diff options
| -rw-r--r-- | demos/ARMCM4-STM32F303-DISCOVERY/chconf.h | 10 | ||||
| -rw-r--r-- | os/kernel/include/ch.h | 1 | ||||
| -rw-r--r-- | os/kernel/include/chrt.h | 231 | ||||
| -rw-r--r-- | os/ports/GCC/ARMCMx/chcore_v7m.h | 5 | ||||
| -rw-r--r-- | os/ports/GCC/ARMCMx/chtypes.h | 1 |
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. */
|