the invoking thread for the specified number of
@@ -222,7 +222,7 @@ typedef struct { *
* @api
*/
-#define chThdSleepMicroseconds(usec) chThdSleep(US2ST(usec))
+#define chThdSleepMicroseconds(usec) chThdSleep(TIME_US2I(usec))
/** @} */
/*===========================================================================*/
@@ -255,14 +255,14 @@ extern "C" { tprio_t chThdSetPriority(tprio_t newprio);
void chThdTerminate(thread_t *tp);
msg_t chThdSuspendS(thread_reference_t *trp);
- msg_t chThdSuspendTimeoutS(thread_reference_t *trp, systime_t timeout);
+ msg_t chThdSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout);
void chThdResumeI(thread_reference_t *trp, msg_t msg);
void chThdResumeS(thread_reference_t *trp, msg_t msg);
void chThdResume(thread_reference_t *trp, msg_t msg);
- msg_t chThdEnqueueTimeoutS(threads_queue_t *tqp, systime_t timeout);
+ msg_t chThdEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout);
void chThdDequeueNextI(threads_queue_t *tqp, msg_t msg);
void chThdDequeueAllI(threads_queue_t *tqp, msg_t msg);
- void chThdSleep(systime_t time);
+ void chThdSleep(sysinterval_t time);
void chThdSleepUntil(systime_t time);
systime_t chThdSleepUntilWindowed(systime_t prev, systime_t next);
void chThdYield(void);
@@ -376,9 +376,9 @@ static inline thread_t *chThdStartI(thread_t *tp) { }
/**
- * @brief Suspends the invoking thread for the specified time.
+ * @brief Suspends the invoking thread for the specified number of ticks.
*
- * @param[in] time the delay in system ticks, the special values are
+ * @param[in] ticks the delay in system ticks, the special values are
* handled as follow:
* - @a TIME_INFINITE the thread enters an infinite sleep
* state.
@@ -387,11 +387,11 @@ static inline thread_t *chThdStartI(thread_t *tp) { *
* @sclass
*/
-static inline void chThdSleepS(systime_t time) {
+static inline void chThdSleepS(sysinterval_t ticks) {
- chDbgCheck(time != TIME_IMMEDIATE);
+ chDbgCheck(ticks != TIME_IMMEDIATE);
- (void) chSchGoSleepTimeoutS(CH_STATE_SLEEPING, time);
+ (void) chSchGoSleepTimeoutS(CH_STATE_SLEEPING, ticks);
}
/**
diff --git a/os/rt/include/chtime.h b/os/rt/include/chtime.h new file mode 100644 index 000000000..701dfb4d5 --- /dev/null +++ b/os/rt/include/chtime.h @@ -0,0 +1,519 @@ +/*
+ 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 chtime.h
+ * @brief Time and intervals macros and structures.
+ *
+ * @addtogroup time_intervals
+ * @{
+ */
+
+#ifndef CHTIME_H
+#define CHTIME_H
+
+/*===========================================================================*/
+/* Module constants. */
+/*===========================================================================*/
+
+/**
+ * @name Special time constants
+ * @{
+ */
+/**
+ * @brief Zero interval specification for some functions with a timeout
+ * specification.
+ * @note Not all functions accept @p TIME_IMMEDIATE as timeout parameter,
+ * see the specific function documentation.
+ */
+#define TIME_IMMEDIATE ((sysinterval_t)0)
+
+/**
+ * @brief Infinite interval specification for all functions with a timeout
+ * specification.
+ * @note Not all functions accept @p TIME_INFINITE as timeout parameter,
+ * see the specific function documentation.
+ */
+#define TIME_INFINITE ((sysinterval_t)-1)
+
+/**
+ * @brief Maximum interval constant usable as timeout.
+ */
+#define TIME_MAX_INTERVAL ((sysinterval_t)-2)
+
+/**
+ * @brief Maximum system of system time before it wraps.
+ */
+#define TIME_MAX_SYSTIME ((systime_t)-1)
+/** @} */
+
+/*===========================================================================*/
+/* Module pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @brief System time counter resolution.
+ * @note Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_ST_RESOLUTION) || defined(__DOXYGEN__)
+#define CH_CFG_ST_RESOLUTION 32
+#endif
+
+/**
+ * @brief System tick frequency.
+ * @details Frequency of the system timer that drives the system ticks. This
+ * setting also defines the system tick time unit.
+ */
+#if !defined(CH_CFG_ST_FREQUENCY) || defined(__DOXYGEN__)
+#define CH_CFG_ST_FREQUENCY 1000
+#endif
+
+/**
+ * @brief Time intervals data size.
+ * @note Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE) || defined(__DOXYGEN__)
+#define CH_CFG_INTERVALS_SIZE 32
+#endif
+
+/**
+ * @brief Time types data size.
+ * @note Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE) || defined(__DOXYGEN__)
+#define CH_CFG_TIME_TYPES_SIZE 32
+#endif
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if (CH_CFG_ST_RESOLUTION != 16) && (CH_CFG_ST_RESOLUTION != 32) && \
+ (CH_CFG_ST_RESOLUTION != 64)
+#error "invalid CH_CFG_ST_RESOLUTION specified, must be 16, 32 or 64"
+#endif
+
+#if CH_CFG_ST_FREQUENCY < 10
+#error "invalid CH_CFG_ST_FREQUENCY specified, must be >= 10"
+#endif
+
+#if (CH_CFG_INTERVALS_SIZE != 16) && (CH_CFG_INTERVALS_SIZE != 32) && \
+ (CH_CFG_INTERVALS_SIZE != 64)
+#error "invalid CH_CFG_INTERVALS_SIZE specified, must be 16, 32 or 64"
+#endif
+
+#if (CH_CFG_TIME_TYPES_SIZE != 16) && (CH_CFG_TIME_TYPES_SIZE != 32)
+#error "invalid CH_CFG_TIME_TYPES_SIZE specified, must be 16 or 32"
+#endif
+
+#if CH_CFG_INTERVALS_SIZE < CH_CFG_ST_RESOLUTION
+#error "CH_CFG_INTERVALS_SIZE must be >= CH_CFG_ST_RESOLUTION"
+#endif
+
+/*===========================================================================*/
+/* Module data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Type of system time.
+ * @note It is selectable in configuration between 16, 32 or 64 bits
+ */
+#if (CH_CFG_ST_RESOLUTION == 64) || defined(__DOXYGEN__)
+typedef uint64_t systime_t;
+#elif CH_CFG_ST_RESOLUTION == 32
+typedef uint32_t systime_t;
+#elif CH_CFG_ST_RESOLUTION == 16
+typedef uint16_t systime_t;
+#endif
+
+/**
+ * @brief Type of time interval.
+ * @note It is selectable in configuration between 16, 32 or 64 bits
+ */
+#if (CH_CFG_INTERVALS_SIZE == 64) || defined(__DOXYGEN__)
+typedef uint64_t sysinterval_t;
+#elif CH_CFG_INTERVALS_SIZE == 32
+typedef uint32_t sysinterval_t;
+#elif CH_CFG_INTERVALS_SIZE == 16
+typedef uint16_t sysinterval_t;
+#endif
+
+#if (CH_CFG_TIME_TYPES_SIZE == 32) || defined(__DOXYGEN__)
+/**
+ * @brief Type of seconds.
+ * @note It is selectable in configuration between 16 or 32 bits
+ */
+typedef uint32_t time_secs_t;
+
+/**
+ * @brief Type of milliseconds.
+ * @note It is selectable in configuration between 16 or 32 bits
+ */
+typedef uint32_t time_msecs_t;
+
+/**
+ * @brief Type of microseconds.
+ * @note It is selectable in configuration between 16 or 32 bits
+ */
+typedef uint32_t time_usecs_t;
+
+/**
+ * @brief Type of time conversion variable.
+ * @note This type must have double width than other time types, it is
+ * only used internally for conversions.
+ */
+typedef uint64_t time_conv_t;
+
+#else
+typedef uint16_t time_secs_t;
+typedef uint16_t time_msecs_t;
+typedef uint16_t time_usecs_t;
+typedef uint32_t time_conv_t;
+#endif
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
+
+/**
+ * @name Fast time conversion utilities
+ * @{
+ */
+/**
+ * @brief Seconds to time interval.
+ * @details Converts from seconds to system ticks number.
+ * @note The result is rounded upward to the next tick boundary.
+ * @note Use of this macro for large values is not secure because
+ * integer overflows, make sure your value can be correctly
+ * converted.
+ *
+ * @param[in] secs number of seconds
+ * @return The number of ticks.
+ *
+ * @api
+ */
+#define TIME_S2I(secs) \
+ ((sysinterval_t)((time_conv_t)(secs) * (time_conv_t)CH_CFG_ST_FREQUENCY))
+
+/**
+ * @brief Milliseconds to time interval.
+ * @details Converts from milliseconds to system ticks number.
+ * @note The result is rounded upward to the next tick boundary.
+ * @note Use of this macro for large values is not secure because
+ * integer overflows, make sure your value can be correctly
+ * converted.
+ *
+ * @param[in] msecs number of milliseconds
+ * @return The number of ticks.
+ *
+ * @api
+ */
+#define TIME_MS2I(msecs) \
+ ((sysinterval_t)((((time_conv_t)(msecs) * \
+ (time_conv_t)CH_CFG_ST_FREQUENCY) + \
+ (time_conv_t)999) / (time_conv_t)1000))
+
+/**
+ * @brief Microseconds to time interval.
+ * @details Converts from microseconds to system ticks number.
+ * @note The result is rounded upward to the next tick boundary.
+ * @note Use of this macro for large values is not secure because
+ * integer overflows, make sure your value can be correctly
+ * converted.
+ *
+ * @param[in] usecs number of microseconds
+ * @return The number of ticks.
+ *
+ * @api
+ */
+#define TIME_US2I(usecs) \
+ ((sysinterval_t)((((time_conv_t)(usecs) * \
+ (time_conv_t)CH_CFG_ST_FREQUENCY) + \
+ (time_conv_t)999999) / (time_conv_t)1000000))
+
+/**
+ * @brief Time interval to seconds.
+ * @details Converts from system ticks number to seconds.
+ * @note The result is rounded up to the next second boundary.
+ * @note Use of this macro for large values is not secure because
+ * integer overflows, make sure your value can be correctly
+ * converted.
+ *
+ * @param[in] interval interval in ticks
+ * @return The number of seconds.
+ *
+ * @api
+ */
+#define TIME_I2S(interval) \
+ (time_secs_t)(((time_conv_t)(interval) + \
+ (time_conv_t)CH_CFG_ST_FREQUENCY - \
+ (time_conv_t)1) / (time_conv_t)CH_CFG_ST_FREQUENCY)
+
+/**
+ * @brief Time interval to milliseconds.
+ * @details Converts from system ticks number to milliseconds.
+ * @note The result is rounded up to the next millisecond boundary.
+ * @note Use of this macro for large values is not secure because
+ * integer overflows, make sure your value can be correctly
+ * converted.
+ *
+ * @param[in] interval interval in ticks
+ * @return The number of milliseconds.
+ *
+ * @api
+ */
+#define TIME_I2MS(interval) \
+ (time_msecs_t)((((time_conv_t)(interval) * (time_conv_t)1000) + \
+ (time_conv_t)CH_CFG_ST_FREQUENCY - (time_conv_t)1) / \
+ (time_conv_t)CH_CFG_ST_FREQUENCY)
+
+/**
+ * @brief Time interval to microseconds.
+ * @details Converts from system ticks number to microseconds.
+ * @note The result is rounded up to the next microsecond boundary.
+ * @note Use of this macro for large values is not secure because
+ * integer overflows, make sure your value can be correctly
+ * converted.
+ *
+ * @param[in] interval interval in ticks
+ * @return The number of microseconds.
+ *
+ * @api
+ */
+#define TIME_I2US(interval) \
+ (time_msecs_t)((((time_conv_t)(interval) * (time_conv_t)1000000) + \
+ (time_conv_t)CH_CFG_ST_FREQUENCY - (time_conv_t)1) / \
+ (time_conv_t)CH_CFG_ST_FREQUENCY)
+/** @} */
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+/*
+ * Virtual Timers APIs.
+ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions. */
+/*===========================================================================*/
+
+/**
+ * @name Secure time conversion utilities
+ * @{
+ */
+/**
+ * @brief Seconds to time interval.
+ * @details Converts from seconds to system ticks number.
+ * @note The result is rounded upward to the next tick boundary.
+ *
+ * @param[in] sec number of seconds
+ * @return The number of ticks.
+ *
+ * @special
+ */
+static inline sysinterval_t chTimeS2I(time_secs_t secs) {
+ time_conv_t ticks;
+
+ ticks = (time_conv_t)secs * (time_conv_t)CH_CFG_ST_FREQUENCY;
+
+ chDbgAssert(ticks <= (time_conv_t)TIME_MAX_INTERVAL,
+ "conversion overflow");
+
+ return (sysinterval_t)ticks;
+}
+
+/**
+ * @brief Milliseconds to time interval.
+ * @details Converts from milliseconds to system ticks number.
+ * @note The result is rounded upward to the next tick boundary.
+ *
+ * @param[in] msec number of milliseconds
+ * @return The number of ticks.
+ *
+ * @special
+ */
+static inline sysinterval_t chTimeMS2I(time_msecs_t msec) {
+ time_conv_t ticks;
+
+ ticks = (((time_conv_t)msec * (time_conv_t)CH_CFG_ST_FREQUENCY) +
+ (time_conv_t)999) / (time_conv_t)1000;
+
+ chDbgAssert(ticks <= (time_conv_t)TIME_MAX_INTERVAL,
+ "conversion overflow");
+
+ return (sysinterval_t)ticks;
+}
+
+/**
+ * @brief Microseconds to time interval.
+ * @details Converts from microseconds to system ticks number.
+ * @note The result is rounded upward to the next tick boundary.
+ *
+ * @param[in] usec number of microseconds
+ * @return The number of ticks.
+ *
+ * @special
+ */
+static inline sysinterval_t chTimeUS2I(time_usecs_t usec) {
+ time_conv_t ticks;
+
+ ticks = (((time_conv_t)usec * (time_conv_t)CH_CFG_ST_FREQUENCY) +
+ (time_conv_t)999999) / (time_conv_t)1000000;
+
+ chDbgAssert(ticks <= (time_conv_t)TIME_MAX_INTERVAL,
+ "conversion overflow");
+
+ return (sysinterval_t)ticks;
+}
+
+/**
+ * @brief Time interval to seconds.
+ * @details Converts from system interval to seconds.
+ * @note The result is rounded up to the next second boundary.
+ *
+ * @param[in] interval interval in ticks
+ * @return The number of seconds.
+ *
+ * @special
+ */
+static inline time_secs_t chTimeI2S(sysinterval_t interval) {
+ time_conv_t secs;
+
+ secs = ((time_conv_t)interval +
+ (time_conv_t)CH_CFG_ST_FREQUENCY -
+ (time_conv_t)1) / (time_conv_t)CH_CFG_ST_FREQUENCY;
+
+ chDbgAssert(secs < (time_conv_t)((time_secs_t)-1),
+ "conversion overflow");
+
+ return (time_secs_t)secs;
+}
+
+/**
+ * @brief Time interval to milliseconds.
+ * @details Converts from system interval to milliseconds.
+ * @note The result is rounded up to the next millisecond boundary.
+ *
+ * @param[in] interval interval in ticks
+ * @return The number of milliseconds.
+ *
+ * @special
+ */
+static inline time_msecs_t chTimeI2MS(sysinterval_t interval) {
+ time_conv_t msecs;
+
+ msecs = (((time_conv_t)interval * (time_conv_t)1000) +
+ (time_conv_t)CH_CFG_ST_FREQUENCY - (time_conv_t)1) /
+ (time_conv_t)CH_CFG_ST_FREQUENCY;
+
+ chDbgAssert(msecs < (time_conv_t)((time_msecs_t)-1),
+ "conversion overflow");
+
+ return (time_msecs_t)msecs;
+}
+
+/**
+ * @brief Time interval to microseconds.
+ * @details Converts from system interval to microseconds.
+ * @note The result is rounded up to the next microsecond boundary.
+ *
+ * @param[in] interval interval in ticks
+ * @return The number of microseconds.
+ *
+ * @special
+ */
+static inline time_usecs_t chTimeI2US(sysinterval_t interval) {
+ time_conv_t usecs;
+
+ usecs = (((time_conv_t)interval * (time_conv_t)1000000) +
+ (time_conv_t)CH_CFG_ST_FREQUENCY - (time_conv_t)1) /
+ (time_conv_t)CH_CFG_ST_FREQUENCY;
+
+ chDbgAssert(usecs <= (time_conv_t)((time_usecs_t)-1),
+ "conversion overflow");
+
+ return (time_usecs_t)usecs;
+}
+
+/**
+ * @brief Adds an interval to a system time returning a system time.
+ *
+ * @param[in] systime base system time
+ * @param[in] interval interval to be added
+ * @return The new system time.
+ *
+ * @xclass
+ */
+static inline systime_t chTimeAddX(systime_t systime,
+ sysinterval_t interval) {
+
+ chDbgCheck(interval <= (sysinterval_t)((systime_t)-1));
+
+ return systime + (systime_t)interval;
+}
+
+/**
+ * @brief Subtracts two system times returning an interval.
+ *
+ * @param[in] start first system time
+ * @param[in] end second system time
+ * @return The interval representing the time difference.
+ *
+ * @xclass
+ */
+static inline sysinterval_t chTimeDiffX(systime_t start, systime_t end) {
+
+ return (sysinterval_t)((systime_t)(end - start));
+}
+
+
+/**
+ * @brief Checks if the specified time is within the specified time range.
+ * @note When start==end then the function returns always true because the
+ * whole time range is specified.
+ *
+ * @param[in] time the time to be verified
+ * @param[in] start the start of the time window (inclusive)
+ * @param[in] end the end of the time window (non inclusive)
+ * @retval true current time within the specified time window.
+ * @retval false current time not within the specified time window.
+ *
+ * @xclass
+ */
+static inline bool chTimeIsInRangeX(systime_t time,
+ systime_t start,
+ systime_t end) {
+
+ return (bool)((time - start) < (end - start));
+}
+
+/** @} */
+
+#endif /* CHTIME_H */
+
+/** @} */
diff --git a/os/rt/include/chvt.h b/os/rt/include/chvt.h index dc08dbe07..e115bec63 100644 --- a/os/rt/include/chvt.h +++ b/os/rt/include/chvt.h @@ -32,37 +32,6 @@ /* 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. */
/*===========================================================================*/
@@ -71,14 +40,6 @@ /* 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"
@@ -100,108 +61,6 @@ /* 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. */
/*===========================================================================*/
@@ -213,7 +72,7 @@ extern "C" {
#endif
void _vt_init(void);
- void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,
+ void chVTDoSetI(virtual_timer_t *vtp, sysinterval_t delay,
vtfunc_t vtfunc, void *par);
void chVTDoResetI(virtual_timer_t *vtp);
#ifdef __cplusplus
@@ -225,142 +84,6 @@ extern "C" { /*===========================================================================*/
/**
- * @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
@@ -426,30 +149,9 @@ static inline systime_t chVTGetSystemTime(void) { *
* @xclass
*/
-static inline systime_t chVTTimeElapsedSinceX(systime_t start) {
+static inline sysinterval_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));
+ return chTimeDiffX(chVTGetSystemTimeX(), start);
}
/**
@@ -467,7 +169,7 @@ static inline bool chVTIsTimeWithinX(systime_t time, */
static inline bool chVTIsSystemTimeWithinX(systime_t start, systime_t end) {
- return chVTIsTimeWithinX(chVTGetSystemTimeX(), start, end);
+ return chTimeIsInRangeX(chVTGetSystemTimeX(), start, end);
}
/**
@@ -485,7 +187,7 @@ static inline bool chVTIsSystemTimeWithinX(systime_t start, systime_t end) { */
static inline bool chVTIsSystemTimeWithin(systime_t start, systime_t end) {
- return chVTIsTimeWithinX(chVTGetSystemTime(), start, end);
+ return chTimeIsInRangeX(chVTGetSystemTime(), start, end);
}
/**
@@ -504,7 +206,7 @@ static inline bool chVTIsSystemTimeWithin(systime_t start, systime_t end) { *
* @iclass
*/
-static inline bool chVTGetTimersStateI(systime_t *timep) {
+static inline bool chVTGetTimersStateI(sysinterval_t *timep) {
chDbgCheckClassI();
@@ -516,8 +218,10 @@ static inline bool chVTGetTimersStateI(systime_t *timep) { #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();
+ *timep = chTimeDiffX(chVTGetSystemTimeX(),
+ chTimeAddX(ch.vtlist.lasttime,
+ ch.vtlist.next->delta +
+ (sysinterval_t)CH_CFG_ST_TIMEDELTA));
#endif
}
@@ -617,7 +321,7 @@ static inline void chVTReset(virtual_timer_t *vtp) { *
* @iclass
*/
-static inline void chVTSetI(virtual_timer_t *vtp, systime_t delay,
+static inline void chVTSetI(virtual_timer_t *vtp, sysinterval_t delay,
vtfunc_t vtfunc, void *par) {
chVTResetI(vtp);
@@ -646,7 +350,7 @@ static inline void chVTSetI(virtual_timer_t *vtp, systime_t delay, *
* @api
*/
-static inline void chVTSet(virtual_timer_t *vtp, systime_t delay,
+static inline void chVTSet(virtual_timer_t *vtp, sysinterval_t delay,
vtfunc_t vtfunc, void *par) {
chSysLock();
@@ -672,7 +376,7 @@ static inline void chVTDoTickI(void) { 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) {
+ while (ch.vtlist.next->delta == (sysinterval_t)0) {
virtual_timer_t *vtp;
vtfunc_t fn;
@@ -688,48 +392,51 @@ static inline void chVTDoTickI(void) { }
#else /* CH_CFG_ST_TIMEDELTA > 0 */
virtual_timer_t *vtp;
- systime_t now, delta;
+ systime_t now;
+ sysinterval_t delta, nowdelta;
- /* First timer to be processed.*/
+ /* Looping through timers.*/
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();
+ while (true) {
+
+ /* Getting the system time as reference.*/
+ now = chVTGetSystemTimeX();
+ nowdelta = chTimeDiffX(ch.vtlist.lasttime, now);
+
+ /* The list scan is limited by the timers header having
+ "ch.vtlist.vt_delta == (sysinterval_t)-1" which is
+ greater than all deltas.*/
+ if (nowdelta < vtp->delta) {
+ break;
}
- /* Leaving the system critical zone in order to execute the callback
- and in order to give a preemption chance to higher priority
- interrupts.*/
- chSysUnlockFromISR();
+ /* Consuming all timers between "vtp->lasttime" and now.*/
+ do {
+ vtfunc_t fn;
- /* The callback is invoked outside the kernel critical zone.*/
- fn(vtp->par);
+ /* The "last time" becomes this timer's expiration time.*/
+ ch.vtlist.lasttime += vtp->delta;
+ nowdelta -= vtp->delta;
- /* Re-entering the critical zone in order to continue the exploration
- of the list.*/
- chSysLockFromISR();
+ vtp->next->prev = (virtual_timer_t *)&ch.vtlist;
+ ch.vtlist.next = vtp->next;
+ fn = vtp->func;
+ vtp->func = NULL;
- /* 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 becomes empty then the timer is stopped.*/
+ if (ch.vtlist.next == (virtual_timer_t *)&ch.vtlist) {
+ port_timer_stop_alarm();
+ }
+
+ /* The callback is invoked outside the kernel critical zone.*/
+ chSysUnlockFromISR();
+ fn(vtp->par);
+ chSysLockFromISR();
+
+ /* Next element in the list.*/
+ vtp = ch.vtlist.next;
+ }
+ while (vtp->delta <= nowdelta);
}
/* if the list is empty, nothing else to do.*/
@@ -737,15 +444,26 @@ static inline void chVTDoTickI(void) { return;
}
+ /* The "unprocessed nowdelta" time slice is added to "last time"
+ and subtracted to next timer's delta.*/
+ ch.vtlist.lasttime += nowdelta;
+ ch.vtlist.next->delta -= nowdelta;
+
/* 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;
+ delta = chTimeDiffX(now, chTimeAddX(ch.vtlist.lasttime, vtp->delta));
+ if (delta < (sysinterval_t)CH_CFG_ST_TIMEDELTA) {
+ delta = (sysinterval_t)CH_CFG_ST_TIMEDELTA;
}
- port_timer_set_alarm(now + delta);
+#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((chVTGetSystemTimeX() - ch.vtlist.lasttime) <=
- (now + delta - ch.vtlist.lasttime),
+ chDbgAssert(chTimeDiffX(ch.vtlist.lasttime, chVTGetSystemTimeX()) <=
+ chTimeDiffX(ch.vtlist.lasttime, chTimeAddX(now, delta)),
"exceeding delta");
#endif /* CH_CFG_ST_TIMEDELTA > 0 */
}
diff --git a/os/rt/src/chcond.c b/os/rt/src/chcond.c index cecd2d874..d11ae93bf 100644 --- a/os/rt/src/chcond.c +++ b/os/rt/src/chcond.c @@ -239,7 +239,7 @@ msg_t chCondWaitS(condition_variable_t *cp) { * mutex, the mutex ownership is lost.
*
* @param[in] cp pointer to the @p condition_variable_t structure
- * @param[in] time the number of ticks before the operation timeouts, the
+ * @param[in] timeout the number of ticks before the operation timeouts, the
* special values are handled as follow:
* - @a TIME_INFINITE no timeout.
* - @a TIME_IMMEDIATE this value is not allowed.
@@ -255,11 +255,11 @@ msg_t chCondWaitS(condition_variable_t *cp) { *
* @api
*/
-msg_t chCondWaitTimeout(condition_variable_t *cp, systime_t time) {
+msg_t chCondWaitTimeout(condition_variable_t *cp, sysinterval_t timeout) {
msg_t msg;
chSysLock();
- msg = chCondWaitTimeoutS(cp, time);
+ msg = chCondWaitTimeoutS(cp, timeout);
chSysUnlock();
return msg;
@@ -277,7 +277,7 @@ msg_t chCondWaitTimeout(condition_variable_t *cp, systime_t time) { * mutex, the mutex ownership is lost.
*
* @param[in] cp pointer to the @p condition_variable_t structure
- * @param[in] time the number of ticks before the operation timeouts, the
+ * @param[in] timeout the number of ticks before the operation timeouts, the
* special values are handled as follow:
* - @a TIME_INFINITE no timeout.
* - @a TIME_IMMEDIATE this value is not allowed.
@@ -293,12 +293,12 @@ msg_t chCondWaitTimeout(condition_variable_t *cp, systime_t time) { *
* @sclass
*/
-msg_t chCondWaitTimeoutS(condition_variable_t *cp, systime_t time) {
+msg_t chCondWaitTimeoutS(condition_variable_t *cp, sysinterval_t timeout) {
mutex_t *mp;
msg_t msg;
chDbgCheckClassS();
- chDbgCheck((cp != NULL) && (time != TIME_IMMEDIATE));
+ chDbgCheck((cp != NULL) && (timeout != TIME_IMMEDIATE));
chDbgAssert(currp->mtxlist != NULL, "not owning a mutex");
/* Getting "current" mutex and releasing it.*/
@@ -309,7 +309,7 @@ msg_t chCondWaitTimeoutS(condition_variable_t *cp, systime_t time) { again.*/
currp->u.wtobjp = cp;
queue_prio_insert(currp, &cp->queue);
- msg = chSchGoSleepTimeoutS(CH_STATE_WTCOND, time);
+ msg = chSchGoSleepTimeoutS(CH_STATE_WTCOND, timeout);
if (msg != MSG_TIMEOUT) {
chMtxLockS(mp);
}
diff --git a/os/rt/src/chevents.c b/os/rt/src/chevents.c index 63740d50b..a4338d70a 100644 --- a/os/rt/src/chevents.c +++ b/os/rt/src/chevents.c @@ -482,7 +482,7 @@ eventmask_t chEvtWaitAll(eventmask_t events) { *
* @param[in] events events that the function should wait
* for, @p ALL_EVENTS enables all the events
- * @param[in] time the number of ticks before the operation timeouts,
+ * @param[in] timeout the number of ticks before the operation timeouts,
* the following special values are allowed:
* - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout.
@@ -492,19 +492,19 @@ eventmask_t chEvtWaitAll(eventmask_t events) { *
* @api
*/
-eventmask_t chEvtWaitOneTimeout(eventmask_t events, systime_t time) {
+eventmask_t chEvtWaitOneTimeout(eventmask_t events, sysinterval_t timeout) {
thread_t *ctp = currp;
eventmask_t m;
chSysLock();
m = ctp->epending & events;
if (m == (eventmask_t)0) {
- if (TIME_IMMEDIATE == time) {
+ if (TIME_IMMEDIATE == timeout) {
chSysUnlock();
return (eventmask_t)0;
}
ctp->u.ewmask = events;
- if (chSchGoSleepTimeoutS(CH_STATE_WTOREVT, time) < MSG_OK) {
+ if (chSchGoSleepTimeoutS(CH_STATE_WTOREVT, timeout) < MSG_OK) {
chSysUnlock();
return (eventmask_t)0;
}
@@ -525,7 +525,7 @@ eventmask_t chEvtWaitOneTimeout(eventmask_t events, systime_t time) { *
* @param[in] events events that the function should wait
* for, @p ALL_EVENTS enables all the events
- * @param[in] time the number of ticks before the operation timeouts,
+ * @param[in] timeout the number of ticks before the operation timeouts,
* the following special values are allowed:
* - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout.
@@ -535,19 +535,19 @@ eventmask_t chEvtWaitOneTimeout(eventmask_t events, systime_t time) { *
* @api
*/
-eventmask_t chEvtWaitAnyTimeout(eventmask_t events, systime_t time) {
+eventmask_t chEvtWaitAnyTimeout(eventmask_t events, sysinterval_t timeout) {
thread_t *ctp = currp;
eventmask_t m;
chSysLock();
m = ctp->epending & events;
if (m == (eventmask_t)0) {
- if (TIME_IMMEDIATE == time) {
+ if (TIME_IMMEDIATE == timeout) {
chSysUnlock();
return (eventmask_t)0;
}
ctp->u.ewmask = events;
- if (chSchGoSleepTimeoutS(CH_STATE_WTOREVT, time) < MSG_OK) {
+ if (chSchGoSleepTimeoutS(CH_STATE_WTOREVT, timeout) < MSG_OK) {
chSysUnlock();
return (eventmask_t)0;
}
@@ -566,7 +566,7 @@ eventmask_t chEvtWaitAnyTimeout(eventmask_t events, systime_t time) { *
* @param[in] events events that the function should wait
* for, @p ALL_EVENTS requires all the events
- * @param[in] time the number of ticks before the operation timeouts,
+ * @param[in] timeout the number of ticks before the operation timeouts,
* the following special values are allowed:
* - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout.
@@ -576,17 +576,17 @@ eventmask_t chEvtWaitAnyTimeout(eventmask_t events, systime_t time) { *
* @api
*/
-eventmask_t chEvtWaitAllTimeout(eventmask_t events, systime_t time) {
+eventmask_t chEvtWaitAllTimeout(eventmask_t events, sysinterval_t timeout) {
thread_t *ctp = currp;
chSysLock();
if ((ctp->epending & events) != events) {
- if (TIME_IMMEDIATE == time) {
+ if (TIME_IMMEDIATE == timeout) {
chSysUnlock();
return (eventmask_t)0;
}
ctp->u.ewmask = events;
- if (chSchGoSleepTimeoutS(CH_STATE_WTANDEVT, time) < MSG_OK) {
+ if (chSchGoSleepTimeoutS(CH_STATE_WTANDEVT, timeout) < MSG_OK) {
chSysUnlock();
return (eventmask_t)0;
}
diff --git a/os/rt/src/chschd.c b/os/rt/src/chschd.c index aed9aa8a7..d4bf1cafa 100644 --- a/os/rt/src/chschd.c +++ b/os/rt/src/chschd.c @@ -360,7 +360,7 @@ static void wakeup(void *p) { * @ref thread_states are defined into @p threads.h.
*
* @param[in] newstate the new thread state
- * @param[in] time the number of ticks before the operation timeouts, the
+ * @param[in] timeout the number of ticks before the operation timeouts, the
* special values are handled as follow:
* - @a TIME_INFINITE the thread enters an infinite sleep
* state, this is equivalent to invoking
@@ -372,14 +372,14 @@ static void wakeup(void *p) { *
* @sclass
*/
-msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) {
+msg_t chSchGoSleepTimeoutS(tstate_t newstate, sysinterval_t timeout) {
chDbgCheckClassS();
- if (TIME_INFINITE != time) {
+ if (TIME_INFINITE != timeout) {
virtual_timer_t vt;
- chVTDoSetI(&vt, time, wakeup, currp);
+ chVTDoSetI(&vt, timeout, wakeup, currp);
chSchGoSleepS(newstate);
if (chVTIsArmedI(&vt)) {
chVTDoResetI(&vt);
diff --git a/os/rt/src/chsem.c b/os/rt/src/chsem.c index 90df0dd73..c41ff4d78 100644 --- a/os/rt/src/chsem.c +++ b/os/rt/src/chsem.c @@ -217,7 +217,7 @@ msg_t chSemWaitS(semaphore_t *sp) { * @brief Performs a wait operation on a semaphore with timeout specification.
*
* @param[in] sp pointer to a @p semaphore_t structure
- * @param[in] time the number of ticks before the operation timeouts,
+ * @param[in] timeout the number of ticks before the operation timeouts,
* the following special values are allowed:
* - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout.
@@ -232,11 +232,11 @@ msg_t chSemWaitS(semaphore_t *sp) { *
* @api
*/
-msg_t chSemWaitTimeout(semaphore_t *sp, systime_t time) {
+msg_t chSemWaitTimeout(semaphore_t *sp, sysinterval_t timeout) {
msg_t msg;
chSysLock();
- msg = chSemWaitTimeoutS(sp, time);
+ msg = chSemWaitTimeoutS(sp, timeout);
chSysUnlock();
return msg;
@@ -246,7 +246,7 @@ msg_t chSemWaitTimeout(semaphore_t *sp, systime_t time) { * @brief Performs a wait operation on a semaphore with timeout specification.
*
* @param[in] sp pointer to a @p semaphore_t structure
- * @param[in] time the number of ticks before the operation timeouts,
+ * @param[in] timeout the number of ticks before the operation timeouts,
* the following special values are allowed:
* - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout.
@@ -261,7 +261,7 @@ msg_t chSemWaitTimeout(semaphore_t *sp, systime_t time) { *
* @sclass
*/
-msg_t chSemWaitTimeoutS(semaphore_t *sp, systime_t time) {
+msg_t chSemWaitTimeoutS(semaphore_t *sp, sysinterval_t timeout) {
chDbgCheckClassS();
chDbgCheck(sp != NULL);
@@ -270,7 +270,7 @@ msg_t chSemWaitTimeoutS(semaphore_t *sp, systime_t time) { "inconsistent semaphore");
if (--sp->cnt < (cnt_t)0) {
- if (TIME_IMMEDIATE == time) {
+ if (TIME_IMMEDIATE == timeout) {
sp->cnt++;
return MSG_TIMEOUT;
@@ -278,7 +278,7 @@ msg_t chSemWaitTimeoutS(semaphore_t *sp, systime_t time) { currp->u.wtsemp = sp;
sem_insert(currp, &sp->queue);
- return chSchGoSleepTimeoutS(CH_STATE_WTSEM, time);
+ return chSchGoSleepTimeoutS(CH_STATE_WTSEM, timeout);
}
return MSG_OK;
diff --git a/os/rt/src/chthreads.c b/os/rt/src/chthreads.c index 6ca99904b..49abadb2d 100644 --- a/os/rt/src/chthreads.c +++ b/os/rt/src/chthreads.c @@ -646,7 +646,7 @@ void chThdTerminate(thread_t *tp) { *
* @api
*/
-void chThdSleep(systime_t time) {
+void chThdSleep(sysinterval_t time) {
chSysLock();
chThdSleepS(time);
@@ -667,11 +667,12 @@ void chThdSleep(systime_t time) { * @api
*/
void chThdSleepUntil(systime_t time) {
+ sysinterval_t interval;
chSysLock();
- time -= chVTGetSystemTimeX();
- if (time > (systime_t)0) {
- chThdSleepS(time);
+ interval = chTimeDiffX(time, chVTGetSystemTimeX());
+ if (interval > (sysinterval_t)0) {
+ chThdSleepS(interval);
}
chSysUnlock();
}
@@ -695,8 +696,8 @@ systime_t chThdSleepUntilWindowed(systime_t prev, systime_t next) { chSysLock();
time = chVTGetSystemTimeX();
- if (chVTIsTimeWithinX(time, prev, next)) {
- chThdSleepS(next - time);
+ if (chTimeIsInRangeX(time, prev, next)) {
+ chThdSleepS(chTimeDiffX(next, time));
}
chSysUnlock();
@@ -758,7 +759,7 @@ msg_t chThdSuspendS(thread_reference_t *trp) { *
* @sclass
*/
-msg_t chThdSuspendTimeoutS(thread_reference_t *trp, systime_t timeout) {
+msg_t chThdSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout) {
thread_t *tp = chThdGetSelfX();
chDbgAssert(*trp == NULL, "not NULL");
@@ -858,7 +859,7 @@ void chThdResume(thread_reference_t *trp, msg_t msg) { *
* @sclass
*/
-msg_t chThdEnqueueTimeoutS(threads_queue_t *tqp, systime_t timeout) {
+msg_t chThdEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout) {
if (TIME_IMMEDIATE == timeout) {
return MSG_TIMEOUT;
diff --git a/os/rt/src/chvt.c b/os/rt/src/chvt.c index 51db54cc3..0667bf7c3 100644 --- a/os/rt/src/chvt.c +++ b/os/rt/src/chvt.c @@ -62,7 +62,7 @@ void _vt_init(void) { ch.vtlist.next = (virtual_timer_t *)&ch.vtlist;
ch.vtlist.prev = (virtual_timer_t *)&ch.vtlist;
- ch.vtlist.delta = (systime_t)-1;
+ ch.vtlist.delta = (sysinterval_t)-1;
#if CH_CFG_ST_TIMEDELTA == 0
ch.vtlist.systime = (systime_t)0;
#else /* CH_CFG_ST_TIMEDELTA > 0 */
@@ -92,10 +92,10 @@ void _vt_init(void) { *
* @iclass
*/
-void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,
+void chVTDoSetI(virtual_timer_t *vtp, sysinterval_t delay,
vtfunc_t vtfunc, void *par) {
virtual_timer_t *p;
- systime_t delta;
+ sysinterval_t delta;
chDbgCheckClassI();
chDbgCheck((vtp != NULL) && (vtfunc != NULL) && (delay != TIME_IMMEDIATE));
@@ -109,8 +109,8 @@ void chVTDoSetI(virtual_timer_t *vtp, systime_t delay, /* If the requested delay is lower than the minimum safe delta then it
is raised to the minimum safe value.*/
- if (delay < (systime_t)CH_CFG_ST_TIMEDELTA) {
- delay = (systime_t)CH_CFG_ST_TIMEDELTA;
+ if (delay < (sysinterval_t)CH_CFG_ST_TIMEDELTA) {
+ delay = (sysinterval_t)CH_CFG_ST_TIMEDELTA;
}
/* Special case where the timers list is empty.*/
@@ -125,8 +125,15 @@ void chVTDoSetI(virtual_timer_t *vtp, systime_t delay, vtp->prev = (virtual_timer_t *)&ch.vtlist;
vtp->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(ch.vtlist.lasttime + delay);
+ port_timer_start_alarm(chTimeAddX(ch.vtlist.lasttime, delay));
return;
}
@@ -136,9 +143,9 @@ void chVTDoSetI(virtual_timer_t *vtp, systime_t delay, /* Delay as delta from 'lasttime'. Note, it can overflow and the value
becomes lower than 'now'.*/
- delta = now - ch.vtlist.lasttime + delay;
+ delta = chTimeDiffX(ch.vtlist.lasttime, now) + delay;
- if (delta < now - ch.vtlist.lasttime) {
+ if (delta < chTimeDiffX(ch.vtlist.lasttime, now)) {
/* Scenario where a very large delay excedeed the numeric range, it
requires a special handling. We need to skip the first element and
adjust the delta to wrap back in the previous numeric range.*/
@@ -146,9 +153,18 @@ void chVTDoSetI(virtual_timer_t *vtp, systime_t delay, p = p->next;
}
else if (delta < p->delta) {
- /* A small delay that will become the first element in the delta list
- and next deadline.*/
- port_timer_set_alarm(ch.vtlist.lasttime + 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(ch.vtlist.lasttime, deadline_delta));
}
}
#else /* CH_CFG_ST_TIMEDELTA == 0 */
@@ -176,7 +192,7 @@ void chVTDoSetI(virtual_timer_t *vtp, systime_t delay, /* Special case when the timer is in last position in the list, the
value in the header must be restored.*/;
p->delta -= delta;
- ch.vtlist.delta = (systime_t)-1;
+ ch.vtlist.delta = (sysinterval_t)-1;
}
/**
@@ -205,9 +221,9 @@ void chVTDoResetI(virtual_timer_t *vtp) { /* The above code changes the value in the header when the removed element
is the last of the list, restoring it.*/
- ch.vtlist.delta = (systime_t)-1;
+ ch.vtlist.delta = (sysinterval_t)-1;
#else /* CH_CFG_ST_TIMEDELTA > 0 */
- systime_t nowdelta, delta;
+ 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.*/
@@ -246,7 +262,7 @@ void chVTDoResetI(virtual_timer_t *vtp) { }*/
/* Distance in ticks between the last alarm event and current time.*/
- nowdelta = chVTGetSystemTimeX() - ch.vtlist.lasttime;
+ nowdelta = chTimeDiffX(ch.vtlist.lasttime, chVTGetSystemTimeX());
/* If the current time surpassed the time of the next element in list
then the event interrupt is already pending, just return.*/
@@ -259,11 +275,19 @@ void chVTDoResetI(virtual_timer_t *vtp) { /* Making sure to not schedule an event closer than CH_CFG_ST_TIMEDELTA
ticks from now.*/
- if (delta < (systime_t)CH_CFG_ST_TIMEDELTA) {
- delta = (systime_t)CH_CFG_ST_TIMEDELTA;
+ if (delta < (sysinterval_t)CH_CFG_ST_TIMEDELTA) {
+ delta = nowdelta + (sysinterval_t)CH_CFG_ST_TIMEDELTA;
}
-
- port_timer_set_alarm(ch.vtlist.lasttime + nowdelta + delta);
+ 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(ch.vtlist.lasttime, delta));
#endif /* CH_CFG_ST_TIMEDELTA > 0 */
}
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