AMiRo-OS

/*

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/>.

*/

#ifndef _AMIROOS_TIMER_H_

#define _AMIROOS_TIMER_H_

#include <ch.h>

#include <aos_time.h>

/**

 * @brief   Maximum timer interval that can be set in system ticks.

 */

#define TIMER_MAX_INTERVAL_ST         TIME_MAXIMUM

/**

 * @brief   Maximum timer interval that can be set in seconds.

 */

#define TIMER_MAX_INTERVAL_S          (ST2S(TIMER_MAX_INTERVAL_ST) - 1)

/**

 * @brief   Maximum timer interval that can be set in milliseconds.

 */

#define TIMER_MAX_INTERVAL_MS         (ST2MS(TIMER_MAX_INTERVAL_ST) - 1)

/**

 * @brief   Maximum timer interval that can be set in microseconds.

 */

#define TIMER_MAX_INTERVAL_US         (ST2US(TIMER_MAX_INTERVAL_ST) - 1)

/**

 * @brief   Timer stucture.

 */

typedef struct aos_timer {

  /**

   * @brief   ChibiOS virtual timer.

   */

  virtual_timer_t vt;

  /**

   * @brief   Time to wake up.

   */

  aos_timestamp_t wkuptime;

  /**

   * @brief   Pointer to a callback function.

   */

  vtfunc_t callback;

  /**

   * @brief   Pointer to a parameter for the callback function.

   */

  void* cbparam;

} aos_timer_t;

/**

 * @brief   Periodic timer structure.

 */

typedef struct aos_periodictimer {

  /**

   * @brief   AMiRo-OS timer.

   */

  aos_timer_t timer;

  /**

   * @brief   Period interval.

   */

  aos_longinterval_t interval;

  /**

   * @brief   Pointer to a callback function.

   */

  vtfunc_t callback;

  /**

   * @brief   Pointer to a parameter for the callback function.

   */

  void* cbparam;

} aos_periodictimer_t;

#ifdef __cplusplus

extern "C" {

#endif

  void aosTimerInit(aos_timer_t* timer);

  void aosTimerSetAbsoluteI(aos_timer_t* timer, aos_timestamp_t* uptime, vtfunc_t cb, void* par);

  void aosTimerSetIntervalI(aos_timer_t* timer, aos_interval_t offset, vtfunc_t cb, void* par);

  void aosTimerSetLongIntervalI(aos_timer_t* timer, aos_longinterval_t* offset, vtfunc_t cb, void* par);

  void aosPeriodicTimerInit(aos_periodictimer_t* ptimer);

  void aosPeriodicTimerSetI(aos_periodictimer_t* ptimer, aos_interval_t interval, vtfunc_t cb, void* par);

  void aosPeriodicTimerSetLongI(aos_periodictimer_t* ptimer, aos_longinterval_t* interval, vtfunc_t cb, void* par);

#ifdef __cplusplus

}

#endif

/**

 * @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 uptime for the timer to fire.

 * @param[in] cb      Pointer to a callback function to be called.

 * @param[in] par     Pointer to a parameter fpr the callback function (may be NULL).

 */

static inline void aosTimerSetAbsolute(aos_timer_t* timer, aos_timestamp_t* uptime, vtfunc_t cb, void* par)

{

  chSysLock();

  aosTimerSetAbsoluteI(timer, uptime, cb, par);

  chSysUnlock();

  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.

 * @param[in] par     Pointer to a parameter fpr the callback function (may be NULL).

 */

static inline void aosTimerSetInterval(aos_timer_t* timer, aos_interval_t offset, vtfunc_t cb, void* par)

{

  chSysLock();

  aosTimerSetIntervalI(timer, offset, cb, par);

  chSysUnlock();

}

/**

 * @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.

 * @param[in] par     Pointer to a parameter fpr the callback function (may be NULL).

 */

static inline void aosTimerSetLongInterval(aos_timer_t* timer, aos_longinterval_t* offset, vtfunc_t cb, void* par)

{

  chSysLock();

  aosTimerSetLongIntervalI(timer, offset, cb, par);

  chSysUnlock();

}

/**

 * @brief   Reset a timer.

 *

 * @param[in] timer   Pointer to the timer to reset.

 */

static inline void aosTimerResetI(aos_timer_t* timer)

{

  chVTResetI(&(timer->vt));

  return;

}

/**

 * @brief   Reset a timer.

 *

 * @param[in] timer   Pointer to the timer to reset.

 */

static inline void aosTimerReset(aos_timer_t* timer)

{

  chSysLock();

  aosTimerResetI(timer);

  chSysUnlock();

  return;

}

/**

 * @brief   Determine whether a timer is armed.

 *

 * @param[in] timer   Pointer to the timer to check.

 *

 * @return    true if the timer is armed, false otherwise.

 */

static inline bool aosTimerIsArmedI(aos_timer_t* timer)

{

  return chVTIsArmedI(&(timer->vt));

}

/**

 * @brief   Determine whether a timer is armed.

 *

 * @param[in] timer   Pointer to the timer to check.

 *

 * @return    true if the timer is armed, false otherwise.

 */

static inline bool aosTimerIsArmed(aos_timer_t* timer)

{

  bool b;

  chSysLock();

  b = aosTimerIsArmedI(timer);

  chSysUnlock();

  return b;

}

/**

 * @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 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).

 */

static inline void aosPeriodicTimerSet(aos_periodictimer_t *ptimer, aos_interval_t interval, vtfunc_t cb, void *par)

{

  chSysLock();

  aosPeriodicTimerSetI(ptimer, interval, cb, par);

  chSysUnlock();

  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).

 */

static inline void aosPeriodicTimerSetLong(aos_periodictimer_t* ptimer, aos_longinterval_t* interval, vtfunc_t cb, void* par)

{

  chSysLock();

  aosPeriodicTimerSetLongI(ptimer, interval, cb, par);

  chSysUnlock();

  return;

}

#endif /* _AMIROOS_TIMER_H_ */