amiro-os / core / src / aos_timer.c @ 1d3e002f
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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 | 53710ca3 | Marc Rothmann | /**
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20 | * @file aos_timer.c
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21 | * @brief Timer code.
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22 | * @details Implementation of aos_timer_t and aos_periodictimer_t functions.
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23 | *
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24 | * @addtogroup aos_timers
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25 | * @{
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26 | */
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27 | |||
28 | e545e620 | Thomas Schöpping | #include <aos_timer.h> |
29 | |||
30 | #include <aos_system.h> |
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31 | |||
32 | /*
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33 | * Forward declarations.
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34 | */
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35 | static inline void _setupTimer(aos_timer_t* timer); |
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36 | static inline void _setupPeriodicTimer(aos_periodictimer_t* ptimer); |
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37 | static void _intermediateCb(void* timer); |
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38 | static void _fireCb(void* timer); |
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39 | static void _periodicCb(void* ptimer); |
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40 | |||
41 | /**
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42 | * @brief Setup a timer according to its configuration.
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43 | *
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44 | * @param[in] timer Pointer to the timer to setup.
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45 | */
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46 | static inline void _setupTimer(aos_timer_t* timer) |
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47 | { |
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48 | aos_timestamp_t uptime; |
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49 | |||
50 | // get current system uptime
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51 | aosSysGetUptimeX(&uptime); |
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52 | |||
53 | // if the wakeup time is more than TIME_IMMEDIATE in the future
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54 | if ( (timer->wkuptime > uptime) && ((timer->wkuptime - uptime) > TIME_IMMEDIATE) ) {
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55 | // split the time delta if necessary
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56 | 512abac1 | Thomas Schöpping | if ((timer->wkuptime - uptime) > AOS_TIMER_MAX_INTERVAL_US) {
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57 | 1e5f7648 | Thomas Schöpping | chVTSetI(&(timer->vt), chTimeUS2I(AOS_TIMER_MAX_INTERVAL_US), _intermediateCb, timer); |
58 | e545e620 | Thomas Schöpping | } else {
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59 | 1e5f7648 | Thomas Schöpping | chVTSetI(&(timer->vt), chTimeUS2I(timer->wkuptime - uptime), _fireCb, timer); |
60 | e545e620 | Thomas Schöpping | } |
61 | } else {
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62 | vtfunc_t fn = timer->callback; |
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63 | timer->callback = NULL;
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64 | fn(timer->cbparam); |
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65 | } |
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66 | |||
67 | return;
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68 | } |
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69 | |||
70 | /**
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71 | * @brief Setup a periodic timer according to its configuration.
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72 | *
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73 | * @param[in] ptimer Pointer to the periodic timer to setup.
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74 | */
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75 | static inline void _setupPeriodicTimer(aos_periodictimer_t *ptimer) |
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76 | { |
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77 | // if the periodic timer is being initialized
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78 | if (ptimer->timer.wkuptime == 0) { |
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79 | aos_timestamp_t uptime; |
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80 | |||
81 | // get current system uptime
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82 | aosSysGetUptimeX(&uptime); |
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83 | ptimer->timer.wkuptime = uptime + ptimer->interval; |
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84 | } |
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85 | // if the peridic timer is reactivated after it has fired
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86 | else {
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87 | ptimer->timer.wkuptime += ptimer->interval; |
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88 | } |
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89 | |||
90 | // set the callback and parameters
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91 | ptimer->timer.callback = _periodicCb; |
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92 | ptimer->timer.cbparam = ptimer; |
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93 | |||
94 | // setup the timer
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95 | _setupTimer(&(ptimer->timer)); |
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96 | |||
97 | return;
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98 | } |
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99 | |||
100 | /**
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101 | * @brief Callback function for intermediate interrupts.
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102 | * @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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103 | *
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104 | * @param[in] timer Pointer to a aos_timer_t to reactivate.
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105 | */
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106 | static void _intermediateCb(void* timer) |
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107 | { |
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108 | chSysLockFromISR(); |
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109 | _setupTimer((aos_timer_t*)timer); |
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110 | chSysUnlockFromISR(); |
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111 | } |
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112 | |||
113 | /**
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114 | * @brief Callback function for the final fire event of the timer.
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115 | *
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116 | * @param[in] timer Pointer to a aos_timer_t to call its callback.
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117 | */
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118 | static void _fireCb(void *timer) |
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119 | { |
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120 | chSysLockFromISR(); |
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121 | ((aos_timer_t*)timer)->callback(((aos_timer_t*)timer)->cbparam); |
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122 | chSysUnlockFromISR(); |
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123 | } |
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124 | |||
125 | /**
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126 | * @brief Callback function for periodic timer interrupts.
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127 | * @details This function calls the original callback and reenables the timer afterwards.
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128 | *
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129 | * @param[in] ptimer Pointer to a aos_periodictimer_t to reactivate.
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130 | */
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131 | static void _periodicCb(void* ptimer) |
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132 | { |
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133 | ((aos_periodictimer_t*)ptimer)->callback(((aos_periodictimer_t*)ptimer)->cbparam); |
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134 | _setupPeriodicTimer((aos_periodictimer_t*)ptimer); |
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135 | } |
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136 | |||
137 | /**
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138 | * @brief Initialize a aos_timer_t object.
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139 | *
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140 | * @param[in] timer The timer to initialize.
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141 | */
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142 | void aosTimerInit(aos_timer_t* timer)
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143 | { |
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144 | aosDbgAssert(timer != NULL);
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145 | |||
146 | chVTObjectInit(&(timer->vt)); |
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147 | timer->wkuptime = 0;
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148 | timer->callback = NULL;
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149 | timer->cbparam = NULL;
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150 | |||
151 | return;
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152 | } |
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153 | |||
154 | /**
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155 | * @brief Set timer to fire at an absolute system time.
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156 | *
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157 | * @param[in] timer Pointer to the timer to set.
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158 | * @param[in] uptime Pointer to the absolute system time for the timer to fire.
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159 | * @param[in] cb Pointer to a callback function to be called.
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160 | * In contrast to ChibiOS callback functions, this gets called from an already ISR locked context.
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161 | * Thus it may not contain any chSysLockX() or chSysUnlockX() calls and so forth.
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162 | * @param[in] par Pointer to a parameter fpr the callback function (may be NULL).
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163 | */
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164 | void aosTimerSetAbsoluteI(aos_timer_t *timer, aos_timestamp_t *uptime, vtfunc_t cb, void *par) |
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165 | { |
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166 | aosDbgCheck(timer != NULL);
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167 | aosDbgCheck(uptime != NULL);
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168 | aosDbgCheck(cb != NULL);
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169 | |||
170 | timer->wkuptime = *uptime; |
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171 | timer->callback = cb; |
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172 | timer->cbparam = par; |
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173 | _setupTimer(timer); |
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174 | |||
175 | return;
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176 | } |
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177 | |||
178 | /**
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179 | * @brief Set timer to fire after a relative interval.
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180 | *
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181 | * @param[in] timer Pointer to the timer to set.
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182 | * @param[in] offset Relative interval to set for the timer to fire.
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183 | * @param[in] cb Pointer to a callback function to be called.
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184 | * In contrast to ChibiOS callback functions, this gets called from an already ISR locked context.
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185 | * Thus it may not contain any chSysLockX() or chSysUnlockX() calls and so forth.
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186 | * @param[in] par Pointer to a parameter for the callback function (may be NULL).
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187 | */
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188 | void aosTimerSetIntervalI(aos_timer_t *timer, aos_interval_t offset, vtfunc_t cb, void *par) |
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189 | { |
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190 | aosDbgCheck(timer != NULL);
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191 | aosDbgCheck(cb != NULL);
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192 | |||
193 | aos_timestamp_t uptime; |
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194 | |||
195 | aosSysGetUptimeX(&uptime); |
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196 | timer->wkuptime = uptime + offset; |
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197 | timer->callback = cb; |
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198 | timer->cbparam = par; |
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199 | _setupTimer(timer); |
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200 | |||
201 | return;
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202 | } |
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203 | |||
204 | /**
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205 | * @brief Set timer to fire after a long relative interval.
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206 | *
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207 | * @param[in] timer Pointer to the timer to set.
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208 | * @param[in] offset Pointer to a long interval value to set for the timer to fire.
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209 | * @param[in] cb Pointer to a callback function to be called.
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210 | * In contrast to ChibiOS callback functions, this gets called from an already ISR locked context.
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211 | * Thus it may not contain any chSysLockX() or chSysUnlockX() calls and so forth.
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212 | * @param[in] par Pointer to a parameter for the callback function (may be NULL).
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213 | */
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214 | void aosTimerSetLongIntervalI(aos_timer_t *timer, aos_longinterval_t *offset, vtfunc_t cb, void *par) |
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215 | { |
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216 | aosDbgCheck(timer != NULL);
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217 | aosDbgCheck(offset != NULL);
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218 | aosDbgCheck(cb != NULL);
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219 | |||
220 | aos_timestamp_t uptime; |
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221 | |||
222 | aosSysGetUptimeX(&uptime); |
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223 | timer->wkuptime = uptime + *offset; |
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224 | timer->callback = cb; |
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225 | timer->cbparam = par; |
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226 | _setupTimer(timer); |
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227 | |||
228 | return;
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229 | } |
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230 | |||
231 | /**
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232 | * @brief Initialize a aos_periodictimer_t object.
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233 | *
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234 | * @param[in] timer The periodic timer to initialize.
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235 | */
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236 | void aosPeriodicTimerInit(aos_periodictimer_t *ptimer)
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237 | { |
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238 | aosDbgAssert(ptimer != NULL);
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239 | |||
240 | aosTimerInit(&(ptimer->timer)); |
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241 | ptimer->interval = 0;
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242 | |||
243 | return;
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244 | } |
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245 | |||
246 | /**
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247 | * @brief Set a periodic timer to fire in the specified interval.
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248 | *
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249 | * @param[in] ptimer Pointer to the periodic timer to set.
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250 | * @param[in] interval Interval for the periodic timer to fire,
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251 | * @param[in] cb Pointer to a callback function to be called.
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252 | * In contrast to ChibiOS callback functions, this gets called from an already ISR locked context.
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253 | * Thus it may not contain any chSysLockX() or chSysUnlockX() calls and so forth.
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254 | * @param[in] par Pointer to a parameter for the callback function (may be NULL).
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255 | */
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256 | void aosPeriodicTimerSetI(aos_periodictimer_t* ptimer, aos_interval_t interval, vtfunc_t cb, void* par) |
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257 | { |
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258 | aosDbgCheck(ptimer != NULL);
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259 | aosDbgCheck(interval > TIME_IMMEDIATE); |
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260 | aosDbgCheck(cb != NULL);
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261 | |||
262 | ptimer->timer.wkuptime = 0;
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263 | ptimer->interval = interval; |
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264 | ptimer->callback = cb; |
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265 | ptimer->cbparam = par; |
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266 | _setupPeriodicTimer(ptimer); |
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267 | |||
268 | return;
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269 | } |
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270 | |||
271 | /**
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272 | * @brief Set a periodic timer to fire in the specified interval.
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273 | *
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274 | * @param[in] ptimer Pointer to the periodic timer to set.
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275 | * @param[in] interval Pointer to a long interval value for the periodic timer to fire,
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276 | * @param[in] cb Pointer to a callback function to be called.
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277 | * In contrast to other callback functions, this get called from an already ISR locked context.
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278 | * This it may not contain any chSysLockX() or chSysUnlockX() calls.
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279 | * @param[in] par Pointer to a parameter for the callback function (may be NULL).
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280 | */
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281 | void aosPeriodicTimerSetLongI(aos_periodictimer_t* ptimer, aos_longinterval_t* interval, vtfunc_t cb, void* par) |
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282 | { |
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283 | aosDbgCheck(ptimer != NULL);
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284 | aosDbgCheck(*interval > TIME_IMMEDIATE); |
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285 | aosDbgCheck(cb != NULL);
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286 | |||
287 | ptimer->timer.wkuptime = 0;
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288 | ptimer->interval = *interval; |
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289 | ptimer->callback = cb; |
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290 | ptimer->cbparam = par; |
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291 | _setupPeriodicTimer(ptimer); |
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292 | |||
293 | return;
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294 | } |
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295 | 53710ca3 | Marc Rothmann | |
296 | /** @} */ |