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/*
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 <http://www.gnu.org/licenses/>.
*/
/**
* @file hal.h
* @brief HAL subsystem header.
*
* @addtogroup HAL
* @{
*/
#ifndef _HAL_H_
#define _HAL_H_
#include "board.h"
#include "halconf.h"
#include "hal_lld.h"
#include "tm.h"
#include "pal.h"
#include "adc.h"
#include "can.h"
#include "ext.h"
#include "gpt.h"
#include "i2c.h"
#include "icu.h"
#include "mac.h"
#include "pwm.h"
#include "rtc.h"
#include "serial.h"
#include "sdc.h"
#include "spi.h"
#include "uart.h"
#include "usb.h"
#include "mmc_spi.h"
#include "serial_usb.h"
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/**
* @name Time conversion utilities for the realtime counter
* @{
*/
/**
* @brief Seconds to realtime ticks.
* @details Converts from seconds to realtime 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 S2RTT(sec) (halGetCounterFrequency() * (sec))
/**
* @brief Milliseconds to realtime ticks.
* @details Converts from milliseconds to realtime 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 MS2RTT(msec) (((halGetCounterFrequency() + 999UL) / 1000UL) * (msec))
/**
* @brief Microseconds to realtime ticks.
* @details Converts from microseconds to realtime 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 US2RTT(usec) (((halGetCounterFrequency() + 999999UL) / 1000000UL) * \
(usec))
/** @} */
/**
* @name Macro Functions
* @{
*/
/**
* @brief Returns the current value of the system free running counter.
* @note This is an optional service that could not be implemented in
* all HAL implementations.
*
* @return The value of the system free running counter of
* type halrtcnt_t.
*
* @api
*/
#define halGetCounterValue() hal_lld_get_counter_value()
/**
* @brief Realtime counter frequency.
* @note This is an optional service that could not be implemented in
* all HAL implementations.
*
* @return The realtime counter frequency of type halclock_t.
*
* @api
*/
#define halGetCounterFrequency() hal_lld_get_counter_frequency()
/**
* @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.
*
* @par Example 1
* Example of a guarded loop using the realtime counter. The loop implements
* a timeout after one second.
* @code
* halrtcnt_t start = halGetCounterValue();
* halrtcnt_t timeout = start + S2RTT(1);
* while (my_condition) {
* if (!halIsCounterWithin(start, timeout)
* return TIMEOUT;
* // Do something.
* }
* // Continue.
* @endcode
*
* @par Example 2
* Example of a loop that lasts exactly 50 microseconds.
* @code
* halrtcnt_t start = halGetCounterValue();
* halrtcnt_t timeout = start + US2RTT(50);
* while (halIsCounterWithin(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.
*
* @api
*/
#define halIsCounterWithin(start, end) \
(end > start ? (halGetCounterValue() >= start) && \
(halGetCounterValue() < end) : \
(halGetCounterValue() >= start) || \
(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. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
void halInit(void);
#ifdef __cplusplus
}
#endif
#endif /* _HAL_H_ */
/** @} */
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