amiro-os / os / core / inc / aos_timer.h @ 512abac1
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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 | #ifndef _AMIROOS_TIMER_H_
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20 | #define _AMIROOS_TIMER_H_
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21 | |||
22 | #include <ch.h> |
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23 | #include <aos_time.h> |
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24 | |||
25 | /**
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26 | * @brief Maximum timer interval that can be set in system ticks.
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27 | */
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28 | 512abac1 | Thomas Schöpping | #define AOS_TIMER_MAX_INTERVAL_ST TIME_MAXIMUM
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29 | e545e620 | Thomas Schöpping | |
30 | /**
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31 | * @brief Maximum timer interval that can be set in seconds.
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32 | */
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33 | 512abac1 | Thomas Schöpping | #define AOS_TIMER_MAX_INTERVAL_S (ST2S(AOS_TIMER_MAX_INTERVAL_ST) - 1) |
34 | e545e620 | Thomas Schöpping | |
35 | /**
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36 | * @brief Maximum timer interval that can be set in milliseconds.
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37 | */
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38 | 512abac1 | Thomas Schöpping | #define AOS_TIMER_MAX_INTERVAL_MS (ST2MS(AOS_TIMER_MAX_INTERVAL_ST) - 1) |
39 | e545e620 | Thomas Schöpping | |
40 | /**
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41 | * @brief Maximum timer interval that can be set in microseconds.
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42 | */
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43 | 512abac1 | Thomas Schöpping | #define AOS_TIMER_MAX_INTERVAL_US (ST2US(AOS_TIMER_MAX_INTERVAL_ST) - 1) |
44 | e545e620 | Thomas Schöpping | |
45 | /**
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46 | * @brief Timer stucture.
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47 | */
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48 | typedef struct aos_timer { |
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49 | /**
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50 | * @brief ChibiOS virtual timer.
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51 | */
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52 | virtual_timer_t vt; |
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53 | |||
54 | /**
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55 | * @brief Time to wake up.
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56 | */
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57 | aos_timestamp_t wkuptime; |
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58 | |||
59 | /**
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60 | * @brief Pointer to a callback function.
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61 | */
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62 | vtfunc_t callback; |
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63 | |||
64 | /**
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65 | * @brief Pointer to a parameter for the callback function.
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66 | */
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67 | void* cbparam;
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68 | } aos_timer_t; |
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69 | |||
70 | /**
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71 | * @brief Periodic timer structure.
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72 | */
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73 | typedef struct aos_periodictimer { |
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74 | /**
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75 | * @brief AMiRo-OS timer.
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76 | */
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77 | aos_timer_t timer; |
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78 | |||
79 | /**
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80 | * @brief Period interval.
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81 | */
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82 | aos_longinterval_t interval; |
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83 | |||
84 | /**
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85 | * @brief Pointer to a callback function.
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86 | */
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87 | vtfunc_t callback; |
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88 | |||
89 | /**
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90 | * @brief Pointer to a parameter for the callback function.
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91 | */
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92 | void* cbparam;
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93 | } aos_periodictimer_t; |
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94 | |||
95 | #ifdef __cplusplus
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96 | extern "C" { |
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97 | #endif
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98 | void aosTimerInit(aos_timer_t* timer);
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99 | void aosTimerSetAbsoluteI(aos_timer_t* timer, aos_timestamp_t* uptime, vtfunc_t cb, void* par); |
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100 | void aosTimerSetIntervalI(aos_timer_t* timer, aos_interval_t offset, vtfunc_t cb, void* par); |
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101 | void aosTimerSetLongIntervalI(aos_timer_t* timer, aos_longinterval_t* offset, vtfunc_t cb, void* par); |
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102 | void aosPeriodicTimerInit(aos_periodictimer_t* ptimer);
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103 | void aosPeriodicTimerSetI(aos_periodictimer_t* ptimer, aos_interval_t interval, vtfunc_t cb, void* par); |
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104 | void aosPeriodicTimerSetLongI(aos_periodictimer_t* ptimer, aos_longinterval_t* interval, vtfunc_t cb, void* par); |
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105 | #ifdef __cplusplus
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106 | } |
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107 | #endif
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108 | |||
109 | /**
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110 | * @brief Set timer to fire at an absolute system time.
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111 | *
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112 | * @param[in] timer Pointer to the timer to set.
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113 | * @param[in] uptime Pointer to the absolute uptime for the timer to fire.
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114 | * @param[in] cb Pointer to a callback function to be called.
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115 | * @param[in] par Pointer to a parameter fpr the callback function (may be NULL).
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116 | */
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117 | static inline void aosTimerSetAbsolute(aos_timer_t* timer, aos_timestamp_t* uptime, vtfunc_t cb, void* par) |
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118 | { |
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119 | chSysLock(); |
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120 | aosTimerSetAbsoluteI(timer, uptime, cb, par); |
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121 | chSysUnlock(); |
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122 | |||
123 | return;
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124 | } |
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125 | |||
126 | /**
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127 | * @brief Set timer to fire after a relative interval.
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128 | *
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129 | * @param[in] timer Pointer to the timer to set.
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130 | * @param[in] offset Relative interval to set for the timer to fire.
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131 | * @param[in] cb Pointer to a callback function to be called.
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132 | * @param[in] par Pointer to a parameter fpr the callback function (may be NULL).
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133 | */
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134 | static inline void aosTimerSetInterval(aos_timer_t* timer, aos_interval_t offset, vtfunc_t cb, void* par) |
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135 | { |
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136 | chSysLock(); |
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137 | aosTimerSetIntervalI(timer, offset, cb, par); |
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138 | chSysUnlock(); |
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139 | } |
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140 | |||
141 | /**
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142 | * @brief Set timer to fire after a long relative interval.
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143 | *
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144 | * @param[in] timer Pointer to the timer to set.
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145 | * @param[in] offset Pointer to a long interval value to set for the timer to fire.
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146 | * @param[in] cb Pointer to a callback function to be called.
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147 | * @param[in] par Pointer to a parameter fpr the callback function (may be NULL).
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148 | */
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149 | static inline void aosTimerSetLongInterval(aos_timer_t* timer, aos_longinterval_t* offset, vtfunc_t cb, void* par) |
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150 | { |
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151 | chSysLock(); |
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152 | aosTimerSetLongIntervalI(timer, offset, cb, par); |
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153 | chSysUnlock(); |
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154 | } |
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155 | |||
156 | /**
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157 | * @brief Reset a timer.
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158 | *
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159 | * @param[in] timer Pointer to the timer to reset.
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160 | */
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161 | static inline void aosTimerResetI(aos_timer_t* timer) |
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162 | { |
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163 | chVTResetI(&(timer->vt)); |
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164 | |||
165 | return;
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166 | } |
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167 | |||
168 | /**
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169 | * @brief Reset a timer.
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170 | *
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171 | * @param[in] timer Pointer to the timer to reset.
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172 | */
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173 | static inline void aosTimerReset(aos_timer_t* timer) |
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174 | { |
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175 | chSysLock(); |
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176 | aosTimerResetI(timer); |
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177 | chSysUnlock(); |
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178 | |||
179 | return;
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180 | } |
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181 | |||
182 | /**
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183 | * @brief Determine whether a timer is armed.
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184 | *
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185 | * @param[in] timer Pointer to the timer to check.
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186 | *
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187 | * @return true if the timer is armed, false otherwise.
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188 | */
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189 | static inline bool aosTimerIsArmedI(aos_timer_t* timer) |
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190 | { |
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191 | return chVTIsArmedI(&(timer->vt));
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192 | } |
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193 | |||
194 | /**
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195 | * @brief Determine whether a timer is armed.
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196 | *
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197 | * @param[in] timer Pointer to the timer to check.
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198 | *
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199 | * @return true if the timer is armed, false otherwise.
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200 | */
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201 | static inline bool aosTimerIsArmed(aos_timer_t* timer) |
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202 | { |
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203 | bool b;
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204 | |||
205 | chSysLock(); |
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206 | b = aosTimerIsArmedI(timer); |
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207 | chSysUnlock(); |
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208 | |||
209 | return b;
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210 | } |
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211 | |||
212 | /**
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213 | * @brief Set a periodic timer to fire in the specified interval.
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214 | *
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215 | * @param[in] ptimer Pointer to the periodic timer to set.
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216 | * @param[in] interval Interval for the periodic timer to fire,
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217 | * @param[in] cb Pointer to a callback function to be called.
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218 | * In contrast to other callback functions, this get called from an already ISR locked context.
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219 | * This it may not contain any chSysLockX() or chSysUnlockX() calls.
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220 | * @param[in] par Pointer to a parameter for the callback function (may be NULL).
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221 | */
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222 | static inline void aosPeriodicTimerSet(aos_periodictimer_t *ptimer, aos_interval_t interval, vtfunc_t cb, void *par) |
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223 | { |
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224 | chSysLock(); |
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225 | aosPeriodicTimerSetI(ptimer, interval, cb, par); |
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226 | chSysUnlock(); |
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227 | |||
228 | return;
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229 | } |
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230 | |||
231 | /**
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232 | * @brief Set a periodic timer to fire in the specified interval.
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233 | *
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234 | * @param[in] ptimer Pointer to the periodic timer to set.
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235 | * @param[in] interval Pointer to a long interval value for the periodic timer to fire,
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236 | * @param[in] cb Pointer to a callback function to be called.
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237 | * In contrast to other callback functions, this get called from an already ISR locked context.
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238 | * This it may not contain any chSysLockX() or chSysUnlockX() calls.
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239 | * @param[in] par Pointer to a parameter for the callback function (may be NULL).
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240 | */
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241 | static inline void aosPeriodicTimerSetLong(aos_periodictimer_t* ptimer, aos_longinterval_t* interval, vtfunc_t cb, void* par) |
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242 | { |
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243 | chSysLock(); |
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244 | aosPeriodicTimerSetLongI(ptimer, interval, cb, par); |
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245 | chSysUnlock(); |
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246 | |||
247 | return;
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248 | } |
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249 | |||
250 | #endif /* _AMIROOS_TIMER_H_ */ |