amiro-os / os / core / inc / aos_timer.h @ 53710ca3
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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..2018 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 <ch.h> |
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#include <aos_time.h> |
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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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* @brief Timer stucture.
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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 Time to wake up.
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*/
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aos_timestamp_t wkuptime; |
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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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* @brief Periodic timer structure.
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*/
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typedef struct aos_periodictimer { |
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/**
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* @brief AMiRo-OS timer.
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*/
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aos_timer_t timer; |
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/**
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* @brief Period interval.
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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_periodictimer_t; |
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#ifdef __cplusplus
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extern "C" { |
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#endif
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void aosTimerInit(aos_timer_t* timer);
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void aosTimerSetAbsoluteI(aos_timer_t* timer, aos_timestamp_t* uptime, vtfunc_t cb, void* par); |
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void aosTimerSetIntervalI(aos_timer_t* timer, aos_interval_t offset, vtfunc_t cb, void* par); |
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void aosTimerSetLongIntervalI(aos_timer_t* timer, aos_longinterval_t* offset, vtfunc_t cb, void* par); |
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void aosPeriodicTimerInit(aos_periodictimer_t* ptimer);
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void aosPeriodicTimerSetI(aos_periodictimer_t* ptimer, aos_interval_t interval, vtfunc_t cb, void* par); |
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void aosPeriodicTimerSetLongI(aos_periodictimer_t* ptimer, aos_longinterval_t* interval, vtfunc_t cb, void* par); |
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#ifdef __cplusplus
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} |
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#endif
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/**
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* @brief Set timer to fire 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 Pointer to the absolute uptime for the timer to fire.
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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 fpr the callback function (may be NULL).
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*/
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static inline void aosTimerSetAbsolute(aos_timer_t* timer, 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 fire 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 fire.
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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 fpr the callback function (may be NULL).
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*/
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static inline void aosTimerSetInterval(aos_timer_t* timer, 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 fire 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 Pointer to a long interval value to set for the timer to fire.
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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 fpr the callback function (may be NULL).
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*/
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static inline void aosTimerSetLongInterval(aos_timer_t* timer, 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 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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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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/**
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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 Set a periodic timer to fire in the specified interval.
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*
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* @param[in] ptimer Pointer to the periodic timer to set.
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* @param[in] interval Interval for the periodic timer to fire,
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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 aosPeriodicTimerSet(aos_periodictimer_t *ptimer, aos_interval_t interval, vtfunc_t cb, void *par) |
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{ |
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chSysLock(); |
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aosPeriodicTimerSetI(ptimer, 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 a periodic timer to fire in the specified interval.
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*
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* @param[in] ptimer Pointer to the periodic timer to set.
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* @param[in] interval Pointer to a long interval value for the periodic timer to fire,
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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 aosPeriodicTimerSetLong(aos_periodictimer_t* ptimer, aos_longinterval_t* interval, vtfunc_t cb, void* par) |
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{ |
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chSysLock(); |
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aosPeriodicTimerSetLongI(ptimer, interval, cb, par); |
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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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