756 lines
24 KiB
C
Executable File
756 lines
24 KiB
C
Executable File
/*
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ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio.
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This file is part of ChibiOS.
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ChibiOS 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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ChibiOS 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 chvt.h
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* @brief Time and Virtual Timers module macros and structures.
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*
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* @addtogroup time
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* @{
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*/
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#ifndef CHVT_H
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#define CHVT_H
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/*===========================================================================*/
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/* Module constants. */
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/*===========================================================================*/
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/**
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* @name Special time constants
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* @{
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*/
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/**
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* @brief Zero time specification for some functions with a timeout
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* specification.
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* @note Not all functions accept @p TIME_IMMEDIATE as timeout parameter,
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* see the specific function documentation.
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*/
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#define TIME_IMMEDIATE ((systime_t)0)
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/**
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* @brief Infinite time specification for all functions with a timeout
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* specification.
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* @note Not all functions accept @p TIME_INFINITE as timeout parameter,
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* see the specific function documentation.
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*/
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#define TIME_INFINITE ((systime_t)-1)
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/**
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* @brief Maximum time constant.
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*/
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#define TIME_MAXIMUM ((systime_t)-2)
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/** @} */
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/**
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* @brief Maximum unsigned integer.
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*/
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#define __UINT_MAX ((unsigned int)-1)
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/*===========================================================================*/
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/* Module pre-compile time settings. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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#if (CH_CFG_ST_RESOLUTION != 16) && (CH_CFG_ST_RESOLUTION != 32)
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#error "invalid CH_CFG_ST_RESOLUTION specified, must be 16 or 32"
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#endif
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#if CH_CFG_ST_FREQUENCY <= 0
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#error "invalid CH_CFG_ST_FREQUENCY specified, must be greater than zero"
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#endif
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#if (CH_CFG_ST_TIMEDELTA < 0) || (CH_CFG_ST_TIMEDELTA == 1)
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#error "invalid CH_CFG_ST_TIMEDELTA specified, must " \
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"be zero or greater than one"
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#endif
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#if (CH_CFG_ST_TIMEDELTA > 0) && (CH_CFG_TIME_QUANTUM > 0)
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#error "CH_CFG_TIME_QUANTUM not supported in tickless mode"
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#endif
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#if (CH_CFG_ST_TIMEDELTA > 0) && (CH_DBG_THREADS_PROFILING == TRUE)
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#error "CH_DBG_THREADS_PROFILING not supported in tickless mode"
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#endif
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/*===========================================================================*/
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/* Module data structures and types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module macros. */
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/*===========================================================================*/
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/**
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* @name Fast time conversion utilities
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* @{
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*/
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/**
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* @brief Seconds to system ticks.
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* @details Converts from seconds to system ticks number.
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* @note The result is rounded upward to the next tick boundary.
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* @note Use of this macro for large values is not secure because
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* integer overflows, make sure your value can be correctly
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* converted.
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*
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* @param[in] sec number of seconds
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* @return The number of ticks.
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*
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* @api
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*/
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#define S2ST(sec) \
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((systime_t)((uint32_t)(sec) * (uint32_t)CH_CFG_ST_FREQUENCY))
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/**
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* @brief Milliseconds to system ticks.
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* @details Converts from milliseconds to system ticks number.
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* @note The result is rounded upward to the next tick boundary.
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* @note Use of this macro for large values is not secure because
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* integer overflows, make sure your value can be correctly
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* converted.
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*
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* @param[in] msec number of milliseconds
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* @return The number of ticks.
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*
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* @api
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*/
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#define MS2ST(msec) \
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((systime_t)(((((uint32_t)(msec)) * \
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((uint32_t)CH_CFG_ST_FREQUENCY)) + 999UL) / 1000UL))
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/**
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* @brief Microseconds to system ticks.
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* @details Converts from microseconds to system ticks number.
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* @note The result is rounded upward to the next tick boundary.
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* @note Use of this macro for large values is not secure because
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* integer overflows, make sure your value can be correctly
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* converted.
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*
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* @param[in] usec number of microseconds
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* @return The number of ticks.
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*
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* @api
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*/
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#define US2ST(usec) \
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((systime_t)(((((uint32_t)(usec)) * \
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((uint32_t)CH_CFG_ST_FREQUENCY)) + 999999UL) / 1000000UL))
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/**
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* @brief System ticks to seconds.
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* @details Converts from system ticks number to seconds.
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* @note The result is rounded up to the next second boundary.
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* @note Use of this macro for large values is not secure because
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* integer overflows, make sure your value can be correctly
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* converted.
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*
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* @param[in] n number of system ticks
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* @return The number of seconds.
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*
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* @api
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*/
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#define ST2S(n) (((n) + CH_CFG_ST_FREQUENCY - 1UL) / CH_CFG_ST_FREQUENCY)
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/**
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* @brief System ticks to milliseconds.
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* @details Converts from system ticks number to milliseconds.
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* @note The result is rounded up to the next millisecond boundary.
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* @note Use of this macro for large values is not secure because
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* integer overflows, make sure your value can be correctly
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* converted.
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*
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* @param[in] n number of system ticks
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* @return The number of milliseconds.
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*
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* @api
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*/
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#define ST2MS(n) (((n) * 1000UL + CH_CFG_ST_FREQUENCY - 1UL) / \
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CH_CFG_ST_FREQUENCY)
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/**
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* @brief System ticks to microseconds.
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* @details Converts from system ticks number to microseconds.
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* @note The result is rounded up to the next microsecond boundary.
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* @note Use of this macro for large values is not secure because
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* integer overflows, make sure your value can be correctly
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* converted.
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*
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* @param[in] n number of system ticks
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* @return The number of microseconds.
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*
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* @api
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*/
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#define ST2US(n) (((n) * 1000000UL + CH_CFG_ST_FREQUENCY - 1UL) / \
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CH_CFG_ST_FREQUENCY)
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/** @} */
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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/*
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* Virtual Timers APIs.
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*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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void _vt_init(void);
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void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,
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vtfunc_t vtfunc, void *par);
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void chVTDoResetI(virtual_timer_t *vtp);
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#ifdef __cplusplus
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}
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#endif
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/*===========================================================================*/
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/* Module inline functions. */
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/*===========================================================================*/
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/**
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* @name Secure time conversion utilities
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* @{
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*/
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/**
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* @brief Seconds to system ticks.
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* @details Converts from seconds to system ticks number.
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* @note The result is rounded upward to the next tick boundary.
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* @note This function uses a 64 bits internal representation,
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* use with non-constant parameters can lead to inefficient
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* code because 64 bits arithmetic would be used at runtime.
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*
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* @param[in] sec number of seconds
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* @return The number of ticks.
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*
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* @api
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*/
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static inline systime_t LL_S2ST(unsigned int sec) {
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uint64_t ticks = (uint64_t)sec * (uint64_t)CH_CFG_ST_FREQUENCY;
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chDbgAssert(ticks <= (uint64_t)TIME_MAXIMUM, "conversion overflow");
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return (systime_t)ticks;
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}
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/**
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* @brief Milliseconds to system ticks.
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* @details Converts from milliseconds to system ticks number.
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* @note The result is rounded upward to the next tick boundary.
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* @note This function uses a 64 bits internal representation,
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* use with non-constant parameters can lead to inefficient
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* code because 64 bits arithmetic would be used at runtime.
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*
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* @param[in] msec number of milliseconds
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* @return The number of ticks.
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*
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* @api
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*/
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static inline systime_t LL_MS2ST(unsigned int msec) {
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uint64_t ticks = (((uint64_t)msec * (uint64_t)CH_CFG_ST_FREQUENCY) + 999ULL)
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/ 1000ULL;
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chDbgAssert(ticks <= (uint64_t)TIME_MAXIMUM, "conversion overflow");
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return (systime_t)ticks;
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}
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/**
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* @brief Microseconds to system ticks.
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* @details Converts from microseconds to system ticks number.
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* @note The result is rounded upward to the next tick boundary.
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* @note This function uses a 64 bits internal representation,
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* use with non-constant parameters can lead to inefficient
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* code because 64 bits arithmetic would be used at runtime.
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*
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* @param[in] usec number of microseconds
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* @return The number of ticks.
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*
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* @api
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*/
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static inline systime_t LL_US2ST(unsigned int usec) {
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uint64_t ticks = (((uint64_t)usec * (uint64_t)CH_CFG_ST_FREQUENCY) + 999999ULL)
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/ 1000000ULL;
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chDbgAssert(ticks <= (uint64_t)TIME_MAXIMUM, "conversion overflow");
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return (systime_t)ticks;
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}
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/**
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* @brief System ticks to seconds.
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* @details Converts from system ticks number to seconds.
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* @note The result is rounded up to the next second boundary.
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* @note This function uses a 64 bits internal representation,
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* use with non-constant parameters can lead to inefficient
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* code because 64 bits arithmetic would be used at runtime.
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*
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* @param[in] n number of system ticks
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* @return The number of seconds.
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*
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* @api
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*/
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static inline unsigned int LL_ST2S(systime_t n) {
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uint64_t sec = ((uint64_t)n + (uint64_t)CH_CFG_ST_FREQUENCY - 1ULL)
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/ (uint64_t)CH_CFG_ST_FREQUENCY;
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chDbgAssert(sec < (uint64_t)__UINT_MAX, "conversion overflow");
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return (unsigned int)sec;
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}
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/**
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* @brief System ticks to milliseconds.
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* @details Converts from system ticks number to milliseconds.
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* @note The result is rounded up to the next millisecond boundary.
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* @note This function uses a 64 bits internal representation,
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* use with non-constant parameters can lead to inefficient
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* code because 64 bits arithmetic would be used at runtime.
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*
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* @param[in] n number of system ticks
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* @return The number of milliseconds.
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*
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* @api
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*/
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static inline unsigned int LL_ST2MS(systime_t n) {
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uint64_t msec = (((uint64_t)n * 1000ULL) + (uint64_t)CH_CFG_ST_FREQUENCY - 1ULL)
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/ (uint64_t)CH_CFG_ST_FREQUENCY;
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chDbgAssert(msec < (uint64_t)__UINT_MAX, "conversion overflow");
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return (unsigned int)msec;
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}
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/**
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* @brief System ticks to microseconds.
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* @details Converts from system ticks number to microseconds.
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* @note The result is rounded up to the next microsecond boundary.
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* @note This function uses a 64 bits internal representation,
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* use with non-constant parameters can lead to inefficient
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* code because 64 bits arithmetic would be used at runtime.
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*
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* @param[in] n number of system ticks
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* @return The number of microseconds.
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*
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* @api
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*/
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static inline unsigned int LL_ST2US(systime_t n) {
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uint64_t usec = (((uint64_t)n * 1000000ULL) + (uint64_t)CH_CFG_ST_FREQUENCY - 1ULL)
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/ (uint64_t)CH_CFG_ST_FREQUENCY;
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chDbgAssert(usec < (uint64_t)__UINT_MAX, "conversion overflow");
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return (unsigned int)usec;
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}
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/** @} */
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/**
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* @brief Initializes a @p virtual_timer_t object.
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* @note Initializing a timer object is not strictly required because
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* the function @p chVTSetI() initializes the object too. This
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* function is only useful if you need to perform a @p chVTIsArmed()
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* check before calling @p chVTSetI().
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*
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* @param[out] vtp the @p virtual_timer_t structure pointer
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*
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* @init
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*/
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static inline void chVTObjectInit(virtual_timer_t *vtp) {
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vtp->func = NULL;
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}
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/**
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* @brief Current system time.
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* @details Returns the number of system ticks since the @p chSysInit()
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* invocation.
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* @note The counter can reach its maximum and then restart from zero.
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* @note This function can be called from any context but its atomicity
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* is not guaranteed on architectures whose word size is less than
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* @p systime_t size.
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*
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* @return The system time in ticks.
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*
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* @xclass
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*/
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static inline systime_t chVTGetSystemTimeX(void) {
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#if CH_CFG_ST_TIMEDELTA == 0
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return ch.vtlist.systime;
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#else /* CH_CFG_ST_TIMEDELTA > 0 */
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return port_timer_get_time();
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#endif /* CH_CFG_ST_TIMEDELTA > 0 */
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}
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/**
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* @brief Current system time.
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* @details Returns the number of system ticks since the @p chSysInit()
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* invocation.
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* @note The counter can reach its maximum and then restart from zero.
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*
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* @return The system time in ticks.
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*
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* @api
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*/
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static inline systime_t chVTGetSystemTime(void) {
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systime_t systime;
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chSysLock();
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systime = chVTGetSystemTimeX();
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chSysUnlock();
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return systime;
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}
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/**
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* @brief Returns the elapsed time since the specified start time.
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*
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* @param[in] start start time
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* @return The elapsed time.
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*
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* @xclass
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*/
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static inline systime_t chVTTimeElapsedSinceX(systime_t start) {
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return chVTGetSystemTimeX() - start;
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}
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/**
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* @brief Checks if the specified time is within the specified time window.
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* @note When start==end then the function returns always true because the
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* whole time range is specified.
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* @note This function can be called from any context.
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*
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* @param[in] time the time to be verified
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* @param[in] start the start of the time window (inclusive)
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* @param[in] end the end of the time window (non inclusive)
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* @retval true current time within the specified time window.
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* @retval false current time not within the specified time window.
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*
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* @xclass
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*/
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static inline bool chVTIsTimeWithinX(systime_t time,
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systime_t start,
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systime_t end) {
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return (bool)((systime_t)(time - start) < (systime_t)(end - start));
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}
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/**
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* @brief Checks if the current system time is within the specified time
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* window.
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* @note When start==end then the function returns always true because the
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* whole time range is specified.
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*
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* @param[in] start the start of the time window (inclusive)
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* @param[in] end the end of the time window (non inclusive)
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* @retval true current time within the specified time window.
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* @retval false current time not within the specified time window.
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*
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* @xclass
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*/
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static inline bool chVTIsSystemTimeWithinX(systime_t start, systime_t end) {
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return chVTIsTimeWithinX(chVTGetSystemTimeX(), start, end);
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}
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/**
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* @brief Checks if the current system time is within the specified time
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* window.
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* @note When start==end then the function returns always true because the
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* whole time range is specified.
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*
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* @param[in] start the start of the time window (inclusive)
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* @param[in] end the end of the time window (non inclusive)
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* @retval true current time within the specified time window.
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* @retval false current time not within the specified time window.
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*
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* @api
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*/
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static inline bool chVTIsSystemTimeWithin(systime_t start, systime_t end) {
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return chVTIsTimeWithinX(chVTGetSystemTime(), start, end);
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}
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/**
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* @brief Returns the time interval until the next timer event.
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* @note The return value is not perfectly accurate and can report values
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* in excess of @p CH_CFG_ST_TIMEDELTA ticks.
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* @note The interval returned by this function is only meaningful if
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* more timers are not added to the list until the returned time.
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*
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* @param[out] timep pointer to a variable that will contain the time
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* interval until the next timer elapses. This pointer
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* can be @p NULL if the information is not required.
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* @return The time, in ticks, until next time event.
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* @retval false if the timers list is empty.
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* @retval true if the timers list contains at least one timer.
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*
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* @iclass
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*/
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static inline bool chVTGetTimersStateI(systime_t *timep) {
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chDbgCheckClassI();
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if (&ch.vtlist == (virtual_timers_list_t *)ch.vtlist.next) {
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return false;
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}
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if (timep != NULL) {
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#if CH_CFG_ST_TIMEDELTA == 0
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*timep = ch.vtlist.next->delta;
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#else
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*timep = ch.vtlist.lasttime + ch.vtlist.next->delta +
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CH_CFG_ST_TIMEDELTA - chVTGetSystemTimeX();
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#endif
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
/**
|
|
* @brief Returns @p true if the specified timer is armed.
|
|
* @pre The timer must have been initialized using @p chVTObjectInit()
|
|
* or @p chVTDoSetI().
|
|
*
|
|
* @param[in] vtp the @p virtual_timer_t structure pointer
|
|
* @return true if the timer is armed.
|
|
*
|
|
* @iclass
|
|
*/
|
|
static inline bool chVTIsArmedI(virtual_timer_t *vtp) {
|
|
|
|
chDbgCheckClassI();
|
|
|
|
return (bool)(vtp->func != NULL);
|
|
}
|
|
|
|
/**
|
|
* @brief Returns @p true if the specified timer is armed.
|
|
* @pre The timer must have been initialized using @p chVTObjectInit()
|
|
* or @p chVTDoSetI().
|
|
*
|
|
* @param[in] vtp the @p virtual_timer_t structure pointer
|
|
* @return true if the timer is armed.
|
|
*
|
|
* @api
|
|
*/
|
|
static inline bool chVTIsArmed(virtual_timer_t *vtp) {
|
|
bool b;
|
|
|
|
chSysLock();
|
|
b = chVTIsArmedI(vtp);
|
|
chSysUnlock();
|
|
|
|
return b;
|
|
}
|
|
|
|
/**
|
|
* @brief Disables a Virtual Timer.
|
|
* @note The timer is first checked and disabled only if armed.
|
|
* @pre The timer must have been initialized using @p chVTObjectInit()
|
|
* or @p chVTDoSetI().
|
|
*
|
|
* @param[in] vtp the @p virtual_timer_t structure pointer
|
|
*
|
|
* @iclass
|
|
*/
|
|
static inline void chVTResetI(virtual_timer_t *vtp) {
|
|
|
|
if (chVTIsArmedI(vtp)) {
|
|
chVTDoResetI(vtp);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Disables a Virtual Timer.
|
|
* @note The timer is first checked and disabled only if armed.
|
|
* @pre The timer must have been initialized using @p chVTObjectInit()
|
|
* or @p chVTDoSetI().
|
|
*
|
|
* @param[in] vtp the @p virtual_timer_t structure pointer
|
|
*
|
|
* @api
|
|
*/
|
|
static inline void chVTReset(virtual_timer_t *vtp) {
|
|
|
|
chSysLock();
|
|
chVTResetI(vtp);
|
|
chSysUnlock();
|
|
}
|
|
|
|
/**
|
|
* @brief Enables a virtual timer.
|
|
* @details If the virtual timer was already enabled then it is re-enabled
|
|
* using the new parameters.
|
|
* @pre The timer must have been initialized using @p chVTObjectInit()
|
|
* or @p chVTDoSetI().
|
|
*
|
|
* @param[in] vtp the @p virtual_timer_t structure pointer
|
|
* @param[in] delay the number of ticks before the operation timeouts, the
|
|
* special values are handled as follow:
|
|
* - @a TIME_INFINITE is allowed but interpreted as a
|
|
* normal time specification.
|
|
* - @a TIME_IMMEDIATE this value is not allowed.
|
|
* .
|
|
* @param[in] vtfunc the timer callback function. After invoking the
|
|
* callback the timer is disabled and the structure can
|
|
* be disposed or reused.
|
|
* @param[in] par a parameter that will be passed to the callback
|
|
* function
|
|
*
|
|
* @iclass
|
|
*/
|
|
static inline void chVTSetI(virtual_timer_t *vtp, systime_t delay,
|
|
vtfunc_t vtfunc, void *par) {
|
|
|
|
chVTResetI(vtp);
|
|
chVTDoSetI(vtp, delay, vtfunc, par);
|
|
}
|
|
|
|
/**
|
|
* @brief Enables a virtual timer.
|
|
* @details If the virtual timer was already enabled then it is re-enabled
|
|
* using the new parameters.
|
|
* @pre The timer must have been initialized using @p chVTObjectInit()
|
|
* or @p chVTDoSetI().
|
|
*
|
|
* @param[in] vtp the @p virtual_timer_t structure pointer
|
|
* @param[in] delay the number of ticks before the operation timeouts, the
|
|
* special values are handled as follow:
|
|
* - @a TIME_INFINITE is allowed but interpreted as a
|
|
* normal time specification.
|
|
* - @a TIME_IMMEDIATE this value is not allowed.
|
|
* .
|
|
* @param[in] vtfunc the timer callback function. After invoking the
|
|
* callback the timer is disabled and the structure can
|
|
* be disposed or reused.
|
|
* @param[in] par a parameter that will be passed to the callback
|
|
* function
|
|
*
|
|
* @api
|
|
*/
|
|
static inline void chVTSet(virtual_timer_t *vtp, systime_t delay,
|
|
vtfunc_t vtfunc, void *par) {
|
|
|
|
chSysLock();
|
|
chVTSetI(vtp, delay, vtfunc, par);
|
|
chSysUnlock();
|
|
}
|
|
|
|
/**
|
|
* @brief Virtual timers ticker.
|
|
* @note The system lock is released before entering the callback and
|
|
* re-acquired immediately after. It is callback's responsibility
|
|
* to acquire the lock if needed. This is done in order to reduce
|
|
* interrupts jitter when many timers are in use.
|
|
*
|
|
* @iclass
|
|
*/
|
|
static inline void chVTDoTickI(void) {
|
|
|
|
chDbgCheckClassI();
|
|
|
|
#if CH_CFG_ST_TIMEDELTA == 0
|
|
ch.vtlist.systime++;
|
|
if (&ch.vtlist != (virtual_timers_list_t *)ch.vtlist.next) {
|
|
/* The list is not empty, processing elements on top.*/
|
|
--ch.vtlist.next->delta;
|
|
while (ch.vtlist.next->delta == (systime_t)0) {
|
|
virtual_timer_t *vtp;
|
|
vtfunc_t fn;
|
|
|
|
vtp = ch.vtlist.next;
|
|
fn = vtp->func;
|
|
vtp->func = NULL;
|
|
vtp->next->prev = (virtual_timer_t *)&ch.vtlist;
|
|
ch.vtlist.next = vtp->next;
|
|
chSysUnlockFromISR();
|
|
fn(vtp->par);
|
|
chSysLockFromISR();
|
|
}
|
|
}
|
|
#else /* CH_CFG_ST_TIMEDELTA > 0 */
|
|
virtual_timer_t *vtp;
|
|
systime_t now, delta;
|
|
|
|
/* First timer to be processed.*/
|
|
vtp = ch.vtlist.next;
|
|
now = chVTGetSystemTimeX();
|
|
|
|
/* All timers within the time window are triggered and removed,
|
|
note that the loop is stopped by the timers header having
|
|
"ch.vtlist.vt_delta == (systime_t)-1" which is greater than
|
|
all deltas.*/
|
|
while (vtp->delta <= (systime_t)(now - ch.vtlist.lasttime)) {
|
|
vtfunc_t fn;
|
|
|
|
/* The "last time" becomes this timer's expiration time.*/
|
|
ch.vtlist.lasttime += vtp->delta;
|
|
|
|
vtp->next->prev = (virtual_timer_t *)&ch.vtlist;
|
|
ch.vtlist.next = vtp->next;
|
|
fn = vtp->func;
|
|
vtp->func = NULL;
|
|
|
|
/* if the list becomes empty then the timer is stopped.*/
|
|
if (ch.vtlist.next == (virtual_timer_t *)&ch.vtlist) {
|
|
port_timer_stop_alarm();
|
|
}
|
|
|
|
/* Leaving the system critical zone in order to execute the callback
|
|
and in order to give a preemption chance to higher priority
|
|
interrupts.*/
|
|
chSysUnlockFromISR();
|
|
|
|
/* The callback is invoked outside the kernel critical zone.*/
|
|
fn(vtp->par);
|
|
|
|
/* Re-entering the critical zone in order to continue the exploration
|
|
of the list.*/
|
|
chSysLockFromISR();
|
|
|
|
/* Next element in the list, the current time could have advanced so
|
|
recalculating the time window.*/
|
|
vtp = ch.vtlist.next;
|
|
now = chVTGetSystemTimeX();
|
|
}
|
|
|
|
/* if the list is empty, nothing else to do.*/
|
|
if (ch.vtlist.next == (virtual_timer_t *)&ch.vtlist) {
|
|
return;
|
|
}
|
|
|
|
/* Recalculating the next alarm time.*/
|
|
delta = ch.vtlist.lasttime + vtp->delta - now;
|
|
if (delta < (systime_t)CH_CFG_ST_TIMEDELTA) {
|
|
delta = (systime_t)CH_CFG_ST_TIMEDELTA;
|
|
}
|
|
port_timer_set_alarm(now + delta);
|
|
|
|
chDbgAssert((chVTGetSystemTimeX() - ch.vtlist.lasttime) <=
|
|
(now + delta - ch.vtlist.lasttime),
|
|
"exceeding delta");
|
|
#endif /* CH_CFG_ST_TIMEDELTA > 0 */
|
|
}
|
|
|
|
#endif /* CHVT_H */
|
|
|
|
/** @} */
|