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+/*
 AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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+Copyright (C) 2016..2019  Thomas Schöpping et al.
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+            Thomas Schöpping
 This program 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.
 This program 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/>.
 */
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+/**
  * @file    aos_timer.h
  * @brief   Timer macros and structures.
+ *
  * @addtogroup aos_timers
  * @{
  */
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+#ifndef AMIROOS_TIMER_H
 #define AMIROOS_TIMER_H
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+            Thomas Schöpping
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+#include <amiroos.h>
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+/******************************************************************************/
 /* CONSTANTS                                                                  */
 /******************************************************************************/
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+            Thomas Schöpping
 /**
  * @brief   Maximum timer interval that can be set in system ticks.
  */
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+#define AOS_TIMER_MAX_INTERVAL_ST     TIME_MAX_INTERVAL
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+            Thomas Schöpping
 /**
  * @brief   Maximum timer interval that can be set in seconds.
  */
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+#define AOS_TIMER_MAX_INTERVAL_S      (chTimeI2S(AOS_TIMER_MAX_INTERVAL_ST) - 1)
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+            Thomas Schöpping
 /**
  * @brief   Maximum timer interval that can be set in milliseconds.
  */
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+#define AOS_TIMER_MAX_INTERVAL_MS     (chTimeI2MS(AOS_TIMER_MAX_INTERVAL_ST) - 1)
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+            Thomas Schöpping
 /**
  * @brief   Maximum timer interval that can be set in microseconds.
  */
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+#define AOS_TIMER_MAX_INTERVAL_US     (chTimeI2US(AOS_TIMER_MAX_INTERVAL_ST) - 1)
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+            Thomas Schöpping
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+/******************************************************************************/
 /* SETTINGS                                                                   */
 /******************************************************************************/
 /******************************************************************************/
 /* CHECKS                                                                     */
 /******************************************************************************/
 /******************************************************************************/
 /* DATA STRUCTURES AND TYPES                                                  */
 /******************************************************************************/
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+/**
  * @brief   Timer stucture.
  */
 typedef struct aos_timer {
   /**
    * @brief   ChibiOS virtual timer.
    */
   virtual_timer_t vt;
   /**
    * @brief   Time to wake up.
    */
   aos_timestamp_t wkuptime;
   /**
    * @brief   Pointer to a callback function.
    */
   vtfunc_t callback;
   /**
    * @brief   Pointer to a parameter for the callback function.
    */
   void* cbparam;
 } aos_timer_t;
 /**
  * @brief   Periodic timer structure.
  */
 typedef struct aos_periodictimer {
   /**
    * @brief   AMiRo-OS timer.
    */
   aos_timer_t timer;
   /**
    * @brief   Period interval.
    */
   aos_longinterval_t interval;
   /**
    * @brief   Pointer to a callback function.
    */
   vtfunc_t callback;
   /**
    * @brief   Pointer to a parameter for the callback function.
    */
   void* cbparam;
 } aos_periodictimer_t;
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+/******************************************************************************/
 /* MACROS                                                                     */
 /******************************************************************************/
 /******************************************************************************/
 /* EXTERN DECLARATIONS                                                        */
 /******************************************************************************/
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+#if defined(__cplusplus)
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+extern "C" {
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+#endif /* defined(__cplusplus) */
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+  void aosTimerInit(aos_timer_t* timer);
   void aosTimerSetAbsoluteI(aos_timer_t* timer, aos_timestamp_t* uptime, vtfunc_t cb, void* par);
   void aosTimerSetIntervalI(aos_timer_t* timer, aos_interval_t offset, vtfunc_t cb, void* par);
   void aosTimerSetLongIntervalI(aos_timer_t* timer, aos_longinterval_t* offset, vtfunc_t cb, void* par);
   void aosPeriodicTimerInit(aos_periodictimer_t* ptimer);
   void aosPeriodicTimerSetI(aos_periodictimer_t* ptimer, aos_interval_t interval, vtfunc_t cb, void* par);
   void aosPeriodicTimerSetLongI(aos_periodictimer_t* ptimer, aos_longinterval_t* interval, vtfunc_t cb, void* par);
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+#if defined(__cplusplus)
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+            Thomas Schöpping
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+#endif /* defined(__cplusplus) */
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+            Thomas Schöpping
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+/******************************************************************************/
 /* INLINE FUNCTIONS                                                           */
 /******************************************************************************/
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+/**
  * @brief   Set timer to fire at an absolute system time.
+ *
  * @param[in] timer   Pointer to the timer to set.
  * @param[in] uptime  Pointer to the absolute uptime for the timer to fire.
  * @param[in] cb      Pointer to a callback function to be called.
  * @param[in] par     Pointer to a parameter fpr the callback function (may be NULL).
  */
 static inline void aosTimerSetAbsolute(aos_timer_t* timer, aos_timestamp_t* uptime, vtfunc_t cb, void* par)
+{
   chSysLock();
   aosTimerSetAbsoluteI(timer, uptime, cb, par);
   chSysUnlock();
   return;
+}
 /**
  * @brief   Set timer to fire after a relative interval.
+ *
  * @param[in] timer   Pointer to the timer to set.
  * @param[in] offset  Relative interval to set for the timer to fire.
  * @param[in] cb      Pointer to a callback function to be called.
  * @param[in] par     Pointer to a parameter fpr the callback function (may be NULL).
  */
 static inline void aosTimerSetInterval(aos_timer_t* timer, aos_interval_t offset, vtfunc_t cb, void* par)
+{
   chSysLock();
   aosTimerSetIntervalI(timer, offset, cb, par);
   chSysUnlock();
+}
 /**
  * @brief   Set timer to fire after a long relative interval.
+ *
  * @param[in] timer   Pointer to the timer to set.
  * @param[in] offset  Pointer to a long interval value to set for the timer to fire.
  * @param[in] cb      Pointer to a callback function to be called.
  * @param[in] par     Pointer to a parameter fpr the callback function (may be NULL).
  */
 static inline void aosTimerSetLongInterval(aos_timer_t* timer, aos_longinterval_t* offset, vtfunc_t cb, void* par)
+{
   chSysLock();
   aosTimerSetLongIntervalI(timer, offset, cb, par);
   chSysUnlock();
+}
 /**
  * @brief   Reset a timer.
+ *
  * @param[in] timer   Pointer to the timer to reset.
  */
 static inline void aosTimerResetI(aos_timer_t* timer)
+{
   chVTResetI(&(timer->vt));
   return;
+}
 /**
  * @brief   Reset a timer.
+ *
  * @param[in] timer   Pointer to the timer to reset.
  */
 static inline void aosTimerReset(aos_timer_t* timer)
+{
   chSysLock();
   aosTimerResetI(timer);
   chSysUnlock();
   return;
+}
 /**
  * @brief   Determine whether a timer is armed.
+ *
  * @param[in] timer   Pointer to the timer to check.
+ *
  * @return    true if the timer is armed, false otherwise.
  */
 static inline bool aosTimerIsArmedI(aos_timer_t* timer)
+{
   return chVTIsArmedI(&(timer->vt));
+}
 /**
  * @brief   Determine whether a timer is armed.
+ *
  * @param[in] timer   Pointer to the timer to check.
+ *
  * @return    true if the timer is armed, false otherwise.
  */
 static inline bool aosTimerIsArmed(aos_timer_t* timer)
+{
   bool b;
   chSysLock();
   b = aosTimerIsArmedI(timer);
   chSysUnlock();
   return b;
+}
 /**
  * @brief   Set a periodic timer to fire in the specified interval.
+ *
  * @param[in] ptimer    Pointer to the periodic timer to set.
  * @param[in] interval  Interval for the periodic timer to fire,
  * @param[in] cb        Pointer to a callback function to be called.
  *                      In contrast to other callback functions, this get called from an already ISR locked context.
  *                      This it may not contain any chSysLockX() or chSysUnlockX() calls.
  * @param[in] par       Pointer to a parameter for the callback function (may be NULL).
  */
 static inline void aosPeriodicTimerSet(aos_periodictimer_t *ptimer, aos_interval_t interval, vtfunc_t cb, void *par)
+{
   chSysLock();
   aosPeriodicTimerSetI(ptimer, interval, cb, par);
   chSysUnlock();
   return;
+}
 /**
  * @brief   Set a periodic timer to fire in the specified interval.
+ *
  * @param[in] ptimer    Pointer to the periodic timer to set.
  * @param[in] interval  Pointer to a long interval value for the periodic timer to fire,
  * @param[in] cb        Pointer to a callback function to be called.
  *                      In contrast to other callback functions, this get called from an already ISR locked context.
  *                      This it may not contain any chSysLockX() or chSysUnlockX() calls.
  * @param[in] par       Pointer to a parameter for the callback function (may be NULL).
  */
 static inline void aosPeriodicTimerSetLong(aos_periodictimer_t* ptimer, aos_longinterval_t* interval, vtfunc_t cb, void* par)
+{
   chSysLock();
   aosPeriodicTimerSetLongI(ptimer, interval, cb, par);
   chSysUnlock();
   return;
+}
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+#endif /* AMIROOS_TIMER_H */
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+            Marc Rothmann
 /** @} */