amiro-os / core / inc / aos_timer.h @ 4e8e8462
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/*
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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..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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/**
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* @file aos_timer.h
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* @brief Timer macros and structures.
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*
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* @addtogroup aos_timers
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* @{
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*/
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#ifndef AMIROOS_TIMER_H
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#define AMIROOS_TIMER_H
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#include <amiroos.h> |
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/******************************************************************************/
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/* CONSTANTS */
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/******************************************************************************/
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/**
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* @brief Maximum timer interval that can be set in system ticks.
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*/
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#define AOS_TIMER_MAX_INTERVAL_ST TIME_MAX_INTERVAL
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/**
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* @brief Maximum timer interval that can be set in seconds.
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*/
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#define AOS_TIMER_MAX_INTERVAL_S (chTimeI2S(AOS_TIMER_MAX_INTERVAL_ST) - 1) |
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/**
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* @brief Maximum timer interval that can be set in milliseconds.
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*/
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#define AOS_TIMER_MAX_INTERVAL_MS (chTimeI2MS(AOS_TIMER_MAX_INTERVAL_ST) - 1) |
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/**
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* @brief Maximum timer interval that can be set in microseconds.
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*/
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#define AOS_TIMER_MAX_INTERVAL_US (chTimeI2US(AOS_TIMER_MAX_INTERVAL_ST) - 1) |
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/******************************************************************************/
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/* SETTINGS */
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/******************************************************************************/
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/******************************************************************************/
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/* CHECKS */
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/******************************************************************************/
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/******************************************************************************/
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/* DATA STRUCTURES AND TYPES */
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/******************************************************************************/
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/**
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* @brief Timer structure.
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*/
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typedef struct aos_timer { |
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/**
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* @brief ChibiOS virtual timer.
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*/
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virtual_timer_t vt; |
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/**
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* @brief Absolute time to trigger.
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*/
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aos_timestamp_t triggertime; |
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/**
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* @brief Relative interval for periodic timers.
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* @note A value of 0 indicates single shot timing.
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*/
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aos_longinterval_t interval; |
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/**
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* @brief Pointer to a callback function.
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*/
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vtfunc_t callback; |
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/**
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* @brief Pointer to a parameter for the callback function.
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*/
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void* cbparam;
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} aos_timer_t; |
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/******************************************************************************/
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/* MACROS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXTERN DECLARATIONS */
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/******************************************************************************/
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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);
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void aosTimerSetAbsoluteI(aos_timer_t* timer, const aos_timestamp_t uptime, vtfunc_t cb, void* par); |
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void aosTimerSetIntervalI(aos_timer_t* timer, const aos_interval_t offset, vtfunc_t cb, void* par); |
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void aosTimerSetLongIntervalI(aos_timer_t* timer, const aos_longinterval_t offset, vtfunc_t cb, void* par); |
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void aosTimerPeriodicIntervalI(aos_timer_t* timer, const aos_interval_t interval, vtfunc_t cb, void* par); |
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void aosTimerPeriodicLongIntervalI(aos_timer_t* timer, const aos_longinterval_t interval, vtfunc_t cb, void* par); |
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#if defined(__cplusplus)
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} |
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#endif /* defined(__cplusplus) */ |
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/******************************************************************************/
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/* INLINE FUNCTIONS */
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/******************************************************************************/
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/**
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* @brief Set timer to trigger at an absolute system time.
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*
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* @param[in] timer Pointer to the timer to set.
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* @param[in] uptime Absolute uptime for the timer to trigger.
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* @param[in] cb Pointer to a callback function to be called.
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* @param[in] par Pointer to a parameter for the callback function (may be NULL).
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*/
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static inline void aosTimerSetAbsolute(aos_timer_t* timer, const aos_timestamp_t uptime, vtfunc_t cb, void* par) |
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{ |
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chSysLock(); |
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aosTimerSetAbsoluteI(timer, uptime, cb, par); |
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chSysUnlock(); |
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return;
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} |
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/**
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* @brief Set timer to trigger after a relative interval.
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*
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* @param[in] timer Pointer to the timer to set.
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* @param[in] offset Relative interval to set for the timer to trigger.
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* @param[in] cb Pointer to a callback function to be called.
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* In contrast to other callback functions, this gets called from an already ISR locked context.
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* Thus it may not contain any chSysLockX() or chSysUnlockX() calls.
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* @param[in] par Pointer to a parameter for the callback function (may be NULL).
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*/
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static inline void aosTimerSetInterval(aos_timer_t* timer, const aos_interval_t offset, vtfunc_t cb, void* par) |
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{ |
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chSysLock(); |
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aosTimerSetIntervalI(timer, offset, cb, par); |
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chSysUnlock(); |
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} |
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/**
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* @brief Set timer to trigger after a long relative interval.
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*
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* @param[in] timer Pointer to the timer to set.
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* @param[in] offset Long interval value to set for the timer to trigger.
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* @param[in] cb Pointer to a callback function to be called.
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* In contrast to other callback functions, this gets called from an already ISR locked context.
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* Thus it may not contain any chSysLockX() or chSysUnlockX() calls.
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* @param[in] par Pointer to a parameter for the callback function (may be NULL).
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*/
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static inline void aosTimerSetLongInterval(aos_timer_t* timer, const aos_longinterval_t offset, vtfunc_t cb, void* par) |
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{ |
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chSysLock(); |
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aosTimerSetLongIntervalI(timer, offset, cb, par); |
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chSysUnlock(); |
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} |
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/**
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* @brief Set timer to trigger periodically in the specified interval.
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*
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* @param[in] timer Pointer to the timer to set.
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* @param[in] interval Interval for the timer to trigger periodically.
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* @param[in] cb Pointer to a callback function to be called.
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* In contrast to other callback functions, this gets called from an already ISR locked context.
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* Thus it may not contain any chSysLockX() or chSysUnlockX() calls.
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* @param[in] par Pointer to a parameter for the callback function (may be NULL).
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*/
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static inline void aosTimerPeriodicInterval(aos_timer_t *timer, const aos_interval_t interval, vtfunc_t cb, void *par) |
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{ |
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chSysLock(); |
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aosTimerPeriodicIntervalI(timer, interval, cb, par); |
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chSysUnlock(); |
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return;
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} |
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/**
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* @brief Set timer to trigger periodically in the specified interval.
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*
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* @param[in] timer Pointer to the timer to set.
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* @param[in] interval Long interval value for the periodic timer to trigger periodically.
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* @param[in] cb Pointer to a callback function to be called.
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* In contrast to other callback functions, this get called from an already ISR locked context.
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* This it may not contain any chSysLockX() or chSysUnlockX() calls.
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* @param[in] par Pointer to a parameter for the callback function (may be NULL).
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*/
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static inline void aosTimerPeriodicLongInterval(aos_timer_t* timer, const aos_longinterval_t interval, vtfunc_t cb, void* par) |
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{ |
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chSysLock(); |
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aosTimerPeriodicLongIntervalI(timer, interval, cb, par); |
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chSysUnlock(); |
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return;
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} |
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/**
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* @brief Determine whether a timer is armed.
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*
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* @param[in] timer Pointer to the timer to check.
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*
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* @return true if the timer is armed, false otherwise.
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*/
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static inline bool aosTimerIsArmedI(aos_timer_t* timer) |
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{ |
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return chVTIsArmedI(&(timer->vt));
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} |
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/**
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* @brief Determine whether a timer is armed.
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*
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* @param[in] timer Pointer to the timer to check.
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*
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* @return true if the timer is armed, false otherwise.
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*/
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static inline bool aosTimerIsArmed(aos_timer_t* timer) |
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{ |
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bool b;
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chSysLock(); |
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b = aosTimerIsArmedI(timer); |
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chSysUnlock(); |
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return b;
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} |
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/**
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* @brief Reset a timer.
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*
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* @param[in] timer Pointer to the timer to reset.
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*/
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static inline void aosTimerResetI(aos_timer_t* timer) |
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{ |
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chVTResetI(&(timer->vt)); |
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timer->interval = 0;
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return;
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} |
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/**
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* @brief Reset a timer.
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*
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* @param[in] timer Pointer to the timer to reset.
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*/
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static inline void aosTimerReset(aos_timer_t* timer) |
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{ |
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chSysLock(); |
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aosTimerResetI(timer); |
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chSysUnlock(); |
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return;
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} |
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#endif /* AMIROOS_TIMER_H */ |
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/** @} */
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