amiro-os / core / inc / aos_timer.h @ ffbd63e4
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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 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | e545e620 | Thomas Schöpping | |
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 | 53710ca3 | Marc Rothmann | /**
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20 | * @file aos_timer.h
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21 | * @brief Timer macros and structures.
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22 | *
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23 | * @addtogroup aos_timers
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24 | * @{
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25 | */
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26 | |||
27 | e545e620 | Thomas Schöpping | #ifndef _AMIROOS_TIMER_H_
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28 | #define _AMIROOS_TIMER_H_
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29 | |||
30 | #include <ch.h> |
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31 | #include <aos_time.h> |
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32 | |||
33 | /**
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34 | * @brief Maximum timer interval that can be set in system ticks.
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35 | */
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36 | 0128be0f | Marc Rothmann | #define AOS_TIMER_MAX_INTERVAL_ST TIME_MAX_INTERVAL
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37 | e545e620 | Thomas Schöpping | |
38 | /**
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39 | * @brief Maximum timer interval that can be set in seconds.
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40 | */
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41 | 1e5f7648 | Thomas Schöpping | #define AOS_TIMER_MAX_INTERVAL_S (chTimeI2S(AOS_TIMER_MAX_INTERVAL_ST) - 1) |
42 | e545e620 | Thomas Schöpping | |
43 | /**
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44 | * @brief Maximum timer interval that can be set in milliseconds.
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45 | */
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46 | 1e5f7648 | Thomas Schöpping | #define AOS_TIMER_MAX_INTERVAL_MS (chTimeI2MS(AOS_TIMER_MAX_INTERVAL_ST) - 1) |
47 | e545e620 | Thomas Schöpping | |
48 | /**
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49 | * @brief Maximum timer interval that can be set in microseconds.
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50 | */
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51 | 1e5f7648 | Thomas Schöpping | #define AOS_TIMER_MAX_INTERVAL_US (chTimeI2US(AOS_TIMER_MAX_INTERVAL_ST) - 1) |
52 | e545e620 | Thomas Schöpping | |
53 | /**
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54 | * @brief Timer stucture.
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55 | */
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56 | typedef struct aos_timer { |
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57 | /**
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58 | * @brief ChibiOS virtual timer.
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59 | */
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60 | virtual_timer_t vt; |
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61 | |||
62 | /**
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63 | * @brief Time to wake up.
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64 | */
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65 | aos_timestamp_t wkuptime; |
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66 | |||
67 | /**
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68 | * @brief Pointer to a callback function.
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69 | */
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70 | vtfunc_t callback; |
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71 | |||
72 | /**
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73 | * @brief Pointer to a parameter for the callback function.
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74 | */
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75 | void* cbparam;
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76 | } aos_timer_t; |
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77 | |||
78 | /**
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79 | * @brief Periodic timer structure.
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80 | */
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81 | typedef struct aos_periodictimer { |
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82 | /**
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83 | * @brief AMiRo-OS timer.
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84 | */
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85 | aos_timer_t timer; |
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86 | |||
87 | /**
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88 | * @brief Period interval.
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89 | */
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90 | aos_longinterval_t interval; |
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91 | |||
92 | /**
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93 | * @brief Pointer to a callback function.
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94 | */
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95 | vtfunc_t callback; |
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96 | |||
97 | /**
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98 | * @brief Pointer to a parameter for the callback function.
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99 | */
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100 | void* cbparam;
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101 | } aos_periodictimer_t; |
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102 | |||
103 | #ifdef __cplusplus
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104 | extern "C" { |
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105 | #endif
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106 | void aosTimerInit(aos_timer_t* timer);
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107 | void aosTimerSetAbsoluteI(aos_timer_t* timer, aos_timestamp_t* uptime, vtfunc_t cb, void* par); |
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108 | void aosTimerSetIntervalI(aos_timer_t* timer, aos_interval_t offset, vtfunc_t cb, void* par); |
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109 | void aosTimerSetLongIntervalI(aos_timer_t* timer, aos_longinterval_t* offset, vtfunc_t cb, void* par); |
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110 | void aosPeriodicTimerInit(aos_periodictimer_t* ptimer);
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111 | void aosPeriodicTimerSetI(aos_periodictimer_t* ptimer, aos_interval_t interval, vtfunc_t cb, void* par); |
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112 | void aosPeriodicTimerSetLongI(aos_periodictimer_t* ptimer, aos_longinterval_t* interval, vtfunc_t cb, void* par); |
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113 | #ifdef __cplusplus
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114 | } |
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115 | #endif
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116 | |||
117 | /**
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118 | * @brief Set timer to fire at an absolute system time.
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119 | *
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120 | * @param[in] timer Pointer to the timer to set.
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121 | * @param[in] uptime Pointer to the absolute uptime for the timer to fire.
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122 | * @param[in] cb Pointer to a callback function to be called.
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123 | * @param[in] par Pointer to a parameter fpr the callback function (may be NULL).
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124 | */
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125 | static inline void aosTimerSetAbsolute(aos_timer_t* timer, aos_timestamp_t* uptime, vtfunc_t cb, void* par) |
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126 | { |
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127 | chSysLock(); |
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128 | aosTimerSetAbsoluteI(timer, uptime, cb, par); |
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129 | chSysUnlock(); |
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130 | |||
131 | return;
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132 | } |
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133 | |||
134 | /**
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135 | * @brief Set timer to fire after a relative interval.
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136 | *
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137 | * @param[in] timer Pointer to the timer to set.
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138 | * @param[in] offset Relative interval to set for the timer to fire.
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139 | * @param[in] cb Pointer to a callback function to be called.
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140 | * @param[in] par Pointer to a parameter fpr the callback function (may be NULL).
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141 | */
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142 | static inline void aosTimerSetInterval(aos_timer_t* timer, aos_interval_t offset, vtfunc_t cb, void* par) |
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143 | { |
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144 | chSysLock(); |
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145 | aosTimerSetIntervalI(timer, offset, cb, par); |
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146 | chSysUnlock(); |
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147 | } |
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148 | |||
149 | /**
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150 | * @brief Set timer to fire after a long relative interval.
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151 | *
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152 | * @param[in] timer Pointer to the timer to set.
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153 | * @param[in] offset Pointer to a long interval value to set for the timer to fire.
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154 | * @param[in] cb Pointer to a callback function to be called.
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155 | * @param[in] par Pointer to a parameter fpr the callback function (may be NULL).
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156 | */
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157 | static inline void aosTimerSetLongInterval(aos_timer_t* timer, aos_longinterval_t* offset, vtfunc_t cb, void* par) |
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158 | { |
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159 | chSysLock(); |
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160 | aosTimerSetLongIntervalI(timer, offset, cb, par); |
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161 | chSysUnlock(); |
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162 | } |
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163 | |||
164 | /**
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165 | * @brief Reset a timer.
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166 | *
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167 | * @param[in] timer Pointer to the timer to reset.
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168 | */
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169 | static inline void aosTimerResetI(aos_timer_t* timer) |
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170 | { |
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171 | chVTResetI(&(timer->vt)); |
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172 | |||
173 | return;
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174 | } |
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175 | |||
176 | /**
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177 | * @brief Reset a timer.
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178 | *
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179 | * @param[in] timer Pointer to the timer to reset.
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180 | */
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181 | static inline void aosTimerReset(aos_timer_t* timer) |
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182 | { |
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183 | chSysLock(); |
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184 | aosTimerResetI(timer); |
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185 | chSysUnlock(); |
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186 | |||
187 | return;
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188 | } |
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189 | |||
190 | /**
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191 | * @brief Determine whether a timer is armed.
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192 | *
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193 | * @param[in] timer Pointer to the timer to check.
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194 | *
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195 | * @return true if the timer is armed, false otherwise.
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196 | */
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197 | static inline bool aosTimerIsArmedI(aos_timer_t* timer) |
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198 | { |
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199 | return chVTIsArmedI(&(timer->vt));
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200 | } |
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201 | |||
202 | /**
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203 | * @brief Determine whether a timer is armed.
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204 | *
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205 | * @param[in] timer Pointer to the timer to check.
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206 | *
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207 | * @return true if the timer is armed, false otherwise.
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208 | */
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209 | static inline bool aosTimerIsArmed(aos_timer_t* timer) |
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210 | { |
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211 | bool b;
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212 | |||
213 | chSysLock(); |
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214 | b = aosTimerIsArmedI(timer); |
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215 | chSysUnlock(); |
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216 | |||
217 | return b;
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218 | } |
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219 | |||
220 | /**
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221 | * @brief Set a periodic timer to fire in the specified interval.
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222 | *
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223 | * @param[in] ptimer Pointer to the periodic timer to set.
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224 | * @param[in] interval Interval for the periodic timer to fire,
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225 | * @param[in] cb Pointer to a callback function to be called.
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226 | * In contrast to other callback functions, this get called from an already ISR locked context.
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227 | * This it may not contain any chSysLockX() or chSysUnlockX() calls.
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228 | * @param[in] par Pointer to a parameter for the callback function (may be NULL).
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229 | */
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230 | static inline void aosPeriodicTimerSet(aos_periodictimer_t *ptimer, aos_interval_t interval, vtfunc_t cb, void *par) |
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231 | { |
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232 | chSysLock(); |
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233 | aosPeriodicTimerSetI(ptimer, interval, cb, par); |
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234 | chSysUnlock(); |
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235 | |||
236 | return;
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237 | } |
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238 | |||
239 | /**
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240 | * @brief Set a periodic timer to fire in the specified interval.
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241 | *
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242 | * @param[in] ptimer Pointer to the periodic timer to set.
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243 | * @param[in] interval Pointer to a long interval value for the periodic timer to fire,
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244 | * @param[in] cb Pointer to a callback function to be called.
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245 | * In contrast to other callback functions, this get called from an already ISR locked context.
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246 | * This it may not contain any chSysLockX() or chSysUnlockX() calls.
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247 | * @param[in] par Pointer to a parameter for the callback function (may be NULL).
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248 | */
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249 | static inline void aosPeriodicTimerSetLong(aos_periodictimer_t* ptimer, aos_longinterval_t* interval, vtfunc_t cb, void* par) |
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250 | { |
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251 | chSysLock(); |
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252 | aosPeriodicTimerSetLongI(ptimer, interval, cb, par); |
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253 | chSysUnlock(); |
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254 | |||
255 | return;
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256 | } |
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257 | |||
258 | #endif /* _AMIROOS_TIMER_H_ */ |
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259 | 53710ca3 | Marc Rothmann | |
260 | /** @} */ |