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amiro-apps / middleware / apps_urtosal.c @ 7e5fca2f

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1 6d4ba740 Thomas Schöpping
/*
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AMiRo-Apps is a collection of applications for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2018..2020  Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <urtware.h>
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/*============================================================================*/
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/* DEPENDENCIES                                                               */
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/*============================================================================*/
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/*============================================================================*/
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/* DEBUG                                                                      */
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/*============================================================================*/
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/*============================================================================*/
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/* MUTEX                                                                      */
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/*============================================================================*/
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/*============================================================================*/
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/* CONDITION VARIABLE                                                         */
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/*============================================================================*/
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#if (URT_CFG_OSAL_CONDVAR_TIMEOUT == true) || defined(__DOXYGEN__)
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/**
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 * @details Due to limitations of ChibiOS, the 'mutex' argument is ignored in
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 *          this implementation. Instead, the mutex, which was locked by the
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 *          calling thread most recently is used.
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 *          In debug builds, however, the argument is still checked to be
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 *          identical to implicitely selected mutex.
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 */
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urt_osCondvarWaitStatus_t urtCondvarWait(urt_osCondvar_t* condvar, urt_osMutex_t* mutex, urt_delay_t timeout)
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{
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  aosDbgCheck(condvar != NULL);
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  aosDbgCheck(mutex != NULL);
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  aosDbgCheck(chMtxGetNextMutexX() == mutex); // due to limitation of ChibiOS
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  (void)mutex;
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  switch (chCondWaitTimeout(condvar, timeout)) {
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    case MSG_OK:
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      return URT_CONDVAR_WAITSTATUS_SIGNAL;
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    case MSG_RESET:
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      return URT_CONDVAR_WAITSTATUS_BROADCAST;
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    case MSG_TIMEOUT:
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      return URT_CONDVAR_WAITSTATUS_TIMEOUT;
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    default:
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      chSysHalt(__func__);
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      return URT_CONDVAR_WAITSTATUS_TIMEOUT;
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  }
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}
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#else
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urt_osCondvarWaitStatus_t urtCondvarWait(urt_osCondvar_t* condvar, urt_osMutex_t* mutex)
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{
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  aosDbgCheck(condvar != NULL);
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  aosDbgCheck(mutex != NULL);
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  aosDbgCheck(chMtxGetNextMutexX() == mutex); // due to limitation of ChibiOS
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  (void)mutex;
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  switch (chCondWait(condvar)) {
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    case MSG_OK:
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      return URT_CONDVAR_WAITSTATUS_SIGNAL;
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    case MSG_RESET:
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      return URT_CONDVAR_WAITSTATUS_BROADCAST;
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    default:
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      chSysHalt(__func__);
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      return URT_CONDVAR_WAITSTATUS_TIMEOUT;
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  }
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}
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#endif
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/*============================================================================*/
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/* EVENTS                                                                     */
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/*============================================================================*/
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urt_osEventMask_t urtEventWait(urt_osEventMask_t mask, urt_osEventWait_t type, urt_delay_t timeout)
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{
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  switch (type) {
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    case URT_EVENT_WAIT_ONE:
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      return chEvtWaitOneTimeout(mask, timeout);
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    case URT_EVENT_WAIT_ANY:
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      return chEvtWaitAnyTimeout(mask, timeout);
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    case URT_EVENT_WAIT_ALL:
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      return chEvtWaitAllTimeout(mask, timeout);
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    default:
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      return 0;
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  }
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}
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/*============================================================================*/
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/* STREAMS                                                                    */
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/*============================================================================*/
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/*============================================================================*/
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/* TIME                                                                       */
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/*============================================================================*/
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urt_osTime_t urtTimeNow(void)
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{
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  urt_osTime_t time;
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  aosSysGetUptime(&time);
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  return time;
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}
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/*============================================================================*/
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/* THREAD                                                                     */
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/*============================================================================*/
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urt_osThread_t* urtThreadInit(void* memory, size_t size, urt_osThreadPrio_t prio, urt_osThreadFunction_t func, void* arg)
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{
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  aosDbgCheck(memory != NULL);
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  aosDbgCheck(size != 0);
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  aosDbgCheck(prio >= URT_THREAD_PRIO_LOW_MIN && prio <= URT_THREAD_PRIO_RT_MAX);
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  aosDbgCheck(func != NULL);
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  const thread_descriptor_t descriptor = {
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    /* name                         */ "",
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    /* pointer to working area base */ (stkalign_t*)memory,
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    /* end of the working area      */ &((stkalign_t*)memory)[/*size*/ 512 / sizeof(stkalign_t)],
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    /* thread priority              */ prio,
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    /* thread function pointer      */ func,
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    /* thread argument              */ arg,
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    /* pointer to the parent thread */ chThdGetSelfX(),
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  };
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 /* urtPrintf("memory: 0x%08X\n", memory);
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  urtPrintf("size: %u\n", size);
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  urtPrintf("prio: %u\n", prio);
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  urtPrintf("func: 0x%08X\n", func);
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  urtPrintf("arg: 0x%08X\n", arg);
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  urtPrintf("parent: 0x%08X\n", chThdGetSelfX());
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  urtThreadMSleep(10); */
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  return chThdCreateSuspended(&descriptor);
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}
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void urtThreadTerminate(urt_osThread_t* thread, urt_osThreadTerminateSignal_t sig)
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{
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  aosDbgCheck(thread != NULL);
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  switch (sig) {
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    case URT_THREAD_TERMINATE_REQUEST:
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      chThdTerminate(thread);
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      return;
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    case URT_THREAD_TERMINATE_KILL:
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      /*
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       * TODO: implement kill functionality
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       */
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      chThdTerminate(thread);
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      return;
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  }
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}
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urt_osThreadState_t urtThreadGetState(urt_osThread_t* thread)
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{
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  aosDbgCheck(thread != NULL);
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  switch (thread->state) {
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    case CH_STATE_CURRENT:
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      return URT_THREAD_STATE_RUNNING;
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    case CH_STATE_READY:
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      return URT_THREAD_STATE_READY;
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    case CH_STATE_SLEEPING:
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      return URT_THREAD_STATE_SLEEPING;
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    case CH_STATE_WTSTART:
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    case CH_STATE_SUSPENDED:
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      return URT_THREAD_STATE_SUSPENDED;
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    case CH_STATE_FINAL:
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      return URT_THREAD_STATE_TERMINATED;
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    case CH_STATE_QUEUED:
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    case CH_STATE_WTSEM:
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    case CH_STATE_WTMTX:
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    case CH_STATE_WTCOND:
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    case CH_STATE_WTEXIT:
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    case CH_STATE_WTOREVT:
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    case CH_STATE_WTANDEVT:
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    case CH_STATE_SNDMSGQ:
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    case CH_STATE_SNDMSG:
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    case CH_STATE_WTMSG:
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    default:
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      return URT_THREAD_STATE_WAITING;
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  }
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}
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/*============================================================================*/
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/* TIMER                                                                      */
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/*============================================================================*/
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void urtTimerSet(urt_osTimer_t* timer, urt_delay_t delay, urt_osTimerCallback_t callback, void* cbparams)
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{
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  aosDbgCheck(timer != NULL);
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  aosDbgCheck(callback != NULL);
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  if (sizeof(urt_delay_t) > sizeof(aos_interval_t)) {
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    aosTimerSetLongInterval(timer, (aos_longinterval_t)delay, callback, cbparams);
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  } else {
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    aosTimerSetInterval(timer, delay, callback, cbparams);
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  }
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  return;
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}
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void urtTimerSetPeriodic(urt_osTimer_t* timer, urt_delay_t period, urt_osTimerCallback_t callback, void* cbparams)
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{
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  aosDbgCheck(timer != NULL);
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  aosDbgCheck(callback != NULL);
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  if (sizeof(urt_delay_t) > sizeof(aos_interval_t)) {
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    aosTimerPeriodicLongInterval(timer, (aos_longinterval_t)period, callback, cbparams);
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  } else {
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    aosTimerPeriodicInterval(timer, period, callback, cbparams);
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  }
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  return;
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}