git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6035 35acf78f-673a-0410-8e92-d51de3d6d3f4

5 files changed, 248 insertions, 0 deletions

diff --git a/demos/ARMCM4-STM32F303-DISCOVERY/chconf.h b/demos/ARMCM4-STM32F303-DISCOVERY/chconf.h
index 0886d559c..7b869eb61 100644
--- a/demos/ARMCM4-STM32F303-DISCOVERY/chconf.h
+++ b/demos/ARMCM4-STM32F303-DISCOVERY/chconf.h
@@ -128,6 +128,16 @@
 /*===========================================================================*/

 

 /**

+ * @brief   Realtime counter APIs.

+ * @details If enabled then the RT APIs are included in the kernel.

+ *

+ * @note    The default is @p TRUE.

+ */

+#if !defined(CH_CFG_USE_RT) || defined(__DOXYGEN__)

+#define CH_CFG_USE_RT                       TRUE

+#endif

+

+/**

  * @brief   Threads registry APIs.

  * @details If enabled then the registry APIs are included in the kernel.

  *

diff --git a/os/kernel/include/ch.h b/os/kernel/include/ch.h
index 58eee9c7c..c7e3ec80d 100644
--- a/os/kernel/include/ch.h
+++ b/os/kernel/include/ch.h
@@ -109,6 +109,7 @@ typedef struct thread thread_t;
 #include "chtypes.h"

 #include "chdebug.h"

 #include "chcore.h"

+#include "chrt.h"

 #include "chthreads.h"

 #include "chlists.h"

 #include "chsys.h"

diff --git a/os/kernel/include/chrt.h b/os/kernel/include/chrt.h
new file mode 100644
index 000000000..bac5635dc
--- /dev/null
+++ b/os/kernel/include/chrt.h
@@ -0,0 +1,231 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,

+                 2011,2012,2013 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT 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/RT 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    chrt.h

+ * @brief   Real Time Counter and Measurement module macros and structures.

+ *

+ * @addtogroup rt_measurement

+ * @{

+ */

+

+#ifndef _CHRT_H_

+#define _CHRT_H_

+

+#if CH_CFG_USE_RT || defined(__DOXYGEN__)

+

+#define port_rt_get_counter_value() 0

+

+/*===========================================================================*/

+/* Module constants.                                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module pre-compile time settings.                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Derived constants and error checks.                                       */

+/*===========================================================================*/

+

+#if !CH_PORT_SUPPORTS_RT

+#error "the port layer does not support the realtime counter functionality"

+#endif

+

+/*===========================================================================*/

+/* Module data structures and types.                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module macros.                                                            */

+/*===========================================================================*/

+/**

+ * @name    Time conversion utilities for the realtime counter

+ * @{

+ */

+/**

+ * @brief   Seconds to realtime counter.

+ * @details Converts from seconds to realtime counter cycles.

+ * @note    The result is rounded upward to the next tick boundary.

+ *

+ * @param[in] sec       number of seconds

+ * @return              The number of cycles.

+ *

+ * @api

+ */

+#define S2RTV(freq, sec) ((freq) * (sec))

+

+/**

+ * @brief   Milliseconds to realtime counter.

+ * @details Converts from milliseconds to realtime counter cycles.

+ * @note    The result is rounded upward to the next tick boundary.

+ *

+ * @param[in] msec      number of milliseconds

+ * @return              The number of cycles.

+ *

+ * @api

+ */

+#define MS2RTC(freq, msec) (rtcnt_t)((((freq) + 999UL) / 1000UL) * (msec))

+

+/**

+ * @brief   Microseconds to realtime counter.

+ * @details Converts from microseconds to realtime counter cycles.

+ * @note    The result is rounded upward to the next tick boundary.

+ *

+ * @param[in] usec      number of microseconds

+ * @return              The number of cycles.

+ *

+ * @api

+ */

+#define US2RTC(freq, usec) (rtcnt_t)((((freq) + 999999UL) / 1000000UL) * (usec))

+

+/**

+ * @brief   Realtime counter cycles to seconds.

+ * @details Converts from realtime counter cycles number to seconds.

+ *

+ * @param[in] n         number of cycles

+ * @return              The number of seconds.

+ *

+ * @api

+ */

+#define RTC2S(freq, n) (rtcnt_t)((n) / (freq))

+

+/**

+ * @brief   Realtime counter cycles to milliseconds.

+ * @details Converts from realtime counter cycles number to milliseconds.

+ *

+ * @param[in] n         number of cycles

+ * @return              The number of milliseconds.

+ *

+ * @api

+ */

+#define RTC2MS(freq, n) ((n) / ((freq) / 1000UL))

+

+/**

+ * @brief   Realtime counter cycles to microseconds.

+ * @details Converts from realtime counter cycles number to microseconds.

+ *

+ * @param[in] n         number of cycles

+ * @return              The number of microseconds.

+ *

+ * @api

+ */

+#define RTC2US(freq, n) ((n) / ((freq) / 1000000UL))

+/** @} */

+

+/*===========================================================================*/

+/* External declarations.                                                    */

+/*===========================================================================*/

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+#ifdef __cplusplus

+}

+#endif

+

+/*===========================================================================*/

+/* Module inline functions.                                                  */

+/*===========================================================================*/

+

+/**

+ * @brief   Returns the current value of the system real time counter.

+ * @note    This function can be called from any context.

+ *

+ * @return              The value of the system free running counter of

+ *                      type rtcnt_t.

+ *

+ * @special

+ */

+static inline rtcnt_t chRTGetCounterValue(void) {

+

+  return port_rt_get_counter_value();

+}

+

+/**

+ * @brief   Realtime window test.

+ * @details This function verifies if the current realtime counter value

+ *          lies within the specified range or not. The test takes care

+ *          of the realtime counter wrapping to zero on overflow.

+ * @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.

+ *

+ * @par Example 1

+ * Example of a guarded loop using the realtime counter. The loop implements

+ * a timeout after one second.

+ * @code

+ *   rtcnt_t start = chRTGetCounterValue();

+ *   rtcnt_t timeout  = start + S2RTC(1);

+ *   while (my_condition) {

+ *     if (!chRTIsCounterWithin(start, timeout)

+ *       return TIMEOUT;

+ *     // Do something.

+ *   }

+ *   // Continue.

+ * @endcode

+ *

+ * @par Example 2

+ * Example of a loop that lasts exactly 50 microseconds.

+ * @code

+ *   rtcnt_t start = chRTGetCounterValue();

+ *   rtcnt_t timeout  = start + US2RTC(50);

+ *   while (chRTIsCounterWithin(start, timeout)) {

+ *     // Do something.

+ *   }

+ *   // Continue.

+ * @endcode

+ *

+ * @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.

+ *

+ * @special

+ */

+static inline bool chRTIsCounterWithin(rtcnt_t start, rtcnt_t end) {

+  rtcnt_t now = chRTGetCounterValue();

+

+  return end > start ? (now >= start) && (now < end) :

+                       (now >= start) || (now < end);

+}

+

+/**

+ * @brief   Polled delay.

+ * @note    The real delay is always few cycles in excess of the specified

+ *          value.

+ * @note    This function can be called from any context.

+ *

+ * @param[in] ticks     number of ticks

+ *

+ * @special

+ */

+static inline void chRTPolledDelay(rtcnt_t ticks) {

+  rtcnt_t start = chRTGetCounterValue();

+  rtcnt_t timeout  = start + (ticks);

+  while (chRTIsCounterWithin(start, timeout))

+    ;

+}

+

+#endif /* CH_CFG_USE_RT */

+

+#endif /* _CHRT_H_ */

+

+/** @} */

diff --git a/os/ports/GCC/ARMCMx/chcore_v7m.h b/os/ports/GCC/ARMCMx/chcore_v7m.h
index 9bf9dafb2..6cd461408 100644
--- a/os/ports/GCC/ARMCMx/chcore_v7m.h
+++ b/os/ports/GCC/ARMCMx/chcore_v7m.h
@@ -74,6 +74,11 @@
 /** @} */

 

 /**

+ * @brief   This port supports a realtime counter.

+ */

+#define CH_PORT_SUPPORTS_RT             TRUE

+

+/**

  * @brief   Disabled value for BASEPRI register.

  */

 #define CORTEX_BASEPRI_DISABLED         0

diff --git a/os/ports/GCC/ARMCMx/chtypes.h b/os/ports/GCC/ARMCMx/chtypes.h
index 689b8c64d..65f8cafeb 100644
--- a/os/ports/GCC/ARMCMx/chtypes.h
+++ b/os/ports/GCC/ARMCMx/chtypes.h
@@ -34,6 +34,7 @@
 #include <stdbool.h>

 

 typedef bool            bool_t;         /**< Fast boolean type.             */

+typedef uint32_t        rtcnt_t;        /**< Realtime counter.              */

 typedef uint32_t        syssts_t;       /**< System status word.            */

 typedef uint8_t         tmode_t;        /**< Thread flags.                  */

 typedef uint8_t         tstate_t;       /**< Thread state.                  */