/* ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010, 2011,2012 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 . */ /** * @file chvt.h * @brief Time macros and structures. * * @addtogroup time * @{ */ #ifndef _CHVT_H_ #define _CHVT_H_ /** * @name Time conversion utilities * @{ */ /** * @brief Seconds to system ticks. * @details Converts from seconds to system ticks number. * @note The result is rounded upward to the next tick boundary. * * @param[in] sec number of seconds * @return The number of ticks. * * @api */ #define S2ST(sec) ((systime_t)((sec) * CH_FREQUENCY)) /** * @brief Milliseconds to system ticks. * @details Converts from milliseconds to system ticks number. * @note The result is rounded upward to the next tick boundary. * * @param[in] msec number of milliseconds * @return The number of ticks. * * @api */ #define MS2ST(msec) ((systime_t)(((((msec) - 1L) * CH_FREQUENCY) / \ 1000L) + 1L)) /** * @brief Microseconds to system ticks. * @details Converts from microseconds to system ticks number. * @note The result is rounded upward to the next tick boundary. * * @param[in] usec number of microseconds * @return The number of ticks. * * @api */ #define US2ST(usec) ((systime_t)(((((usec) - 1L) * CH_FREQUENCY) / \ 1000000L) + 1L)) /** @} */ /** * @brief Virtual Timer callback function. */ typedef void (*vtfunc_t)(void *); /** * @brief Virtual Timer structure type. */ typedef struct VirtualTimer VirtualTimer; /** * @extends DeltaList * * @brief Virtual Timer descriptor structure. */ struct VirtualTimer { VirtualTimer *vt_next; /**< @brief Next timer in the delta list. */ VirtualTimer *vt_prev; /**< @brief Previous timer in the delta list. */ systime_t vt_time; /**< @brief Time delta before timeout. */ vtfunc_t vt_func; /**< @brief Timer callback function pointer. */ void *vt_par; /**< @brief Timer callback function parameter. */ }; /** * @brief Virtual timers list header. * @note The delta list is implemented as a double link bidirectional list * in order to make the unlink time constant, the reset of a virtual * timer is often used in the code. */ typedef struct { VirtualTimer *vt_next; /**< @brief Next timer in the delta list. */ VirtualTimer *vt_prev; /**< @brief Last timer in the delta list. */ systime_t vt_time; /**< @brief Must be initialized to -1. */ volatile systime_t vt_systime; /**< @brief System Time counter. */ } VTList; /** * @name Macro Functions * @{ */ /** * @brief Virtual timers ticker. * @note The system lock is released before entering the callback and * re-acquired immediately after. It is callback's responsibility * to acquire the lock if needed. This is done in order to reduce * interrupts jitter when many timers are in use. * * @iclass */ #define chVTDoTickI() { \ vtlist.vt_systime++; \ if (&vtlist != (VTList *)vtlist.vt_next) { \ VirtualTimer *vtp; \ \ --vtlist.vt_next->vt_time; \ while (!(vtp = vtlist.vt_next)->vt_time) { \ vtfunc_t fn = vtp->vt_func; \ vtp->vt_func = (vtfunc_t)NULL; \ vtp->vt_next->vt_prev = (void *)&vtlist; \ (&vtlist)->vt_next = vtp->vt_next; \ chSysUnlockFromIsr(); \ fn(vtp->vt_par); \ chSysLockFromIsr(); \ } \ } \ } /** * @brief Returns @p TRUE if the specified timer is armed. * * @iclass */ #define chVTIsArmedI(vtp) ((vtp)->vt_func != NULL) /** * @brief Enables a virtual timer. * @note The associated function is invoked from interrupt context. * * @param[out] vtp the @p VirtualTimer structure pointer * @param[in] time the number of ticks before the operation timeouts, the * special values are handled as follow: * - @a TIME_INFINITE is allowed but interpreted as a * normal time specification. * - @a TIME_IMMEDIATE this value is not allowed. * . * @param[in] vtfunc the timer callback function. After invoking the * callback the timer is disabled and the structure can * be disposed or reused. * @param[in] par a parameter that will be passed to the callback * function * * @api */ #define chVTSet(vtp, time, vtfunc, par) { \ chSysLock(); \ chVTSetI(vtp, time, vtfunc, par); \ chSysUnlock(); \ } /** * @brief Disables a Virtual Timer. * @note The timer is first checked and disabled only if armed. * * @param[in] vtp the @p VirtualTimer structure pointer * * @api */ #define chVTReset(vtp) { \ chSysLock(); \ if (chVTIsArmedI(vtp)) \ chVTResetI(vtp); \ chSysUnlock(); \ } /** * @brief Current system time. * @details Returns the number of system ticks since the @p chSysInit() * invocation. * @note The counter can reach its maximum and then restart from zero. * @note This function is designed to work with the @p chThdSleepUntil(). * * @return The system time in ticks. * * @api */ #define chTimeNow() (vtlist.vt_systime) /** @} */ extern VTList vtlist; /* * Virtual Timers APIs. */ #ifdef __cplusplus extern "C" { #endif void _vt_init(void); void chVTSetI(VirtualTimer *vtp, systime_t time, vtfunc_t vtfunc, void *par); void chVTResetI(VirtualTimer *vtp); bool_t chTimeIsWithin(systime_t start, systime_t end); #ifdef __cplusplus } #endif #endif /* _CHVT_H_ */ /** @} */ 'n167' href='#n167'>167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599