diff options
Diffstat (limited to 'os/kernel/include/chrt.h')
| -rw-r--r-- | os/kernel/include/chrt.h | 98 |
1 files changed, 27 insertions, 71 deletions
diff --git a/os/kernel/include/chrt.h b/os/kernel/include/chrt.h index bac5635dc..dfb2a4277 100644 --- a/os/kernel/include/chrt.h +++ b/os/kernel/include/chrt.h @@ -22,7 +22,7 @@ * @file chrt.h
* @brief Real Time Counter and Measurement module macros and structures.
*
- * @addtogroup rt_measurement
+ * @addtogroup realtime_counter
* @{
*/
@@ -45,17 +45,29 @@ /* 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. */
/*===========================================================================*/
+/**
+ * @brief Type of a Time Measurement object.
+ * @note The maximum measurable time period depends on the implementation
+ * of the realtime counter and its clock frequency.
+ * @note The measurement is not 100% cycle-accurate, it can be in excess
+ * of few cycles depending on the compiler and target architecture.
+ * @note Interrupts can affect measurement if the measurement is performed
+ * with interrupts enabled.
+ */
+typedef struct {
+ rtcnt_t last; /**< @brief Last measurement. */
+ rtcnt_t worst; /**< @brief Worst measurement. */
+ rtcnt_t best; /**< @brief Best measurement. */
+} time_measurement_t;
+
/*===========================================================================*/
/* Module macros. */
/*===========================================================================*/
+
/**
* @name Time conversion utilities for the realtime counter
* @{
@@ -137,6 +149,11 @@ #ifdef __cplusplus
extern "C" {
#endif
+ bool chRTIsCounterWithin(rtcnt_t start, rtcnt_t end);
+ void chRTPolledDelay(rtcnt_t cycles);
+ void chRTTimeMeasurementObjectInit(time_measurement_t *tmp);
+ NOINLINE void chRTTimeMeasurementStartX(time_measurement_t *tmp);
+ NOINLINE void chRTTimeMeasurementStopX(time_measurement_t *tmp);
#ifdef __cplusplus
}
#endif
@@ -154,74 +171,13 @@ extern "C" { *
* @special
*/
-static inline rtcnt_t chRTGetCounterValue(void) {
+static inline rtcnt_t chRTGetCounterValueX(void) {
+#if !CH_PORT_SUPPORTS_RT
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))
- ;
+#else
+ return chVTGetSystemTimeX();
+#endif
}
#endif /* CH_CFG_USE_RT */
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