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bertos/drv/timer.h

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+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction.  Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License.  This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2003, 2004, 2005 Develer S.r.l. (http://www.develer.com/)
+ * Copyright 2000, 2008 Bernie Innocenti <bernie@codewiz.org>
+ * -->
+ *
+ * \defgroup drv_timers Timer module
+ * \ingroup core
+ * \{
+ *
+ * \brief Hardware independent timer driver.
+ *
+ * All timer related functions are implemented in this module. You have several options to use timers:
+ * \li simple delay: just use timer_delay() if you want to wait for a few milliseconds;
+ * \li delay with callback: create a timer structure and use timer_setDelay() and timer_setSoftint() to set the callback;
+ * \li delay with signal: same as above but use timer_setSignal() to set specify which signal to send.
+ * \li simple synchronous timer based scheduler: use synctimer_add() to schedule an event in a user provided queue.
+ *
+ * Whenever a timer expires you need to explicitly arm it again with timer_add(). If you want to abort a timer, use timer_abort().
+ * You can use conversion macros when using msecs to specify the delay.
+ *
+ * \author Bernie Innocenti <bernie@codewiz.org>
+ *
+ * $WIZ$ module_name = "timer"
+ * $WIZ$ module_configuration = "bertos/cfg/cfg_timer.h"
+ * $WIZ$ module_depends = "event", "sysirq"
+ * $WIZ$ module_supports = "not atmega103 and not atmega8"
+ */
+
+#ifndef DRV_TIMER_H
+#define DRV_TIMER_H
+
+#include <cfg/os.h>
+#include <cfg/macros.h>
+
+#include <cpu/attr.h>
+#include <cpu/irq.h>
+
+
+/*
+ * Include platform-specific binding header if we're hosted.
+ * Try the CPU specific one for bare-metal environments.
+ */
+#if OS_HOSTED
+	//#include OS_HEADER(timer)
+	#include <emul/timer_posix.h>
+#else
+	#include CPU_HEADER(timer)
+#endif
+
+STATIC_ASSERT(sizeof(hptime_t) == SIZEOF_HPTIME_T);
+
+#include "cfg/cfg_timer.h"
+#include <cfg/debug.h>
+#include <cfg/compiler.h>
+
+#include <struct/list.h>
+
+/*
+ * Sanity check for config parameters required by this module.
+ */
+#if !defined(CONFIG_TIMER_EVENTS) || ((CONFIG_TIMER_EVENTS != 0) && CONFIG_TIMER_EVENTS != 1)
+	#error CONFIG_TIMER_EVENTS must be set to either 0 or 1 in cfg_timer.h
+#endif
+#if !defined(CONFIG_TIMER_UDELAY) || ((CONFIG_TIMER_UDELAY != 0) && CONFIG_TIMER_EVENTS != 1)
+	#error CONFIG_TIMER_UDELAY must be set to either 0 or 1 in cfg_timer.h
+#endif
+#if defined(CONFIG_TIMER_DISABLE_UDELAY)
+	#error Obosolete config option CONFIG_TIMER_DISABLE_UDELAY.  Use CONFIG_TIMER_UDELAY
+#endif
+#if defined(CONFIG_TIMER_DISABLE_EVENTS)
+	#error Obosolete config option CONFIG_TIMER_DISABLE_EVENTS.  Use CONFIG_TIMER_EVENTS
+#endif
+
+extern volatile ticks_t _clock;
+
+#define TIMER_AFTER(x, y) ((long)(y) - (long)(x) < 0)
+#define TIMER_BEFORE(x, y) TIMER_AFTER(y, x)
+
+/**
+ * \brief Return the system tick counter (expressed in ticks)
+ *
+ * The result is guaranteed to increment monotonically,
+ * but client code must be tolerant with respect to overflows.
+ *
+ * The following code is safe:
+ *
+ * \code
+ *   drop_teabag();
+ *   ticks_t tea_start_time = timer_clock();
+ *
+ *   for (;;)
+ *   {
+ *       if (timer_clock() - tea_start_time > TEAPOT_DELAY)
+ *       {
+ *           printf("Your tea, Sir.\n");
+ *           break;
+ *       }
+ *       patience();
+ *   }
+ * \endcode
+ *
+ * \note This function must disable interrupts on 8/16bit CPUs because the
+ * clock variable is larger than the processor word size and can't
+ * be copied atomically.
+ * \sa timer_delay()
+ */
+INLINE ticks_t timer_clock(void)
+{
+	ticks_t result;
+
+	ATOMIC(result = _clock);
+
+	return result;
+}
+
+/**
+ * Faster version of timer_clock(), to be called only when the timer
+ * interrupt is disabled (DISABLE_INTS) or overridden by a
+ * higher-priority or non-nesting interrupt.
+ *
+ * \sa timer_clock
+ */
+INLINE ticks_t timer_clock_unlocked(void)
+{
+	return _clock;
+}
+
+
+/** Convert \a ms [ms] to ticks. */
+INLINE ticks_t ms_to_ticks(mtime_t ms)
+{
+#if TIMER_TICKS_PER_SEC < 1000
+	/* Slow timer: avoid rounding down too much. */
+	return (ms * TIMER_TICKS_PER_SEC) / 1000;
+#else
+	/* Fast timer: don't overflow ticks_t. */
+	return ms * DIV_ROUND(TIMER_TICKS_PER_SEC, 1000);
+#endif
+}
+
+/** Convert \a us [us] to ticks. */
+INLINE ticks_t us_to_ticks(utime_t us)
+{
+#if TIMER_TICKS_PER_SEC < 1000
+	/* Slow timer: avoid rounding down too much. */
+	return ((us / 1000) * TIMER_TICKS_PER_SEC) / 1000;
+#else
+	/* Fast timer: don't overflow ticks_t. */
+	return (us * DIV_ROUND(TIMER_TICKS_PER_SEC, 1000)) / 1000;
+#endif
+}
+
+/** Convert \a ticks [ticks] to ms. */
+INLINE mtime_t ticks_to_ms(ticks_t ticks)
+{
+#if TIMER_TICKS_PER_SEC < 1000
+	/* Slow timer: avoid rounding down too much. */
+	return (ticks * 1000) / TIMER_TICKS_PER_SEC;
+#else
+	/* Fast timer: avoid overflowing ticks_t. */
+	return ticks / (TIMER_TICKS_PER_SEC / 1000);
+#endif
+}
+
+/** Convert \a ticks [ticks] to us. */
+INLINE utime_t ticks_to_us(ticks_t ticks)
+{
+#if TIMER_TICKS_PER_SEC < 1000
+	/* Slow timer: avoid rounding down too much. */
+	return ((ticks * 1000) / TIMER_TICKS_PER_SEC) * 1000;
+#else
+	/* Fast timer: avoid overflowing ticks_t. */
+	return (ticks / (TIMER_TICKS_PER_SEC / 1000)) * 1000;
+#endif
+}
+
+/** Convert \a us [us] to hpticks */
+INLINE hptime_t us_to_hptime(utime_t us)
+{
+#if TIMER_HW_HPTICKS_PER_SEC > 10000000UL
+	return us * DIV_ROUND(TIMER_HW_HPTICKS_PER_SEC, 1000000UL);
+#else
+	return (us * ((TIMER_HW_HPTICKS_PER_SEC + 500) / 1000UL) + 500) / 1000UL;
+#endif
+}
+
+/** Convert \a hpticks [hptime] to usec */
+INLINE utime_t hptime_to_us(hptime_t hpticks)
+{
+#if TIMER_HW_HPTICKS_PER_SEC < 100000UL
+	return hpticks * DIV_ROUND(1000000UL, TIMER_HW_HPTICKS_PER_SEC);
+#else
+	return (hpticks * 1000UL) / DIV_ROUND(TIMER_HW_HPTICKS_PER_SEC, 1000UL);
+#endif /* TIMER_HW_HPTICKS_PER_SEC < 100000UL */
+}
+
+void timer_delayTicks(ticks_t delay);
+/**
+ * Wait some time [ms].
+ *
+ * \note CPU is released while waiting so you don't have to call cpu_relax() explicitly.
+ * \param delay Time to wait [ms].
+ */
+INLINE void timer_delay(mtime_t delay)
+{
+	timer_delayTicks(ms_to_ticks(delay));
+}
+
+void timer_init(void);
+void timer_cleanup(void);
+
+int timer_testSetup(void);
+int timer_testRun(void);
+int timer_testTearDown(void);
+
+#if CONFIG_TIMER_UDELAY
+void timer_busyWait(hptime_t delay);
+void timer_delayHp(hptime_t delay);
+INLINE void timer_udelay(utime_t delay)
+{
+	timer_delayHp(us_to_hptime(delay));
+}
+#endif
+
+#if CONFIG_TIMER_EVENTS
+
+#include <mware/event.h>
+
+/**
+ * The timer driver supports multiple synchronous timers
+ * that can trigger an event when they expire.
+ *
+ * \sa timer_add()
+ * \sa timer_abort()
+ */
+typedef struct Timer
+{
+	Node    link;     /**< Link into timers queue */
+	ticks_t _delay;   /**< [ticks] Timer delay */
+	ticks_t tick;     /**< [ticks] When this timer will expire */
+	Event   expire;   /**< Event to execute when the timer expires */
+	DB(uint16_t magic;)
+} Timer;
+
+/* Timer is active when Timer.magic contains this value (for debugging purposes). */
+#define TIMER_MAGIC_ACTIVE    0xABBA
+#define TIMER_MAGIC_INACTIVE  0xBAAB
+
+void timer_add(Timer *timer);
+Timer *timer_abort(Timer *timer);
+
+/**
+ * Set the timer so that it calls an user hook when it expires
+ *
+ * Sometimes you may want to use the same callback for different events, so you must have
+ * different data to operate on. The user_data parameter is such data.
+ *
+ * \param timer Timer struct to set the callback to
+ * \param func  Function that will be called when the timer expires
+ * \param user_data Additional data you may want to pass to the callback
+ */
+INLINE void timer_setSoftint(Timer *timer, Hook func, iptr_t user_data)
+{
+	event_initSoftint(&timer->expire, func, user_data);
+}
+
+/**
+ * Set the timer delay (the time before the event will be triggered)
+ *
+ * \note It's illegal to change the delay of the timer when it's
+ * still running.
+ */
+INLINE void timer_setDelay(Timer *timer, ticks_t delay)
+{
+	timer->_delay = delay;
+}
+
+
+void synctimer_add(Timer *timer, List* q);
+
+/** \sa timer_abort */
+#define synctimer_abort(t) timer_abort(t)
+
+void synctimer_poll(List* q);
+
+
+#endif /* CONFIG_TIMER_EVENTS */
+
+#if defined(CONFIG_KERN_SIGNALS) && CONFIG_KERN_SIGNALS
+
+/** Set the timer so that it sends a event notification when it expires */
+INLINE void timer_setEvent(Timer *timer)
+{
+	event_initGeneric(&timer->expire);
+}
+
+/** Wait until the timer expires */
+INLINE void timer_waitEvent(Timer *timer)
+{
+	event_wait(&timer->expire);
+}
+
+/** Set the timer so that it sends a signal when it expires */
+INLINE void timer_setSignal(Timer *timer, struct Process *proc, sigmask_t sigs)
+{
+	event_initSignal(&timer->expire, proc, sigs);
+}
+
+#define timer_set_event_signal timer_setSignal
+
+#endif /* CONFIG_KERN_SIGNALS */
+
+/** \} */ //defgroup drv_timers
+
+#endif /* DRV_TIMER_H */