amiro-os / os / core / src / aos_timer.c @ 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.c
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* @brief Timer code.
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* @details Implementation of aos_timer_t and aos_periodictimer_t functions.
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*
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* @addtogroup aos_timers
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* @{
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*/
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#include <aos_timer.h> |
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#include <aos_system.h> |
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/*
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* Forward declarations.
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*/
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static inline void _setupTimer(aos_timer_t* timer); |
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static inline void _setupPeriodicTimer(aos_periodictimer_t* ptimer); |
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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); |
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/**
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* @brief Setup a timer according to its configuration.
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*
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* @param[in] timer Pointer to the timer to setup.
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*/
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static inline void _setupTimer(aos_timer_t* timer) |
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{ |
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aos_timestamp_t uptime; |
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// get current system uptime
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aosSysGetUptimeX(&uptime); |
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// if the wakeup time is more than TIME_IMMEDIATE in the future
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if ( (timer->wkuptime > uptime) && ((timer->wkuptime - uptime) > TIME_IMMEDIATE) ) {
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// split the time delta if necessary
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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); |
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} |
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} else {
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vtfunc_t fn = timer->callback; |
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timer->callback = NULL;
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fn(timer->cbparam); |
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} |
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return;
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} |
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/**
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* @brief Setup a periodic timer according to its configuration.
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*
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* @param[in] ptimer Pointer to the periodic timer to setup.
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*/
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static inline void _setupPeriodicTimer(aos_periodictimer_t *ptimer) |
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{ |
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// if the periodic timer is being initialized
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if (ptimer->timer.wkuptime == 0) { |
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aos_timestamp_t uptime; |
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// get current system uptime
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aosSysGetUptimeX(&uptime); |
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ptimer->timer.wkuptime = uptime + ptimer->interval; |
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} |
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// if the peridic timer is reactivated after it has fired
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else {
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ptimer->timer.wkuptime += ptimer->interval; |
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} |
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// set the callback and parameters
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ptimer->timer.callback = _periodicCb; |
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ptimer->timer.cbparam = ptimer; |
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// setup the timer
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_setupTimer(&(ptimer->timer)); |
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return;
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} |
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/**
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* @brief Callback function for intermediate interrupts.
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* @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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*
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* @param[in] timer Pointer to a aos_timer_t to reactivate.
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*/
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static void _intermediateCb(void* timer) |
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{ |
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chSysLockFromISR(); |
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_setupTimer((aos_timer_t*)timer); |
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chSysUnlockFromISR(); |
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} |
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/**
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* @brief Callback function for the final fire event of the timer.
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*
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* @param[in] timer Pointer to a aos_timer_t to call its callback.
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*/
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static void _fireCb(void *timer) |
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{ |
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chSysLockFromISR(); |
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((aos_timer_t*)timer)->callback(((aos_timer_t*)timer)->cbparam); |
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chSysUnlockFromISR(); |
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} |
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/**
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* @brief Callback function for periodic timer interrupts.
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* @details This function calls the original callback and reenables the timer afterwards.
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*
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* @param[in] ptimer Pointer to a aos_periodictimer_t to reactivate.
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*/
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static void _periodicCb(void* ptimer) |
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{ |
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((aos_periodictimer_t*)ptimer)->callback(((aos_periodictimer_t*)ptimer)->cbparam); |
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_setupPeriodicTimer((aos_periodictimer_t*)ptimer); |
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} |
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/**
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* @brief Initialize a aos_timer_t object.
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*
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* @param[in] timer The timer to initialize.
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*/
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void aosTimerInit(aos_timer_t* timer)
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{ |
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aosDbgAssert(timer != NULL);
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chVTObjectInit(&(timer->vt)); |
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timer->wkuptime = 0;
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timer->callback = NULL;
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timer->cbparam = NULL;
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return;
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} |
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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 system time for the 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 ChibiOS 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 and so forth.
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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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void aosTimerSetAbsoluteI(aos_timer_t *timer, aos_timestamp_t *uptime, vtfunc_t cb, void *par) |
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{ |
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aosDbgCheck(timer != NULL);
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aosDbgCheck(uptime != NULL);
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aosDbgCheck(cb != NULL);
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timer->wkuptime = *uptime; |
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timer->callback = cb; |
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timer->cbparam = par; |
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_setupTimer(timer); |
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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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* In contrast to ChibiOS 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 and so forth.
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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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void aosTimerSetIntervalI(aos_timer_t *timer, aos_interval_t offset, vtfunc_t cb, void *par) |
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{ |
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aosDbgCheck(timer != NULL);
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aosDbgCheck(cb != NULL);
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aos_timestamp_t uptime; |
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aosSysGetUptimeX(&uptime); |
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timer->wkuptime = uptime + offset; |
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timer->callback = cb; |
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timer->cbparam = par; |
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_setupTimer(timer); |
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return;
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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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* In contrast to ChibiOS 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 and so forth.
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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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void aosTimerSetLongIntervalI(aos_timer_t *timer, aos_longinterval_t *offset, vtfunc_t cb, void *par) |
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{ |
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aosDbgCheck(timer != NULL);
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aosDbgCheck(offset != NULL);
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aosDbgCheck(cb != NULL);
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aos_timestamp_t uptime; |
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aosSysGetUptimeX(&uptime); |
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timer->wkuptime = uptime + *offset; |
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timer->callback = cb; |
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timer->cbparam = par; |
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_setupTimer(timer); |
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return;
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} |
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/**
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* @brief Initialize a aos_periodictimer_t object.
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*
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* @param[in] timer The periodic timer to initialize.
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*/
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void aosPeriodicTimerInit(aos_periodictimer_t *ptimer)
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{ |
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aosDbgAssert(ptimer != NULL);
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aosTimerInit(&(ptimer->timer)); |
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ptimer->interval = 0;
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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 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 ChibiOS 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 and so forth.
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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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void aosPeriodicTimerSetI(aos_periodictimer_t* ptimer, aos_interval_t interval, vtfunc_t cb, void* par) |
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{ |
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aosDbgCheck(ptimer != NULL);
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aosDbgCheck(interval > TIME_IMMEDIATE); |
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aosDbgCheck(cb != NULL);
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ptimer->timer.wkuptime = 0;
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ptimer->interval = interval; |
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ptimer->callback = cb; |
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ptimer->cbparam = par; |
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_setupPeriodicTimer(ptimer); |
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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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void aosPeriodicTimerSetLongI(aos_periodictimer_t* ptimer, aos_longinterval_t* interval, vtfunc_t cb, void* par) |
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{ |
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aosDbgCheck(ptimer != NULL);
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aosDbgCheck(*interval > TIME_IMMEDIATE); |
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aosDbgCheck(cb != NULL);
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ptimer->timer.wkuptime = 0;
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ptimer->interval = *interval; |
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ptimer->callback = cb; |
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ptimer->cbparam = par; |
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_setupPeriodicTimer(ptimer); |
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return;
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} |
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/** @} */
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