Added systime_t chThdSleepUntilWindowed(systime_t prev, systime_t next) API.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7165 35acf78f-673a-0410-8e92-d51de3d6d3f4

2 files changed, 31 insertions, 0 deletions

diff --git a/os/rt/include/chthreads.h b/os/rt/include/chthreads.h
index 28bd41a06..e7eeeee1d 100644
--- a/os/rt/include/chthreads.h
+++ b/os/rt/include/chthreads.h
@@ -252,6 +252,7 @@ extern "C" {
   void chThdTerminate(thread_t *tp);

   void chThdSleep(systime_t time);

   void chThdSleepUntil(systime_t time);

+  systime_t chThdSleepUntilWindowed(systime_t prev, systime_t next);

   void chThdYield(void);

   void chThdExit(msg_t msg);

   void chThdExitS(msg_t msg);

diff --git a/os/rt/src/chthreads.c b/os/rt/src/chthreads.c
index f7694f593..d7e9bc13d 100644
--- a/os/rt/src/chthreads.c
+++ b/os/rt/src/chthreads.c
@@ -311,6 +311,11 @@ void chThdSleep(systime_t time) {
 /**

  * @brief   Suspends the invoking thread until the system time arrives to the

  *          specified value.

+ * @note    The function has no concept of "past", all specifiable times

+ *          are in the future, this means that if you call this function

+ *          exceeding your calculated intervals then the function will

+ *          return in a far future time, not immediately.

+ * @see     chThdSleepUntilWindowed()

  *

  * @param[in] time      absolute system time

  *

@@ -325,6 +330,31 @@ void chThdSleepUntil(systime_t time) {
 }

 

 /**

+ * @brief   Suspends the invoking thread until the system time arrives to the

+ *          specified value.

+ * @note    The system time is assumed to be between @p prev and @p time

+ *          else the call is assumed to have been called outside the

+ *          allowed time interval, in this case no sleep is performed.

+ * @see     chThdSleepUntilWindowed()

+ *

+ * @param[in] prev      absolute system time of the previous deadline

+ * @param[in] next      absolute system time of the next deadline

+ * @return				the @p next parameter

+ *

+ * @api

+ */

+systime_t chThdSleepUntilWindowed(systime_t prev, systime_t next) {

+  systime_t time;

+

+  chSysLock();

+  time = chVTGetSystemTimeX();

+  if (chVTIsTimeWithinX(time, prev, next))

+	chThdSleepS(next - time);

+  chSysUnlock();

+  return next;

+}

+

+/**

  * @brief   Yields the time slot.

  * @details Yields the CPU control to the next thread in the ready list with

  *          equal priority, if any.