/os/core/src/aos_timer.c - AMiRo-OS - Research for Cognitive Interaction

amiro-os / os / core / src / aos_timer.c @ 53710ca3

History | View | Annotate | Download (8.928 KB)

       /*
       AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
       Copyright (C) 2016..2018  Thomas Schöpping et al.
       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/>.
       */
       /**
        * @file    aos_timer.c
        * @brief   Timer code.
        * @details Implementation of aos_timer_t and aos_periodictimer_t functions.
+       *
        * @addtogroup aos_timers
        * @{
        */
       #include <aos_timer.h>
       #include <aos_system.h>
       /*
        * Forward declarations.
        */
       static inline void _setupTimer(aos_timer_t* timer);
       static inline void _setupPeriodicTimer(aos_periodictimer_t* ptimer);
       static void _intermediateCb(void* timer);
       static void _fireCb(void* timer);
       static void _periodicCb(void* ptimer);
       /**
        * @brief   Setup a timer according to its configuration.
+       *
        * @param[in] timer   Pointer to the timer to setup.
        */
       static inline void _setupTimer(aos_timer_t* timer)
+      {
         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
           if ((timer->wkuptime - uptime) > AOS_TIMER_MAX_INTERVAL_US) {
             chVTSetI(&(timer->vt), chTimeUS2I(AOS_TIMER_MAX_INTERVAL_US), _intermediateCb, timer);
           } else {
             chVTSetI(&(timer->vt), chTimeUS2I(timer->wkuptime - uptime), _fireCb, timer);
+          }
         } 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.
        */
       static inline void _setupPeriodicTimer(aos_periodictimer_t *ptimer)
+      {
         // 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);
+      }
       /**
        * @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;
+      }
       /** @} */