4 * This file is part of BeRTOS.
6 * Bertos is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
11 * This program is distributed in the hope that it will be useful,
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 * GNU General Public License for more details.
16 * You should have received a copy of the GNU General Public License
17 * along with this program; if not, write to the Free Software
18 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
20 * As a special exception, you may use this file as part of a free software
21 * library without restriction. Specifically, if other files instantiate
22 * templates or use macros or inline functions from this file, or you compile
23 * this file and link it with other files to produce an executable, this
24 * file does not by itself cause the resulting executable to be covered by
25 * the GNU General Public License. This exception does not however
26 * invalidate any other reasons why the executable file might be covered by
27 * the GNU General Public License.
29 * Copyright 2003, 2004, 2005 Develer S.r.l. (http://www.develer.com/)
30 * Copyright 2000, 2008 Bernie Innocenti <bernie@codewiz.org>
33 * \defgroup drv_timers Timer module
37 * \brief Hardware independent timer driver.
39 * All timer related functions are implemented in this module. You have several options to use timers:
40 * \li simple delay: just use timer_delay() if you want to wait for a few milliseconds;
41 * \li delay with callback: create a timer structure and use timer_setDelay() and timer_setSoftint() to set the callback;
42 * \li delay with signal: same as above but use timer_setSignal() to set specify which signal to send.
43 * \li simple synchronous timer based scheduler: use synctimer_add() to schedule an event in a user provided queue.
45 * Whenever a timer expires you need to explicitly arm it again with timer_add(). If you want to abort a timer, use timer_abort().
46 * You can use conversion macros when using msecs to specify the delay.
48 * \author Bernie Innocenti <bernie@codewiz.org>
50 * $WIZ$ module_name = "timer"
51 * $WIZ$ module_configuration = "bertos/cfg/cfg_timer.h"
52 * $WIZ$ module_depends = "event", "sysirq"
53 * $WIZ$ module_supports = "not atmega103 and not atmega8"
60 #include <cfg/macros.h>
67 * Include platform-specific binding header if we're hosted.
68 * Try the CPU specific one for bare-metal environments.
71 //#include OS_HEADER(timer)
72 #include <emul/timer_posix.h>
74 #include CPU_HEADER(timer)
77 STATIC_ASSERT(sizeof(hptime_t) == SIZEOF_HPTIME_T);
79 #include "cfg/cfg_timer.h"
80 #include <cfg/debug.h>
81 #include <cfg/compiler.h>
83 #include <struct/list.h>
86 * Sanity check for config parameters required by this module.
88 #if !defined(CONFIG_TIMER_EVENTS) || ((CONFIG_TIMER_EVENTS != 0) && CONFIG_TIMER_EVENTS != 1)
89 #error CONFIG_TIMER_EVENTS must be set to either 0 or 1 in cfg_timer.h
91 #if !defined(CONFIG_TIMER_UDELAY) || ((CONFIG_TIMER_UDELAY != 0) && CONFIG_TIMER_EVENTS != 1)
92 #error CONFIG_TIMER_UDELAY must be set to either 0 or 1 in cfg_timer.h
94 #if defined(CONFIG_TIMER_DISABLE_UDELAY)
95 #error Obosolete config option CONFIG_TIMER_DISABLE_UDELAY. Use CONFIG_TIMER_UDELAY
97 #if defined(CONFIG_TIMER_DISABLE_EVENTS)
98 #error Obosolete config option CONFIG_TIMER_DISABLE_EVENTS. Use CONFIG_TIMER_EVENTS
101 extern volatile ticks_t _clock;
104 * \brief Return the system tick counter (expressed in ticks)
106 * The result is guaranteed to increment monotonically,
107 * but client code must be tolerant with respect to overflows.
109 * The following code is safe:
113 * ticks_t tea_start_time = timer_clock();
117 * if (timer_clock() - tea_start_time > TEAPOT_DELAY)
119 * printf("Your tea, Sir.\n");
126 * \note This function must disable interrupts on 8/16bit CPUs because the
127 * clock variable is larger than the processor word size and can't
128 * be copied atomically.
131 INLINE ticks_t timer_clock(void)
135 ATOMIC(result = _clock);
141 * Faster version of timer_clock(), to be called only when the timer
142 * interrupt is disabled (DISABLE_INTS) or overridden by a
143 * higher-priority or non-nesting interrupt.
147 INLINE ticks_t timer_clock_unlocked(void)
153 /** Convert \a ms [ms] to ticks. */
154 INLINE ticks_t ms_to_ticks(mtime_t ms)
156 #if TIMER_TICKS_PER_SEC < 1000
157 /* Slow timer: avoid rounding down too much. */
158 return (ms * TIMER_TICKS_PER_SEC) / 1000;
160 /* Fast timer: don't overflow ticks_t. */
161 return ms * DIV_ROUND(TIMER_TICKS_PER_SEC, 1000);
165 /** Convert \a us [us] to ticks. */
166 INLINE ticks_t us_to_ticks(utime_t us)
168 #if TIMER_TICKS_PER_SEC < 1000
169 /* Slow timer: avoid rounding down too much. */
170 return ((us / 1000) * TIMER_TICKS_PER_SEC) / 1000;
172 /* Fast timer: don't overflow ticks_t. */
173 return (us * DIV_ROUND(TIMER_TICKS_PER_SEC, 1000)) / 1000;
177 /** Convert \a ticks [ticks] to ms. */
178 INLINE mtime_t ticks_to_ms(ticks_t ticks)
180 #if TIMER_TICKS_PER_SEC < 1000
181 /* Slow timer: avoid rounding down too much. */
182 return (ticks * 1000) / TIMER_TICKS_PER_SEC;
184 /* Fast timer: avoid overflowing ticks_t. */
185 return ticks / (TIMER_TICKS_PER_SEC / 1000);
189 /** Convert \a ticks [ticks] to us. */
190 INLINE utime_t ticks_to_us(ticks_t ticks)
192 #if TIMER_TICKS_PER_SEC < 1000
193 /* Slow timer: avoid rounding down too much. */
194 return ((ticks * 1000) / TIMER_TICKS_PER_SEC) * 1000;
196 /* Fast timer: avoid overflowing ticks_t. */
197 return (ticks / (TIMER_TICKS_PER_SEC / 1000)) * 1000;
201 /** Convert \a us [us] to hpticks */
202 INLINE hptime_t us_to_hptime(utime_t us)
204 #if TIMER_HW_HPTICKS_PER_SEC > 10000000UL
205 return us * DIV_ROUND(TIMER_HW_HPTICKS_PER_SEC, 1000000UL);
207 return (us * ((TIMER_HW_HPTICKS_PER_SEC + 500) / 1000UL) + 500) / 1000UL;
211 /** Convert \a hpticks [hptime] to usec */
212 INLINE utime_t hptime_to_us(hptime_t hpticks)
214 #if TIMER_HW_HPTICKS_PER_SEC < 100000UL
215 return hpticks * DIV_ROUND(1000000UL, TIMER_HW_HPTICKS_PER_SEC);
217 return (hpticks * 1000UL) / DIV_ROUND(TIMER_HW_HPTICKS_PER_SEC, 1000UL);
218 #endif /* TIMER_HW_HPTICKS_PER_SEC < 100000UL */
221 void timer_delayTicks(ticks_t delay);
223 * Wait some time [ms].
225 * \note CPU is released while waiting so you don't have to call cpu_relax() explicitly.
226 * \param delay Time to wait [ms].
228 INLINE void timer_delay(mtime_t delay)
230 timer_delayTicks(ms_to_ticks(delay));
233 void timer_init(void);
234 void timer_cleanup(void);
236 int timer_testSetup(void);
237 int timer_testRun(void);
238 int timer_testTearDown(void);
240 #if CONFIG_TIMER_UDELAY
241 void timer_busyWait(hptime_t delay);
242 void timer_delayHp(hptime_t delay);
243 INLINE void timer_udelay(utime_t delay)
245 timer_delayHp(us_to_hptime(delay));
249 #if CONFIG_TIMER_EVENTS
251 #include <mware/event.h>
254 * The timer driver supports multiple synchronous timers
255 * that can trigger an event when they expire.
262 Node link; /**< Link into timers queue */
263 ticks_t _delay; /**< [ticks] Timer delay */
264 ticks_t tick; /**< [ticks] When this timer will expire */
265 Event expire; /**< Event to execute when the timer expires */
269 /* Timer is active when Timer.magic contains this value (for debugging purposes). */
270 #define TIMER_MAGIC_ACTIVE 0xABBA
271 #define TIMER_MAGIC_INACTIVE 0xBAAB
273 void timer_add(Timer *timer);
274 Timer *timer_abort(Timer *timer);
277 * Set the timer so that it calls an user hook when it expires
279 * Sometimes you may want to use the same callback for different events, so you must have
280 * different data to operate on. The user_data parameter is such data.
282 * \param timer Timer struct to set the callback to
283 * \param func Function that will be called when the timer expires
284 * \param user_data Additional data you may want to pass to the callback
286 INLINE void timer_setSoftint(Timer *timer, Hook func, iptr_t user_data)
288 event_initSoftint(&timer->expire, func, user_data);
291 /** Set the timer delay (the time before the event will be triggered) */
292 INLINE void timer_setDelay(Timer *timer, ticks_t delay)
294 timer->_delay = delay;
298 void synctimer_add(Timer *timer, List* q);
300 /** \sa timer_abort */
301 #define synctimer_abort(t) timer_abort(t)
303 void synctimer_poll(List* q);
306 #endif /* CONFIG_TIMER_EVENTS */
308 #if defined(CONFIG_KERN_SIGNALS) && CONFIG_KERN_SIGNALS
310 /** Set the timer so that it sends a signal when it expires */
311 INLINE void timer_setSignal(Timer *timer, struct Process *proc, sigmask_t sigs)
313 event_initSignal(&timer->expire, proc, sigs);
316 #define timer_set_event_signal timer_setSignal
318 #endif /* CONFIG_KERN_SIGNALS */
320 /** \} */ //defgroup drv_timers
322 #endif /* DRV_TIMER_H */