xtimer.h
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1 /*
2  * Copyright (C) 2015 Kaspar Schleiser <kaspar@schleiser.de>
3  * Copyright (C) 2016 Eistec AB
4  *
5  * This file is subject to the terms and conditions of the GNU Lesser
6  * General Public License v2.1. See the file LICENSE in the top level
7  * directory for more details.
8  */
9 
29 #ifndef XTIMER_H
30 #define XTIMER_H
31 
32 #include <stdbool.h>
33 #include <stdint.h>
34 #include "timex.h"
35 #ifdef MODULE_CORE_MSG
36 #include "msg.h"
37 #endif /* MODULE_CORE_MSG */
38 #include "mutex.h"
39 #include "kernel_types.h"
40 
41 #include "board.h"
42 #include "periph_conf.h"
43 
44 #ifdef __cplusplus
45 extern "C" {
46 #endif
47 
53 typedef struct {
54  uint64_t ticks64;
56 
62 typedef struct {
63  uint32_t ticks32;
65 
69 typedef void (*xtimer_callback_t)(void*);
70 
74 typedef struct xtimer {
75  struct xtimer *next;
76  uint32_t target;
77  uint32_t long_target;
80  void *arg;
81 } xtimer_t;
82 
91 static inline xtimer_ticks32_t xtimer_now(void);
92 
98 static inline xtimer_ticks64_t xtimer_now64(void);
99 
105 void xtimer_now_timex(timex_t *out);
106 
112 static inline uint32_t xtimer_now_usec(void);
113 
119 static inline uint64_t xtimer_now_usec64(void);
120 
127 void xtimer_init(void);
128 
138 static inline void xtimer_sleep(uint32_t seconds);
139 
149 static inline void xtimer_usleep(uint32_t microseconds);
150 
162 static inline void xtimer_nanosleep(uint32_t nanoseconds);
163 
173 static inline void xtimer_tsleep32(xtimer_ticks32_t ticks);
174 
184 static inline void xtimer_tsleep64(xtimer_ticks64_t ticks);
185 
193 static inline void xtimer_spin(xtimer_ticks32_t ticks);
194 
212 static inline void xtimer_periodic_wakeup(xtimer_ticks32_t *last_wakeup, uint32_t period);
213 
226 static inline void xtimer_set_wakeup(xtimer_t *timer, uint32_t offset, kernel_pid_t pid);
227 
240 static inline void xtimer_set_wakeup64(xtimer_t *timer, uint64_t offset, kernel_pid_t pid);
241 
260 static inline void xtimer_set(xtimer_t *timer, uint32_t offset);
261 
281 static inline void xtimer_set64(xtimer_t *timer, uint64_t offset_us);
282 
290 void xtimer_remove(xtimer_t *timer);
291 
299 static inline xtimer_ticks32_t xtimer_ticks_from_usec(uint32_t usec);
300 
308 static inline xtimer_ticks64_t xtimer_ticks_from_usec64(uint64_t usec);
309 
317 static inline uint32_t xtimer_usec_from_ticks(xtimer_ticks32_t ticks);
318 
326 static inline uint64_t xtimer_usec_from_ticks64(xtimer_ticks64_t ticks);
327 
335 static inline xtimer_ticks32_t xtimer_ticks(uint32_t ticks);
336 
344 static inline xtimer_ticks64_t xtimer_ticks64(uint64_t ticks);
345 
355 
365 
375 
384 static inline bool xtimer_less(xtimer_ticks32_t a, xtimer_ticks32_t b);
385 
394 static inline bool xtimer_less64(xtimer_ticks64_t a, xtimer_ticks64_t b);
395 
405 int xtimer_mutex_lock_timeout(mutex_t *mutex, uint64_t us);
406 
416 void xtimer_set_timeout_flag(xtimer_t *t, uint32_t timeout);
417 
418 #if defined(MODULE_CORE_MSG) || defined(DOXYGEN)
419 
435 static inline void xtimer_set_msg(xtimer_t *timer, uint32_t offset, msg_t *msg, kernel_pid_t target_pid);
436 
453 static inline void xtimer_set_msg64(xtimer_t *timer, uint64_t offset, msg_t *msg, kernel_pid_t target_pid);
454 
464 static inline int xtimer_msg_receive_timeout(msg_t *msg, uint32_t timeout);
465 
475 static inline int xtimer_msg_receive_timeout64(msg_t *msg, uint64_t timeout);
476 #endif
477 
486 #ifndef XTIMER_BACKOFF
487 #define XTIMER_BACKOFF 30
488 #endif
489 
509 #ifndef XTIMER_OVERHEAD
510 #define XTIMER_OVERHEAD 20
511 #endif
512 
513 #ifndef XTIMER_ISR_BACKOFF
514 
522 #define XTIMER_ISR_BACKOFF 20
523 #endif
524 
525 #ifndef XTIMER_PERIODIC_SPIN
526 
532 #define XTIMER_PERIODIC_SPIN (XTIMER_BACKOFF * 2)
533 #endif
534 
535 #ifndef XTIMER_PERIODIC_RELATIVE
536 
545 #define XTIMER_PERIODIC_RELATIVE (512)
546 #endif
547 
548 /*
549  * Default xtimer configuration
550  */
551 #ifndef XTIMER_DEV
552 
555 #define XTIMER_DEV TIMER_DEV(0)
556 
559 #define XTIMER_CHAN (0)
560 
561 #if (TIMER_0_MAX_VALUE) == 0xfffffful
562 #define XTIMER_WIDTH (24)
563 #elif (TIMER_0_MAX_VALUE) == 0xffff
564 #define XTIMER_WIDTH (16)
565 #endif
566 
567 #endif
568 
569 #ifndef XTIMER_WIDTH
570 
576 #define XTIMER_WIDTH (32)
577 #endif
578 
579 #if (XTIMER_WIDTH != 32) || DOXYGEN
580 
589 #define XTIMER_MASK ((0xffffffff >> XTIMER_WIDTH) << XTIMER_WIDTH)
590 #else
591 #define XTIMER_MASK (0)
592 #endif
593 
597 #define XTIMER_HZ_BASE (1000000ul)
598 
599 #ifndef XTIMER_HZ
600 
603 #define XTIMER_HZ XTIMER_HZ_BASE
604 #endif
605 
606 #ifndef XTIMER_SHIFT
607 #if (XTIMER_HZ == 32768ul)
608 /* No shift necessary, the conversion is not a power of two and is handled by
609  * functions in tick_conversion.h */
610 #define XTIMER_SHIFT (0)
611 #elif (XTIMER_HZ == XTIMER_HZ_BASE)
612 
627 #define XTIMER_SHIFT (0)
628 #elif (XTIMER_HZ >> 1 == XTIMER_HZ_BASE) || (XTIMER_HZ << 1 == XTIMER_HZ_BASE)
629 #define XTIMER_SHIFT (1)
630 #elif (XTIMER_HZ >> 2 == XTIMER_HZ_BASE) || (XTIMER_HZ << 2 == XTIMER_HZ_BASE)
631 #define XTIMER_SHIFT (2)
632 #elif (XTIMER_HZ >> 3 == XTIMER_HZ_BASE) || (XTIMER_HZ << 3 == XTIMER_HZ_BASE)
633 #define XTIMER_SHIFT (3)
634 #elif (XTIMER_HZ >> 4 == XTIMER_HZ_BASE) || (XTIMER_HZ << 4 == XTIMER_HZ_BASE)
635 #define XTIMER_SHIFT (4)
636 #elif (XTIMER_HZ >> 5 == XTIMER_HZ_BASE) || (XTIMER_HZ << 5 == XTIMER_HZ_BASE)
637 #define XTIMER_SHIFT (5)
638 #elif (XTIMER_HZ >> 6 == XTIMER_HZ_BASE) || (XTIMER_HZ << 6 == XTIMER_HZ_BASE)
639 #define XTIMER_SHIFT (6)
640 #else
641 #error "XTIMER_SHIFT cannot be derived for given XTIMER_HZ, verify settings!"
642 #endif
643 #else
644 #error "XTIMER_SHIFT is set relative to XTIMER_HZ, no manual define required!"
645 #endif
646 
647 #include "xtimer/tick_conversion.h"
648 
649 #include "xtimer/implementation.h"
650 
651 #ifdef __cplusplus
652 }
653 #endif
654 
656 #endif /* XTIMER_H */
Types used by the kernel.
static xtimer_ticks64_t xtimer_ticks64(uint64_t ticks)
Create an xtimer time stamp, 64 bit version.
static uint64_t xtimer_usec_from_ticks64(xtimer_ticks64_t ticks)
Convert xtimer ticks to microseconds, 64 bit version.
A timex timestamp.
Definition: timex.h:79
static void xtimer_set_msg64(xtimer_t *timer, uint64_t offset, msg_t *msg, kernel_pid_t target_pid)
Set a timer that sends a message, 64bit version.
static void xtimer_tsleep32(xtimer_ticks32_t ticks)
Stop execution of a thread for some time, 32bit version.
static uint64_t xtimer_now_usec64(void)
get the current system time in microseconds since start
static void xtimer_periodic_wakeup(xtimer_ticks32_t *last_wakeup, uint32_t period)
will cause the calling thread to be suspended until the absolute time (last_wakeup + period)...
static uint32_t xtimer_now_usec(void)
get the current system time in microseconds since start
static xtimer_ticks64_t xtimer_diff64(xtimer_ticks64_t a, xtimer_ticks64_t b)
Compute difference between two xtimer time stamps, 64 bit version.
int xtimer_mutex_lock_timeout(mutex_t *mutex, uint64_t us)
lock a mutex but with timeout
static xtimer_ticks64_t xtimer_now64(void)
get the current system time as 64bit time stamp
void xtimer_now_timex(timex_t *out)
get the current system time into a timex_t
static void xtimer_set_wakeup64(xtimer_t *timer, uint64_t offset, kernel_pid_t pid)
Set a timer that wakes up a thread, 64bit version.
xtimer tick <-> seconds conversions for different values of XTIMER_HZ
uint32_t target
lower 32bit absolute target time
Definition: xtimer.h:76
int16_t kernel_pid_t
Unique process identifier.
Definition: kernel_types.h:83
static void xtimer_usleep(uint32_t microseconds)
Pause the execution of a thread for some microseconds.
static void xtimer_nanosleep(uint32_t nanoseconds)
Stop execution of a thread for some time.
Utility library for comparing and computing timestamps.
static xtimer_ticks32_t xtimer_ticks_from_usec(uint32_t usec)
Convert microseconds to xtimer ticks.
struct xtimer xtimer_t
xtimer timer structure
void xtimer_set_timeout_flag(xtimer_t *t, uint32_t timeout)
Set timeout thread flag after timeout.
uint64_t ticks64
Tick count.
Definition: xtimer.h:54
Messaging API for inter process communication.
static xtimer_ticks32_t xtimer_diff32_64(xtimer_ticks64_t a, xtimer_ticks64_t b)
Compute 32 bit difference between two 64 bit xtimer time stamps.
uint32_t ticks32
Tick count.
Definition: xtimer.h:63
void(* xtimer_callback_t)(void *)
xtimer callback type
Definition: xtimer.h:69
static void xtimer_spin(xtimer_ticks32_t ticks)
Stop execution of a thread for some time, blocking.
Describes a message object which can be sent between threads.
Definition: msg.h:184
static void xtimer_tsleep64(xtimer_ticks64_t ticks)
Stop execution of a thread for some time, 64bit version.
static void xtimer_set64(xtimer_t *timer, uint64_t offset_us)
Set a timer to execute a callback at some time in the future, 64bit version.
static xtimer_ticks64_t xtimer_ticks_from_usec64(uint64_t usec)
Convert microseconds to xtimer ticks, 64 bit version.
static xtimer_ticks32_t xtimer_diff(xtimer_ticks32_t a, xtimer_ticks32_t b)
Compute difference between two xtimer time stamps.
Mutex for thread synchronization.
static void xtimer_set(xtimer_t *timer, uint32_t offset)
Set a timer to execute a callback at some time in the future.
static void xtimer_sleep(uint32_t seconds)
Pause the execution of a thread for some seconds.
static xtimer_ticks32_t xtimer_ticks(uint32_t ticks)
Create an xtimer time stamp.
static bool xtimer_less64(xtimer_ticks64_t a, xtimer_ticks64_t b)
Compare two xtimer time stamps, 64 bit version.
uint32_t long_target
upper 32bit absolute target time
Definition: xtimer.h:77
xtimer timer structure
Definition: xtimer.h:74
Mutex structure.
Definition: mutex.h:36
static void xtimer_set_msg(xtimer_t *timer, uint32_t offset, msg_t *msg, kernel_pid_t target_pid)
Set a timer that sends a message.
void xtimer_init(void)
xtimer initialization function
void xtimer_remove(xtimer_t *timer)
remove a timer
static int xtimer_msg_receive_timeout64(msg_t *msg, uint64_t timeout)
receive a message blocking but with timeout, 64bit version
void * arg
argument to pass to callback function
Definition: xtimer.h:80
static bool xtimer_less(xtimer_ticks32_t a, xtimer_ticks32_t b)
Compare two xtimer time stamps.
xtimer implementation
xtimer_callback_t callback
callback function to call when timer expires
Definition: xtimer.h:78
xtimer timestamp (32 bit)
Definition: xtimer.h:62
struct xtimer * next
reference to next timer in timer lists
Definition: xtimer.h:75
xtimer timestamp (64 bit)
Definition: xtimer.h:53
static uint32_t xtimer_usec_from_ticks(xtimer_ticks32_t ticks)
Convert xtimer ticks to microseconds.
static void xtimer_set_wakeup(xtimer_t *timer, uint32_t offset, kernel_pid_t pid)
Set a timer that wakes up a thread.
static int xtimer_msg_receive_timeout(msg_t *msg, uint32_t timeout)
receive a message blocking but with timeout
static xtimer_ticks32_t xtimer_now(void)
get the current system time as 32bit time stamp value