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>
68 * Include platform-specific binding header if we're hosted.
69 * Try the CPU specific one for bare-metal environments.
72 //#include OS_HEADER(timer)
73 #include <emul/timer_posix.h>
75 #include CPU_HEADER(timer)
78 STATIC_ASSERT(sizeof(hptime_t) == SIZEOF_HPTIME_T);
80 #include "cfg/cfg_timer.h"
81 #include <cfg/debug.h>
82 #include <cfg/compiler.h>
84 #include <struct/list.h>
87 * Sanity check for config parameters required by this module.
89 #if !defined(CONFIG_TIMER_EVENTS) || ((CONFIG_TIMER_EVENTS != 0) && CONFIG_TIMER_EVENTS != 1)
90 #error CONFIG_TIMER_EVENTS must be set to either 0 or 1 in cfg_timer.h
92 #if !defined(CONFIG_TIMER_UDELAY) || ((CONFIG_TIMER_UDELAY != 0) && CONFIG_TIMER_EVENTS != 1)
93 #error CONFIG_TIMER_UDELAY must be set to either 0 or 1 in cfg_timer.h
95 #if defined(CONFIG_TIMER_DISABLE_UDELAY)
96 #error Obosolete config option CONFIG_TIMER_DISABLE_UDELAY. Use CONFIG_TIMER_UDELAY
98 #if defined(CONFIG_TIMER_DISABLE_EVENTS)
99 #error Obosolete config option CONFIG_TIMER_DISABLE_EVENTS. Use CONFIG_TIMER_EVENTS
102 extern volatile ticks_t _clock;
104 #define TIMER_AFTER(x, y) ((long)(y) - (long)(x) < 0)
105 #define TIMER_BEFORE(x, y) TIMER_AFTER(y, x)
108 * \brief Return the system tick counter (expressed in ticks)
110 * The result is guaranteed to increment monotonically,
111 * but client code must be tolerant with respect to overflows.
113 * The following code is safe:
117 * ticks_t tea_start_time = timer_clock();
121 * if (timer_clock() - tea_start_time > TEAPOT_DELAY)
123 * printf("Your tea, Sir.\n");
130 * \note This function must disable interrupts on 8/16bit CPUs because the
131 * clock variable is larger than the processor word size and can't
132 * be copied atomically.
135 INLINE ticks_t timer_clock(void)
139 ATOMIC(result = _clock);
145 * Faster version of timer_clock(), to be called only when the timer
146 * interrupt is disabled (DISABLE_INTS) or overridden by a
147 * higher-priority or non-nesting interrupt.
151 INLINE ticks_t timer_clock_unlocked(void)
157 /** Convert \a ms [ms] to ticks. */
158 INLINE ticks_t ms_to_ticks(mtime_t ms)
160 #if TIMER_TICKS_PER_SEC < 1000
161 /* Slow timer: avoid rounding down too much. */
162 return (ms * TIMER_TICKS_PER_SEC) / 1000;
164 /* Fast timer: don't overflow ticks_t. */
165 return ms * DIV_ROUND(TIMER_TICKS_PER_SEC, 1000);
169 /** Convert \a us [us] to ticks. */
170 INLINE ticks_t us_to_ticks(utime_t us)
172 #if TIMER_TICKS_PER_SEC < 1000
173 /* Slow timer: avoid rounding down too much. */
174 return ((us / 1000) * TIMER_TICKS_PER_SEC) / 1000;
176 /* Fast timer: don't overflow ticks_t. */
177 return (us * DIV_ROUND(TIMER_TICKS_PER_SEC, 1000)) / 1000;
181 /** Convert \a ticks [ticks] to ms. */
182 INLINE mtime_t ticks_to_ms(ticks_t ticks)
184 #if TIMER_TICKS_PER_SEC < 1000
185 /* Slow timer: avoid rounding down too much. */
186 return (ticks * 1000) / TIMER_TICKS_PER_SEC;
188 /* Fast timer: avoid overflowing ticks_t. */
189 return ticks / (TIMER_TICKS_PER_SEC / 1000);
193 /** Convert \a ticks [ticks] to us. */
194 INLINE utime_t ticks_to_us(ticks_t ticks)
196 #if TIMER_TICKS_PER_SEC < 1000
197 /* Slow timer: avoid rounding down too much. */
198 return ((ticks * 1000) / TIMER_TICKS_PER_SEC) * 1000;
200 /* Fast timer: avoid overflowing ticks_t. */
201 return (ticks / (TIMER_TICKS_PER_SEC / 1000)) * 1000;
205 /** Convert \a us [us] to hpticks */
206 INLINE hptime_t us_to_hptime(utime_t us)
208 #if TIMER_HW_HPTICKS_PER_SEC > 10000000UL
209 return us * DIV_ROUND(TIMER_HW_HPTICKS_PER_SEC, 1000000UL);
211 return (us * ((TIMER_HW_HPTICKS_PER_SEC + 500) / 1000UL) + 500) / 1000UL;
215 /** Convert \a hpticks [hptime] to usec */
216 INLINE utime_t hptime_to_us(hptime_t hpticks)
218 #if TIMER_HW_HPTICKS_PER_SEC < 100000UL
219 return hpticks * DIV_ROUND(1000000UL, TIMER_HW_HPTICKS_PER_SEC);
221 return (hpticks * 1000UL) / DIV_ROUND(TIMER_HW_HPTICKS_PER_SEC, 1000UL);
222 #endif /* TIMER_HW_HPTICKS_PER_SEC < 100000UL */
225 void timer_delayTicks(ticks_t delay);
227 * Wait some time [ms].
229 * \note CPU is released while waiting so you don't have to call cpu_relax() explicitly.
230 * \param delay Time to wait [ms].
232 INLINE void timer_delay(mtime_t delay)
234 timer_delayTicks(ms_to_ticks(delay));
237 void timer_init(void);
238 void timer_cleanup(void);
240 int timer_testSetup(void);
241 int timer_testRun(void);
242 int timer_testTearDown(void);
244 #if CONFIG_TIMER_UDELAY
245 void timer_busyWait(hptime_t delay);
246 void timer_delayHp(hptime_t delay);
247 INLINE void timer_udelay(utime_t delay)
249 timer_delayHp(us_to_hptime(delay));
253 #if CONFIG_TIMER_EVENTS
255 #include <mware/event.h>
258 * The timer driver supports multiple synchronous timers
259 * that can trigger an event when they expire.
266 Node link; /**< Link into timers queue */
267 ticks_t _delay; /**< [ticks] Timer delay */
268 ticks_t tick; /**< [ticks] When this timer will expire */
269 Event expire; /**< Event to execute when the timer expires */
273 /* Timer is active when Timer.magic contains this value (for debugging purposes). */
274 #define TIMER_MAGIC_ACTIVE 0xABBA
275 #define TIMER_MAGIC_INACTIVE 0xBAAB
277 void timer_add(Timer *timer);
278 Timer *timer_abort(Timer *timer);
281 * Set the timer so that it calls an user hook when it expires
283 * Sometimes you may want to use the same callback for different events, so you must have
284 * different data to operate on. The user_data parameter is such data.
286 * \param timer Timer struct to set the callback to
287 * \param func Function that will be called when the timer expires
288 * \param user_data Additional data you may want to pass to the callback
290 INLINE void timer_setSoftint(Timer *timer, Hook func, iptr_t user_data)
292 event_initSoftint(&timer->expire, func, user_data);
296 * Set the timer delay (the time before the event will be triggered)
298 * \note It's illegal to change the delay of the timer when it's
301 INLINE void timer_setDelay(Timer *timer, ticks_t delay)
303 timer->_delay = delay;
307 void synctimer_add(Timer *timer, List* q);
309 /** \sa timer_abort */
310 #define synctimer_abort(t) timer_abort(t)
312 void synctimer_poll(List* q);
315 * Extract the timeout for the next event.
317 * \return Timeout of the next event (may be 0), or -1 on errors.
319 INLINE ticks_t synctimer_nextTimeout(List *q)
321 ticks_t timeout = -1;
325 Timer *expiring_timer = (Timer *)LIST_HEAD(q);
326 timeout = MAX(expiring_timer->tick - timer_clock(), (ticks_t)0);
332 * Explicitly mark a timer as executed.
334 * When a timer is marked as executed, it is inactive until the next
335 * call to synctimer_add().
336 * Normally you shouldn't need to call this function explicitly, as all
337 * timers in this module are designed to stop themselves after a while
338 * (eg. retransmission timer will stop after a few retransmissions).
339 * The only exception is at startup, where you should mark all timers
340 * as executed to avoid spurious events.
342 * \note We can't rely on REMOVE() of synctimer_poll() since in release mode
345 INLINE void synctimer_executed(Timer *t)
347 memset(&t->link, 0, sizeof(Node));
351 * Test if a timer is active.
353 * In the general case it should be ATOMIC() and timer.link should always
356 INLINE bool synctimer_active(Timer *t)
358 return !(t->link.pred == NULL && t->link.succ == NULL);
362 INLINE void synctimer_stop(Timer *timer)
364 if (synctimer_active(timer))
367 synctimer_executed(timer);
371 INLINE void synctimer_restart(Timer *timer, List *list, mtime_t timeout)
373 synctimer_stop(timer);
375 timer_setDelay(timer, ms_to_ticks(timeout));
376 synctimer_add(timer, list);
379 void synctimer_readd(Timer *timer, List *queue);
381 #endif /* CONFIG_TIMER_EVENTS */
383 #if defined(CONFIG_KERN_SIGNALS) && CONFIG_KERN_SIGNALS
385 /** Set the timer so that it sends a signal when it expires */
386 INLINE void timer_setSignal(Timer *timer, struct Process *proc, sigmask_t sigs)
388 event_initSignal(&timer->expire, proc, sigs);
391 #define timer_set_event_signal timer_setSignal
393 #endif /* CONFIG_KERN_SIGNALS */
395 /** \} */ //defgroup drv_timers
397 #endif /* DRV_TIMER_H */