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amiro-os / core / src / aos_timer.c @ 340f2bdf

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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/>.
 */
-ca3
+/**
  * @file    aos_timer.c
  * @brief   Timer code.
  * @details Implementation of aos_timer_t and aos_periodictimer_t functions.
+ *
  * @addtogroup aos_timers
  * @{
  */
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+#include <amiroos.h>
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+            Thomas Schöpping
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+/******************************************************************************/
 /* LOCAL DEFINITIONS                                                          */
 /******************************************************************************/
 /******************************************************************************/
 /* EXPORTED VARIABLES                                                         */
 /******************************************************************************/
 /******************************************************************************/
 /* LOCAL TYPES                                                                */
 /******************************************************************************/
 /******************************************************************************/
 /* LOCAL VARIABLES                                                            */
 /******************************************************************************/
 /******************************************************************************/
 /* LOCAL FUNCTIONS                                                            */
 /******************************************************************************/
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+            Thomas Schöpping
 /*
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+ * forward declarations
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+ */
 static void _intermediateCb(void* timer);
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+static void _fireCb(void *timer);
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+static void _periodicCb(void* ptimer);
 /**
  * @brief   Setup a timer according to its configuration.
+ *
  * @param[in] timer   Pointer to the timer to setup.
  */
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+static void _setupTimer(aos_timer_t* timer)
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+            Thomas Schöpping
   aos_timestamp_t uptime;
   // get current system uptime
   aosSysGetUptimeX(&uptime);
   // if the wakeup time is more than TIME_IMMEDIATE in the future
   if ( (timer->wkuptime > uptime) && ((timer->wkuptime - uptime) > TIME_IMMEDIATE) ) {
     // split the time delta if necessary
-abac1
+    if ((timer->wkuptime - uptime) > AOS_TIMER_MAX_INTERVAL_US) {
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+      chVTSetI(&(timer->vt), chTimeUS2I(AOS_TIMER_MAX_INTERVAL_US), _intermediateCb, timer);
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+    } else {
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+      chVTSetI(&(timer->vt), chTimeUS2I(timer->wkuptime - uptime), _fireCb, timer);
-            e545e620
+            Thomas Schöpping
   } else {
     vtfunc_t fn = timer->callback;
     timer->callback = NULL;
     fn(timer->cbparam);
+  }
   return;
+}
 /**
  * @brief   Setup a periodic timer according to its configuration.
+ *
  * @param[in] ptimer  Pointer to the periodic timer to setup.
  */
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+static void _setupPeriodicTimer(aos_periodictimer_t *ptimer)
-            e545e620
+            Thomas Schöpping
   // if the periodic timer is being initialized
   if (ptimer->timer.wkuptime == 0) {
     aos_timestamp_t uptime;
     // get current system uptime
     aosSysGetUptimeX(&uptime);
     ptimer->timer.wkuptime = uptime + ptimer->interval;
+  }
   // if the peridic timer is reactivated after it has fired
   else {
     ptimer->timer.wkuptime += ptimer->interval;
+  }
   // set the callback and parameters
   ptimer->timer.callback = _periodicCb;
   ptimer->timer.cbparam = ptimer;
   // setup the timer
   _setupTimer(&(ptimer->timer));
   return;
+}
 /**
  * @brief   Callback function for intermediate interrupts.
  * @details This is required if the desired time to fire is too far in the future so that the interval must be split.
+ *
  * @param[in] timer   Pointer to a aos_timer_t to reactivate.
  */
 static void _intermediateCb(void* timer)
+{
   chSysLockFromISR();
   _setupTimer((aos_timer_t*)timer);
   chSysUnlockFromISR();
+}
 /**
  * @brief   Callback function for the final fire event of the timer.
+ *
  * @param[in] timer   Pointer to a aos_timer_t to call its callback.
  */
 static void _fireCb(void *timer)
+{
   chSysLockFromISR();
   ((aos_timer_t*)timer)->callback(((aos_timer_t*)timer)->cbparam);
   chSysUnlockFromISR();
+}
 /**
  * @brief   Callback function for periodic timer interrupts.
  * @details This function calls the original callback and reenables the timer afterwards.
+ *
  * @param[in] ptimer  Pointer to a aos_periodictimer_t to reactivate.
  */
 static void _periodicCb(void* ptimer)
+{
   ((aos_periodictimer_t*)ptimer)->callback(((aos_periodictimer_t*)ptimer)->cbparam);
   _setupPeriodicTimer((aos_periodictimer_t*)ptimer);
+}
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+/******************************************************************************/
 /* EXPORTED FUNCTIONS                                                         */
 /******************************************************************************/
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+/**
  * @brief   Initialize a aos_timer_t object.
+ *
  * @param[in] timer   The timer to initialize.
  */
 void aosTimerInit(aos_timer_t* timer)
+{
   aosDbgAssert(timer != NULL);
   chVTObjectInit(&(timer->vt));
   timer->wkuptime = 0;
   timer->callback = NULL;
   timer->cbparam = NULL;
   return;
+}
 /**
  * @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 system time for the timer to fire.
  * @param[in] cb      Pointer to a callback function to be called.
  *                    In contrast to ChibiOS callback functions, this gets called from an already ISR locked context.
  *                    Thus it may not contain any chSysLockX() or chSysUnlockX() calls and so forth.
  * @param[in] par     Pointer to a parameter fpr the callback function (may be NULL).
  */
 void aosTimerSetAbsoluteI(aos_timer_t *timer, aos_timestamp_t *uptime, vtfunc_t cb, void *par)
+{
   aosDbgCheck(timer != NULL);
   aosDbgCheck(uptime != NULL);
   aosDbgCheck(cb != NULL);
   timer->wkuptime = *uptime;
   timer->callback = cb;
   timer->cbparam = par;
   _setupTimer(timer);
   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.
  *                    In contrast to ChibiOS callback functions, this gets called from an already ISR locked context.
  *                    Thus it may not contain any chSysLockX() or chSysUnlockX() calls and so forth.
  * @param[in] par     Pointer to a parameter for the callback function (may be NULL).
  */
 void aosTimerSetIntervalI(aos_timer_t *timer, aos_interval_t offset, vtfunc_t cb, void *par)
+{
   aosDbgCheck(timer != NULL);
   aosDbgCheck(cb != NULL);
   aos_timestamp_t uptime;
   aosSysGetUptimeX(&uptime);
   timer->wkuptime = uptime + offset;
   timer->callback = cb;
   timer->cbparam = par;
   _setupTimer(timer);
   return;
+}
 /**
  * @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.
  *                    In contrast to ChibiOS callback functions, this gets called from an already ISR locked context.
  *                    Thus it may not contain any chSysLockX() or chSysUnlockX() calls and so forth.
  * @param[in] par     Pointer to a parameter for the callback function (may be NULL).
  */
 void aosTimerSetLongIntervalI(aos_timer_t *timer, aos_longinterval_t *offset, vtfunc_t cb, void *par)
+{
   aosDbgCheck(timer != NULL);
   aosDbgCheck(offset != NULL);
   aosDbgCheck(cb != NULL);
   aos_timestamp_t uptime;
   aosSysGetUptimeX(&uptime);
   timer->wkuptime = uptime + *offset;
   timer->callback = cb;
   timer->cbparam = par;
   _setupTimer(timer);
   return;
+}
 /**
  * @brief   Initialize a aos_periodictimer_t object.
+ *
  * @param[in] timer   The periodic timer to initialize.
  */
 void aosPeriodicTimerInit(aos_periodictimer_t *ptimer)
+{
   aosDbgAssert(ptimer != NULL);
   aosTimerInit(&(ptimer->timer));
   ptimer->interval = 0;
   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  Interval for the periodic timer to fire,
  * @param[in] cb        Pointer to a callback function to be called.
  *                      In contrast to ChibiOS callback functions, this gets called from an already ISR locked context.
  *                      Thus it may not contain any chSysLockX() or chSysUnlockX() calls and so forth.
  * @param[in] par       Pointer to a parameter for the callback function (may be NULL).
  */
 void aosPeriodicTimerSetI(aos_periodictimer_t* ptimer, aos_interval_t interval, vtfunc_t cb, void* par)
+{
   aosDbgCheck(ptimer != NULL);
   aosDbgCheck(interval > TIME_IMMEDIATE);
   aosDbgCheck(cb != NULL);
   ptimer->timer.wkuptime = 0;
   ptimer->interval = interval;
   ptimer->callback = cb;
   ptimer->cbparam = par;
   _setupPeriodicTimer(ptimer);
   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).
  */
 void aosPeriodicTimerSetLongI(aos_periodictimer_t* ptimer, aos_longinterval_t* interval, vtfunc_t cb, void* par)
+{
   aosDbgCheck(ptimer != NULL);
   aosDbgCheck(*interval > TIME_IMMEDIATE);
   aosDbgCheck(cb != NULL);
   ptimer->timer.wkuptime = 0;
   ptimer->interval = *interval;
   ptimer->callback = cb;
   ptimer->cbparam = par;
   _setupPeriodicTimer(ptimer);
   return;
+}
-ca3
+            Marc Rothmann
 /** @} */