git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@3775 35acf78f-673a-0410-8e92-d51de3d6d3f4

9 files changed, 241 insertions, 1 deletions

diff --git a/os/hal/hal.mk b/os/hal/hal.mk
index dddb73f85..83cf1bd1b 100644
--- a/os/hal/hal.mk
+++ b/os/hal/hal.mk
@@ -15,6 +15,7 @@ HALSRC = ${CHIBIOS}/os/hal/src/hal.c \
          ${CHIBIOS}/os/hal/src/spi.c \

          ${CHIBIOS}/os/hal/src/uart.c \

          ${CHIBIOS}/os/hal/src/usb.c \

+         ${CHIBIOS}/os/hal/src/tm.c \

          ${CHIBIOS}/os/hal/src/mmc_spi.c \

          ${CHIBIOS}/os/hal/src/serial_usb.c \

          ${CHIBIOS}/os/hal/src/rtc.c

diff --git a/os/hal/include/hal.h b/os/hal/include/hal.h
index b7e6141cc..c9a7ad169 100644
--- a/os/hal/include/hal.h
+++ b/os/hal/include/hal.h
@@ -34,6 +34,7 @@
 

 #include "hal_lld.h"

 

+#include "tm.h"

 #include "pal.h"

 #include "adc.h"

 #include "can.h"

@@ -43,6 +44,7 @@
 #include "icu.h"

 #include "mac.h"

 #include "pwm.h"

+#include "rtc.h"

 #include "serial.h"

 #include "sdc.h"

 #include "spi.h"

@@ -50,7 +52,6 @@
 #include "usb.h"

 #include "mmc_spi.h"

 #include "serial_usb.h"

-#include "rtc.h"

 

 /*===========================================================================*/

 /* Driver constants.                                                         */

@@ -188,6 +189,22 @@
                  (halGetCounterValue() < end))

 /** @} */

 

+/**

+ * @brief   Polled delay.

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

+ *          value.

+ *

+ * @param[in] ticks     number of ticks

+ *

+ * @api

+ */

+#define halPolledDelay(ticks) {                                             \

+  halrtcnt_t start = halGetCounterValue();                                  \

+  halrtcnt_t timeout  = start + (ticks);                                    \

+  while (halIsCounterWithin(start, timeout))                                \

+    ;                                                                       \

+}

+

 /*===========================================================================*/

 /* External declarations.                                                    */

 /*===========================================================================*/

diff --git a/os/hal/include/tm.h b/os/hal/include/tm.h
new file mode 100644
index 000000000..23b9255f2
--- /dev/null
+++ b/os/hal/include/tm.h
@@ -0,0 +1,94 @@
+/*

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

+                 2011 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    tm.h

+ * @brief   Time Measurement unit header.

+ *

+ * @addtogroup TM

+ * @{

+ */

+

+#ifndef _TM_H_

+#define _TM_H_

+

+#if HAL_USE_TM

+

+/**

+ * @brief   Type of a Time Measurement object.

+ * @note    Start/stop of measurements is performed through the function

+ *          pointers in order to avoid inlining of those functions which

+ *          could compromise measurement accuracy.

+ * @note    The maximum measurable time period depends on the implementation

+ *          of the realtime counter in the HAL driver.

+ * @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 TimeMeasurement TimeMeasurement;

+

+/**

+ * @brief   Time Measurement structure.

+ */

+struct TimeMeasurement {

+  void (*start)(TimeMeasurement *tmp);  /**< @brief Starts a measurement.   */

+  void (*stop)(TimeMeasurement *tmp);   /**< @brief Stops a measurement.    */

+  halrtcnt_t           last;            /**< @brief Last measurement.       */

+  halrtcnt_t           worst;           /**< @brief Worst measurement.      */

+  halrtcnt_t           best;            /**< @brief Best measurement.       */

+};

+

+/**

+ * @brief   Starts a measurement.

+ * @pre     The @p TimeMeasurement must be initialized.

+ * @note    This function can be invoked in any context.

+ *

+ * @param[in,out] tmp   pointer to a @p TimeMeasurement structure

+ *

+ * @special

+ */

+#define tmStartMeasurement(tmp) (tmp)->start(tmp)

+

+/**

+ * @brief   Stops a measurement.

+ * @pre     The @p TimeMeasurement must be initialized.

+ * @note    This function can be invoked in any context.

+ *

+ * @param[in,out] tmp   pointer to a @p TimeMeasurement structure

+ *

+ * @special

+ */

+#define tmStopMeasurement(tmp) (tmp)->stop(tmp)

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void tmInit(void);

+  void tmObjectInit(TimeMeasurement *tmp);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* HAL_USE_TM */

+

+#endif /* _TM_H_ */

+

+/** @} */

diff --git a/os/hal/platforms/STM32F1xx/hal_lld.h b/os/hal/platforms/STM32F1xx/hal_lld.h
index ad6f117c8..0d5f0d712 100644
--- a/os/hal/platforms/STM32F1xx/hal_lld.h
+++ b/os/hal/platforms/STM32F1xx/hal_lld.h
@@ -50,6 +50,11 @@
 /*===========================================================================*/

 

 /**

+ * @brief   Defines the support for realtime counters in the HAL.

+ */

+#define HAL_IMPLEMENTS_COUNTERS TRUE

+

+/**

  * @name    Internal clock sources

  * @{

  */

diff --git a/os/hal/platforms/STM32F2xx/hal_lld.h b/os/hal/platforms/STM32F2xx/hal_lld.h
index 4f8272c97..84861fa33 100644
--- a/os/hal/platforms/STM32F2xx/hal_lld.h
+++ b/os/hal/platforms/STM32F2xx/hal_lld.h
@@ -45,6 +45,11 @@
 /*===========================================================================*/

 

 /**

+ * @brief   Defines the support for realtime counters in the HAL.

+ */

+#define HAL_IMPLEMENTS_COUNTERS TRUE

+

+/**

  * @name    Platform identification

  * @{

  */

diff --git a/os/hal/platforms/STM32F4xx/hal_lld.h b/os/hal/platforms/STM32F4xx/hal_lld.h
index 5215e0e0c..1e5d4947b 100644
--- a/os/hal/platforms/STM32F4xx/hal_lld.h
+++ b/os/hal/platforms/STM32F4xx/hal_lld.h
@@ -45,6 +45,11 @@
 /*===========================================================================*/

 

 /**

+ * @brief   Defines the support for realtime counters in the HAL.

+ */

+#define HAL_IMPLEMENTS_COUNTERS TRUE

+

+/**

  * @name    Platform identification

  * @{

  */

diff --git a/os/hal/platforms/STM32L1xx/hal_lld.h b/os/hal/platforms/STM32L1xx/hal_lld.h
index c56b8efa3..336e91f47 100644
--- a/os/hal/platforms/STM32L1xx/hal_lld.h
+++ b/os/hal/platforms/STM32L1xx/hal_lld.h
@@ -44,6 +44,11 @@
 /*===========================================================================*/

 

 /**

+ * @brief   Defines the support for realtime counters in the HAL.

+ */

+#define HAL_IMPLEMENTS_COUNTERS TRUE

+

+/**

  * @name    Platform identification

  * @{

  */

diff --git a/os/hal/src/hal.c b/os/hal/src/hal.c
index d5a8082e9..b469b57e5 100644
--- a/os/hal/src/hal.c
+++ b/os/hal/src/hal.c
@@ -62,6 +62,9 @@ void halInit(void) {
 

   hal_lld_init();

 

+#if HAL_USE_TM || defined(__DOXYGEN__)

+  tmInit();

+#endif

 #if HAL_USE_PAL || defined(__DOXYGEN__)

   palInit(&pal_default_config);

 #endif

diff --git a/os/hal/src/tm.c b/os/hal/src/tm.c
new file mode 100644
index 000000000..4d1eb57b8
--- /dev/null
+++ b/os/hal/src/tm.c
@@ -0,0 +1,105 @@
+/*

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

+                 2011 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    tm.c

+ * @brief   Time Measurement unit code.

+ *

+ * @addtogroup TM

+ * @{

+ */

+

+#include "ch.h"

+#include "hal.h"

+

+#if HAL_USE_TM

+

+/**

+ * @brief   Subsystem calibration value.

+ */

+static halrtcnt_t measurement_offset;

+

+

+/**

+ * @brief   Starts a measurement.

+ *

+ * @param[in,out] tmp   pointer to a @p TimeMeasurement structure

+ *

+ * @notapi

+ */

+static void tm_start(TimeMeasurement *tmp) {

+

+  tmp->last = halGetCounterValue();

+}

+

+/**

+ * @brief   Stops a measurement.

+ *

+ * @param[in,out] tmp   pointer to a @p TimeMeasurement structure

+ *

+ * @notapi

+ */

+static void tm_stop(TimeMeasurement *tmp) {

+

+  halrtcnt_t now = halGetCounterValue();

+  tmp->last = now - tmp->last - measurement_offset;

+  if (tmp->last > tmp->worst)

+      tmp->worst = tmp->last;

+  else if (tmp->last < tmp->best)

+      tmp->best = tmp->last;

+}

+

+/**

+ * @brief   Initializes the Time Measurement unit.

+ *

+ * @init

+ */

+void tmInit(void) {

+  TimeMeasurement tm;

+

+  /* Time Measurement subsystem calibration, it does a null measurement

+     and calculates the call overhead which is subtracted to real

+     measurements.*/

+  measurement_offset = 0;

+  tmObjectInit(&tm);

+  tmStartMeasurement(&tm);

+  tmStopMeasurement(&tm);

+  measurement_offset = tm.last;

+}

+

+/**

+ * @brief   Initializes a @p TimeMeasurement object.

+ *

+ * @param[out] tmp      pointer to a @p TimeMeasurement structure

+ *

+ * @init

+ */

+void tmObjectInit(TimeMeasurement *tmp) {

+

+  tmp->start = tm_start;

+  tmp->stop  = tm_stop;

+  tmp->last  = (halrtcnt_t)0;

+  tmp->worst = (halrtcnt_t)0;

+  tmp->best  = (halrtcnt_t)-1;

+}

+

+#endif /* HAL_USE_TM */

+

+/** @} */