amiro-os / os / core / src / aos_timer.c @ 0128be0f
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1 | e545e620 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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4 | |||
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | #include <aos_timer.h> |
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20 | |||
21 | #include <aos_system.h> |
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22 | |||
23 | /*
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24 | * Forward declarations.
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25 | */
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26 | static inline void _setupTimer(aos_timer_t* timer); |
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27 | static inline void _setupPeriodicTimer(aos_periodictimer_t* ptimer); |
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28 | static void _intermediateCb(void* timer); |
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29 | static void _fireCb(void* timer); |
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30 | static void _periodicCb(void* ptimer); |
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31 | |||
32 | /**
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33 | * @brief Setup a timer according to its configuration.
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34 | *
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35 | * @param[in] timer Pointer to the timer to setup.
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36 | */
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37 | static inline void _setupTimer(aos_timer_t* timer) |
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38 | { |
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39 | aos_timestamp_t uptime; |
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40 | |||
41 | // get current system uptime
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42 | aosSysGetUptimeX(&uptime); |
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43 | |||
44 | // if the wakeup time is more than TIME_IMMEDIATE in the future
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45 | if ( (timer->wkuptime > uptime) && ((timer->wkuptime - uptime) > TIME_IMMEDIATE) ) {
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46 | // split the time delta if necessary
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47 | 512abac1 | Thomas Schöpping | if ((timer->wkuptime - uptime) > AOS_TIMER_MAX_INTERVAL_US) {
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48 | 0128be0f | Marc Rothmann | chVTSetI(&(timer->vt), TIME_US2I(AOS_TIMER_MAX_INTERVAL_US), _intermediateCb, timer); |
49 | e545e620 | Thomas Schöpping | } else {
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50 | 0128be0f | Marc Rothmann | chVTSetI(&(timer->vt), TIME_US2I(timer->wkuptime - uptime), _fireCb, timer); |
51 | e545e620 | Thomas Schöpping | } |
52 | } else {
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53 | vtfunc_t fn = timer->callback; |
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54 | timer->callback = NULL;
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55 | fn(timer->cbparam); |
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56 | } |
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57 | |||
58 | return;
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59 | } |
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60 | |||
61 | /**
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62 | * @brief Setup a periodic timer according to its configuration.
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63 | *
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64 | * @param[in] ptimer Pointer to the periodic timer to setup.
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65 | */
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66 | static inline void _setupPeriodicTimer(aos_periodictimer_t *ptimer) |
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67 | { |
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68 | // if the periodic timer is being initialized
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69 | if (ptimer->timer.wkuptime == 0) { |
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70 | aos_timestamp_t uptime; |
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71 | |||
72 | // get current system uptime
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73 | aosSysGetUptimeX(&uptime); |
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74 | ptimer->timer.wkuptime = uptime + ptimer->interval; |
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75 | } |
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76 | // if the peridic timer is reactivated after it has fired
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77 | else {
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78 | ptimer->timer.wkuptime += ptimer->interval; |
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79 | } |
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80 | |||
81 | // set the callback and parameters
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82 | ptimer->timer.callback = _periodicCb; |
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83 | ptimer->timer.cbparam = ptimer; |
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84 | |||
85 | // setup the timer
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86 | _setupTimer(&(ptimer->timer)); |
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87 | |||
88 | return;
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89 | } |
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90 | |||
91 | /**
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92 | * @brief Callback function for intermediate interrupts.
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93 | * @details This is required if the desired time to fire is too far in the future so that the interval must be split.
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94 | *
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95 | * @param[in] timer Pointer to a aos_timer_t to reactivate.
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96 | */
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97 | static void _intermediateCb(void* timer) |
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98 | { |
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99 | chSysLockFromISR(); |
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100 | _setupTimer((aos_timer_t*)timer); |
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101 | chSysUnlockFromISR(); |
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102 | } |
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103 | |||
104 | /**
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105 | * @brief Callback function for the final fire event of the timer.
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106 | *
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107 | * @param[in] timer Pointer to a aos_timer_t to call its callback.
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108 | */
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109 | static void _fireCb(void *timer) |
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110 | { |
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111 | chSysLockFromISR(); |
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112 | ((aos_timer_t*)timer)->callback(((aos_timer_t*)timer)->cbparam); |
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113 | chSysUnlockFromISR(); |
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114 | } |
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115 | |||
116 | /**
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117 | * @brief Callback function for periodic timer interrupts.
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118 | * @details This function calls the original callback and reenables the timer afterwards.
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119 | *
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120 | * @param[in] ptimer Pointer to a aos_periodictimer_t to reactivate.
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121 | */
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122 | static void _periodicCb(void* ptimer) |
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123 | { |
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124 | ((aos_periodictimer_t*)ptimer)->callback(((aos_periodictimer_t*)ptimer)->cbparam); |
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125 | _setupPeriodicTimer((aos_periodictimer_t*)ptimer); |
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126 | } |
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127 | |||
128 | /**
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129 | * @brief Initialize a aos_timer_t object.
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130 | *
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131 | * @param[in] timer The timer to initialize.
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132 | */
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133 | void aosTimerInit(aos_timer_t* timer)
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134 | { |
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135 | aosDbgAssert(timer != NULL);
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136 | |||
137 | chVTObjectInit(&(timer->vt)); |
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138 | timer->wkuptime = 0;
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139 | timer->callback = NULL;
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140 | timer->cbparam = NULL;
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141 | |||
142 | return;
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143 | } |
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144 | |||
145 | /**
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146 | * @brief Set timer to fire at an absolute system time.
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147 | *
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148 | * @param[in] timer Pointer to the timer to set.
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149 | * @param[in] uptime Pointer to the absolute system time for the timer to fire.
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150 | * @param[in] cb Pointer to a callback function to be called.
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151 | * In contrast to ChibiOS callback functions, this gets called from an already ISR locked context.
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152 | * Thus it may not contain any chSysLockX() or chSysUnlockX() calls and so forth.
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153 | * @param[in] par Pointer to a parameter fpr the callback function (may be NULL).
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154 | */
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155 | void aosTimerSetAbsoluteI(aos_timer_t *timer, aos_timestamp_t *uptime, vtfunc_t cb, void *par) |
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156 | { |
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157 | aosDbgCheck(timer != NULL);
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158 | aosDbgCheck(uptime != NULL);
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159 | aosDbgCheck(cb != NULL);
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160 | |||
161 | timer->wkuptime = *uptime; |
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162 | timer->callback = cb; |
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163 | timer->cbparam = par; |
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164 | _setupTimer(timer); |
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165 | |||
166 | return;
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167 | } |
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168 | |||
169 | /**
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170 | * @brief Set timer to fire after a relative interval.
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171 | *
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172 | * @param[in] timer Pointer to the timer to set.
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173 | * @param[in] offset Relative interval to set for the timer to fire.
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174 | * @param[in] cb Pointer to a callback function to be called.
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175 | * In contrast to ChibiOS callback functions, this gets called from an already ISR locked context.
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176 | * Thus it may not contain any chSysLockX() or chSysUnlockX() calls and so forth.
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177 | * @param[in] par Pointer to a parameter for the callback function (may be NULL).
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178 | */
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179 | void aosTimerSetIntervalI(aos_timer_t *timer, aos_interval_t offset, vtfunc_t cb, void *par) |
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180 | { |
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181 | aosDbgCheck(timer != NULL);
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182 | aosDbgCheck(cb != NULL);
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183 | |||
184 | aos_timestamp_t uptime; |
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185 | |||
186 | aosSysGetUptimeX(&uptime); |
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187 | timer->wkuptime = uptime + offset; |
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188 | timer->callback = cb; |
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189 | timer->cbparam = par; |
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190 | _setupTimer(timer); |
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191 | |||
192 | return;
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193 | } |
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194 | |||
195 | /**
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196 | * @brief Set timer to fire after a long relative interval.
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197 | *
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198 | * @param[in] timer Pointer to the timer to set.
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199 | * @param[in] offset Pointer to a long interval value to set for the timer to fire.
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200 | * @param[in] cb Pointer to a callback function to be called.
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201 | * In contrast to ChibiOS callback functions, this gets called from an already ISR locked context.
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202 | * Thus it may not contain any chSysLockX() or chSysUnlockX() calls and so forth.
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203 | * @param[in] par Pointer to a parameter for the callback function (may be NULL).
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204 | */
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205 | void aosTimerSetLongIntervalI(aos_timer_t *timer, aos_longinterval_t *offset, vtfunc_t cb, void *par) |
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206 | { |
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207 | aosDbgCheck(timer != NULL);
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208 | aosDbgCheck(offset != NULL);
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209 | aosDbgCheck(cb != NULL);
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210 | |||
211 | aos_timestamp_t uptime; |
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212 | |||
213 | aosSysGetUptimeX(&uptime); |
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214 | timer->wkuptime = uptime + *offset; |
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215 | timer->callback = cb; |
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216 | timer->cbparam = par; |
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217 | _setupTimer(timer); |
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218 | |||
219 | return;
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220 | } |
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221 | |||
222 | /**
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223 | * @brief Initialize a aos_periodictimer_t object.
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224 | *
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225 | * @param[in] timer The periodic timer to initialize.
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226 | */
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227 | void aosPeriodicTimerInit(aos_periodictimer_t *ptimer)
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228 | { |
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229 | aosDbgAssert(ptimer != NULL);
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230 | |||
231 | aosTimerInit(&(ptimer->timer)); |
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232 | ptimer->interval = 0;
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233 | |||
234 | return;
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235 | } |
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236 | |||
237 | /**
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238 | * @brief Set a periodic timer to fire in the specified interval.
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239 | *
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240 | * @param[in] ptimer Pointer to the periodic timer to set.
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241 | * @param[in] interval Interval for the periodic timer to fire,
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242 | * @param[in] cb Pointer to a callback function to be called.
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243 | * In contrast to ChibiOS callback functions, this gets called from an already ISR locked context.
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244 | * Thus it may not contain any chSysLockX() or chSysUnlockX() calls and so forth.
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245 | * @param[in] par Pointer to a parameter for the callback function (may be NULL).
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246 | */
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247 | void aosPeriodicTimerSetI(aos_periodictimer_t* ptimer, aos_interval_t interval, vtfunc_t cb, void* par) |
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248 | { |
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249 | aosDbgCheck(ptimer != NULL);
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250 | aosDbgCheck(interval > TIME_IMMEDIATE); |
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251 | aosDbgCheck(cb != NULL);
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252 | |||
253 | ptimer->timer.wkuptime = 0;
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254 | ptimer->interval = interval; |
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255 | ptimer->callback = cb; |
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256 | ptimer->cbparam = par; |
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257 | _setupPeriodicTimer(ptimer); |
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258 | |||
259 | return;
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260 | } |
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261 | |||
262 | /**
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263 | * @brief Set a periodic timer to fire in the specified interval.
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264 | *
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265 | * @param[in] ptimer Pointer to the periodic timer to set.
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266 | * @param[in] interval Pointer to a long interval value for the periodic timer to fire,
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267 | * @param[in] cb Pointer to a callback function to be called.
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268 | * In contrast to other callback functions, this get called from an already ISR locked context.
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269 | * This it may not contain any chSysLockX() or chSysUnlockX() calls.
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270 | * @param[in] par Pointer to a parameter for the callback function (may be NULL).
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271 | */
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272 | void aosPeriodicTimerSetLongI(aos_periodictimer_t* ptimer, aos_longinterval_t* interval, vtfunc_t cb, void* par) |
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273 | { |
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274 | aosDbgCheck(ptimer != NULL);
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275 | aosDbgCheck(*interval > TIME_IMMEDIATE); |
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276 | aosDbgCheck(cb != NULL);
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277 | |||
278 | ptimer->timer.wkuptime = 0;
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279 | ptimer->interval = *interval; |
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280 | ptimer->callback = cb; |
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281 | ptimer->cbparam = par; |
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282 | _setupPeriodicTimer(ptimer); |
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283 | |||
284 | return;
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285 | } |