diff options
Diffstat (limited to 'os/nil')
| -rw-r--r-- | os/nil/include/nil.h | 66 | ||||
| -rw-r--r-- | os/nil/ports/ARMCMx/nilcore_v7m.h | 2 | ||||
| -rw-r--r-- | os/nil/src/nil.c | 44 |
3 files changed, 109 insertions, 3 deletions
diff --git a/os/nil/include/nil.h b/os/nil/include/nil.h index 0b40e3815..b94fb8eab 100644 --- a/os/nil/include/nil.h +++ b/os/nil/include/nil.h @@ -61,7 +61,7 @@ typedef struct nil_thread thread_t; /**
* @brief Kernel version string.
*/
-#define CH_KERNEL_VERSION "1.0.0"
+#define CH_KERNEL_VERSION "1.1.0"
/**
* @brief Kernel version major number.
@@ -71,7 +71,7 @@ typedef struct nil_thread thread_t; /**
* @brief Kernel version minor number.
*/
-#define CH_KERNEL_MINOR 0
+#define CH_KERNEL_MINOR 1
/**
* @brief Kernel version patch number.
@@ -637,10 +637,70 @@ struct nil_system { /** @} */
/**
+ * @name Time conversion utilities for the realtime counter
+ * @{
+ */
+/**
+ * @brief Seconds to realtime counter.
+ * @details Converts from seconds to realtime counter cycles.
+ * @note The macro assumes that @p freq >= @p 1.
+ *
+ * @param[in] freq clock frequency, in Hz, of the realtime counter
+ * @param[in] sec number of seconds
+ * @return The number of cycles.
+ *
+ * @api
+ */
+#define S2RTC(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 millisecond boundary.
+ * @note The macro assumes that @p freq >= @p 1000.
+ *
+ * @param[in] freq clock frequency, in Hz, of the realtime counter
+ * @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 microsecond boundary.
+ * @note The macro assumes that @p freq >= @p 1000000.
+ *
+ * @param[in] freq clock frequency, in Hz, of the realtime counter
+ * @param[in] usec number of microseconds
+ * @return The number of cycles.
+ *
+ * @api
+ */
+#define US2RTC(freq, usec) (rtcnt_t)((((freq) + 999999UL) / 1000000UL) * (usec))
+/** @} */
+
+/**
* @name Macro Functions
* @{
*/
/**
+ * @brief Returns the current value of the system real time counter.
+ * @note This function is only available if the port layer supports the
+ * option @p PORT_SUPPORTS_RT.
+ *
+ * @return The value of the system realtime counter of
+ * type rtcnt_t.
+ *
+ * @xclass
+ */
+#if (PORT_SUPPORTS_RT == TRUE) || defined(__DOXYGEN__)
+#define chSysGetRealtimeCounterX() (rtcnt_t)port_rt_get_counter_value()
+#endif
+
+/**
* @brief Enters the kernel lock mode.
*
* @special
@@ -912,6 +972,8 @@ extern "C" { void chSysUnconditionalLock(void);
void chSysUnconditionalUnlock(void);
syssts_t chSysGetStatusAndLockX(void);
+ bool chSysIsCounterWithinX(rtcnt_t cnt, rtcnt_t start, rtcnt_t end);
+ void chSysPolledDelayX(rtcnt_t cycles);
void chSysRestoreStatusX(syssts_t sts);
thread_t *chSchReadyI(thread_t *tp, msg_t msg);
void chSchRescheduleS(void);
diff --git a/os/nil/ports/ARMCMx/nilcore_v7m.h b/os/nil/ports/ARMCMx/nilcore_v7m.h index ae030c273..4ae692d7d 100644 --- a/os/nil/ports/ARMCMx/nilcore_v7m.h +++ b/os/nil/ports/ARMCMx/nilcore_v7m.h @@ -35,7 +35,7 @@ /**
* @brief This port supports a realtime counter.
*/
-#define PORT_SUPPORTS_RT FALSE //TRUE
+#define PORT_SUPPORTS_RT TRUE
/**
* @brief Disabled value for BASEPRI register.
diff --git a/os/nil/src/nil.c b/os/nil/src/nil.c index 9254acbc0..7d3dab9ce 100644 --- a/os/nil/src/nil.c +++ b/os/nil/src/nil.c @@ -306,6 +306,50 @@ void chSysRestoreStatusX(syssts_t sts) { }
}
+#if (PORT_SUPPORTS_RT == TRUE) || defined(__DOXYGEN__)
+/**
+ * @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 is only available if the port layer supports the
+ * option @p PORT_SUPPORTS_RT.
+ *
+ * @param[in] cnt the counter value to be tested
+ * @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
+ */
+bool chSysIsCounterWithinX(rtcnt_t cnt, rtcnt_t start, rtcnt_t end) {
+
+ return (bool)((cnt - start) < (end - start));
+}
+
+/**
+ * @brief Polled delay.
+ * @note The real delay is always few cycles in excess of the specified
+ * value.
+ * @note This function is only available if the port layer supports the
+ * option @p PORT_SUPPORTS_RT.
+ *
+ * @param[in] cycles number of cycles
+ *
+ * @xclass
+ */
+void chSysPolledDelayX(rtcnt_t cycles) {
+ rtcnt_t start = chSysGetRealtimeCounterX();
+ rtcnt_t end = start + cycles;
+
+ while (chSysIsCounterWithinX(chSysGetRealtimeCounterX(), start, end)) {
+ }
+}
+#endif /* PORT_SUPPORTS_RT == TRUE */
+
/**
* @brief Makes the specified thread ready for execution.
*
|