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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
10#pragma once
11
49#define XTIMER_H
50
51#include <stdbool.h>
52#include <stdint.h>
53
54#include "modules.h"
55#include "timex.h"
56#ifdef MODULE_CORE_MSG
57#include "msg.h"
58#endif /* MODULE_CORE_MSG */
59#include "mutex.h"
60#include "sched.h"
61#include "rmutex.h"
62
63#if IS_USED(MODULE_ZTIMER64_XTIMER_COMPAT)
64#include "ztimer64/xtimer_compat.h" /* IWYU pragma: export */
65#elif IS_USED(MODULE_ZTIMER_XTIMER_COMPAT)
66#include "ztimer/xtimer_compat.h" /* IWYU pragma: export */
67#else
68#include "board.h"
69#if !IS_USED(MODULE_XTIMER_ON_ZTIMER)
70#include "periph_conf.h"
71#endif
72
73#ifdef __cplusplus
74extern "C" {
75#endif
76
82typedef struct {
83 uint64_t ticks64;
85
91typedef struct {
92 uint32_t ticks32;
94
98typedef void (*xtimer_callback_t)(void*);
99
103typedef struct xtimer {
104 struct xtimer *next;
105 uint32_t offset;
106 uint32_t long_offset;
107 uint32_t start_time;
111 void *arg;
113
122static inline xtimer_ticks32_t xtimer_now(void);
123
129static inline xtimer_ticks64_t xtimer_now64(void);
130
137
143static inline uint32_t xtimer_now_usec(void);
144
150static inline uint64_t xtimer_now_usec64(void);
151
158void xtimer_init(void);
159
169static inline void xtimer_sleep(uint32_t seconds);
170
176static inline void xtimer_msleep(uint32_t milliseconds);
177
187static inline void xtimer_usleep(uint32_t microseconds);
188
196static inline void xtimer_usleep64(uint64_t microseconds);
197
213static inline void xtimer_nanosleep(uint32_t nanoseconds);
214
224static inline void xtimer_tsleep32(xtimer_ticks32_t ticks);
225
235static inline void xtimer_tsleep64(xtimer_ticks64_t ticks);
236
244static inline void xtimer_spin(xtimer_ticks32_t ticks);
245
263static inline void xtimer_periodic_wakeup(xtimer_ticks32_t *last_wakeup, uint32_t period);
264
275static inline void xtimer_set_wakeup(xtimer_t *timer, uint32_t offset, kernel_pid_t pid);
276
287static inline void xtimer_set_wakeup64(xtimer_t *timer, uint64_t offset, kernel_pid_t pid);
288
305static inline void xtimer_set(xtimer_t *timer, uint32_t offset);
306
324static inline void xtimer_set64(xtimer_t *timer, uint64_t offset_us);
325
334
340static inline bool xtimer_is_set(const xtimer_t *timer);
341
349static inline xtimer_ticks32_t xtimer_ticks_from_usec(uint32_t usec);
350
358static inline xtimer_ticks64_t xtimer_ticks_from_usec64(uint64_t usec);
359
367static inline uint32_t xtimer_usec_from_ticks(xtimer_ticks32_t ticks);
368
376static inline uint64_t xtimer_usec_from_ticks64(xtimer_ticks64_t ticks);
377
385static inline xtimer_ticks32_t xtimer_ticks(uint32_t ticks);
386
394static inline xtimer_ticks64_t xtimer_ticks64(uint64_t ticks);
395
405
415
425
435
445
455int xtimer_mutex_lock_timeout(mutex_t *mutex, uint64_t us);
456
466int xtimer_rmutex_lock_timeout(rmutex_t *rmutex, uint64_t us);
467
468#if defined(MODULE_CORE_THREAD_FLAGS) || defined(DOXYGEN)
469
479void xtimer_set_timeout_flag(xtimer_t *t, uint32_t timeout);
480
489void xtimer_set_timeout_flag64(xtimer_t *t, uint64_t timeout);
490#endif
491
500uint64_t xtimer_left_usec(const xtimer_t *timer);
501
502#if defined(MODULE_CORE_MSG) || defined(DOXYGEN)
517static inline void xtimer_set_msg(xtimer_t *timer, uint32_t offset, msg_t *msg, kernel_pid_t target_pid);
518
533static inline void xtimer_set_msg64(xtimer_t *timer, uint64_t offset, msg_t *msg, kernel_pid_t target_pid);
534
544static inline int xtimer_msg_receive_timeout(msg_t *msg, uint32_t timeout);
545
555static inline int xtimer_msg_receive_timeout64(msg_t *msg, uint64_t timeout);
556#endif
557
566#ifndef XTIMER_BACKOFF
567#define XTIMER_BACKOFF 30
568#endif
569
570#ifndef XTIMER_ISR_BACKOFF
579#define XTIMER_ISR_BACKOFF 20
580#endif
581
582/*
583 * Default xtimer configuration
584 */
585#ifndef XTIMER_DEV
589#define XTIMER_DEV TIMER_DEV(0)
593#define XTIMER_CHAN (0)
594
595#if (TIMER_0_MAX_VALUE) == 0xfffffful
596#define XTIMER_WIDTH (24)
597#elif (TIMER_0_MAX_VALUE) == 0xffff
598#define XTIMER_WIDTH (16)
599#endif
600
601#endif
602
603#ifndef XTIMER_WIDTH
610#define XTIMER_WIDTH (32)
611#endif
612
613#if (XTIMER_WIDTH != 32) || DOXYGEN
623#define XTIMER_MASK ((0xffffffff >> XTIMER_WIDTH) << XTIMER_WIDTH)
624#else
625#define XTIMER_MASK (0)
626#endif
627
631#define XTIMER_HZ_BASE (1000000ul)
632
633#if !defined(XTIMER_HZ) && !defined(MODULE_XTIMER_ON_ZTIMER)
637#define XTIMER_HZ XTIMER_HZ_BASE
638#endif
639
640#if !defined(XTIMER_SHIFT) && !defined(MODULE_XTIMER_ON_ZTIMER)
641#if (XTIMER_HZ == 32768ul)
642/* No shift necessary, the conversion is not a power of two and is handled by
643 * functions in tick_conversion.h */
644#define XTIMER_SHIFT (0)
645#elif (XTIMER_HZ == XTIMER_HZ_BASE)
661#define XTIMER_SHIFT (0)
662#elif (XTIMER_HZ >> 1 == XTIMER_HZ_BASE) || (XTIMER_HZ << 1 == XTIMER_HZ_BASE)
663#define XTIMER_SHIFT (1)
664#elif (XTIMER_HZ >> 2 == XTIMER_HZ_BASE) || (XTIMER_HZ << 2 == XTIMER_HZ_BASE)
665#define XTIMER_SHIFT (2)
666#elif (XTIMER_HZ >> 3 == XTIMER_HZ_BASE) || (XTIMER_HZ << 3 == XTIMER_HZ_BASE)
667#define XTIMER_SHIFT (3)
668#elif (XTIMER_HZ >> 4 == XTIMER_HZ_BASE) || (XTIMER_HZ << 4 == XTIMER_HZ_BASE)
669#define XTIMER_SHIFT (4)
670#elif (XTIMER_HZ >> 5 == XTIMER_HZ_BASE) || (XTIMER_HZ << 5 == XTIMER_HZ_BASE)
671#define XTIMER_SHIFT (5)
672#elif (XTIMER_HZ >> 6 == XTIMER_HZ_BASE) || (XTIMER_HZ << 6 == XTIMER_HZ_BASE)
673#define XTIMER_SHIFT (6)
674#else
675#error "XTIMER_SHIFT cannot be derived for given XTIMER_HZ, verify settings!"
676#endif
677#elif !defined(MODULE_XTIMER_ON_ZTIMER)
678#error "XTIMER_SHIFT is set relative to XTIMER_HZ, no manual define required!"
679#endif
680
682
684
685#ifdef __cplusplus
686}
687#endif
688
689#endif /* MODULE_ZTIMER_XTIMER_COMPAT */
690
int16_t kernel_pid_t
Unique process identifier.
Definition sched.h:138
void xtimer_set_timeout_flag64(xtimer_t *t, uint64_t timeout)
Set timeout thread flag after timeout.
static void xtimer_usleep(uint32_t microseconds)
Pause the execution of a thread for some microseconds.
static xtimer_ticks32_t xtimer_diff(xtimer_ticks32_t a, xtimer_ticks32_t b)
Compute difference between two xtimer time stamps.
static uint32_t xtimer_now_usec(void)
get the current system time in microseconds since start
static xtimer_ticks64_t xtimer_ticks_from_usec64(uint64_t usec)
Convert microseconds to xtimer ticks, 64 bit version.
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.
void xtimer_remove(xtimer_t *timer)
remove a timer
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.
static bool xtimer_less64(xtimer_ticks64_t a, xtimer_ticks64_t b)
Compare two xtimer time stamps, 64 bit version.
static xtimer_ticks64_t xtimer_now64(void)
get the current system time as 64bit time stamp
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.
void(* xtimer_callback_t)(void *)
xtimer callback type
Definition xtimer.h:98
static void xtimer_tsleep32(xtimer_ticks32_t ticks)
Stop execution of a thread for some time, 32bit version.
static void xtimer_msleep(uint32_t milliseconds)
Pause the execution of a thread for some milliseconds.
static void xtimer_sleep(uint32_t seconds)
Pause the execution of a thread for some seconds.
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.
int xtimer_rmutex_lock_timeout(rmutex_t *rmutex, uint64_t us)
lock a rmutex but with timeout
static xtimer_ticks64_t xtimer_ticks64(uint64_t ticks)
Create an xtimer time stamp, 64 bit version.
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 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.
static bool xtimer_less(xtimer_ticks32_t a, xtimer_ticks32_t b)
Compare two xtimer time stamps.
static uint32_t xtimer_usec_from_ticks(xtimer_ticks32_t ticks)
Convert xtimer ticks to microseconds.
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 void xtimer_usleep64(uint64_t microseconds)
Pause the execution of a thread for some microseconds.
static int xtimer_msg_receive_timeout(msg_t *msg, uint32_t timeout)
receive a message blocking but with timeout
void xtimer_now_timex(timex_t *out)
get the current system time into a timex_t
void xtimer_set_timeout_flag(xtimer_t *t, uint32_t timeout)
Set timeout thread flag after timeout.
static void xtimer_tsleep64(xtimer_ticks64_t ticks)
Stop execution of a thread for some time, 64bit version.
static void xtimer_nanosleep(uint32_t nanoseconds)
Stop execution of a thread for some time.
static void xtimer_set_wakeup(xtimer_t *timer, uint32_t offset, kernel_pid_t pid)
Set a timer that wakes up a thread.
void xtimer_init(void)
xtimer initialization function
static void xtimer_spin(xtimer_ticks32_t ticks)
Stop execution of a thread for some time, blocking.
static uint64_t xtimer_now_usec64(void)
get the current system time in microseconds since start
static void xtimer_set(xtimer_t *timer, uint32_t offset)
Set a timer to execute a callback at some time in the future.
static xtimer_ticks32_t xtimer_ticks_from_usec(uint32_t usec)
Convert microseconds to xtimer ticks.
struct xtimer xtimer_t
xtimer timer structure
static xtimer_ticks32_t xtimer_ticks(uint32_t ticks)
Create an xtimer time stamp.
static xtimer_ticks32_t xtimer_now(void)
get the current system time as 32bit time stamp value
static bool xtimer_is_set(const xtimer_t *timer)
state if an xtimer is currently set (waiting to be expired)
static uint64_t xtimer_usec_from_ticks64(xtimer_ticks64_t ticks)
Convert xtimer ticks to microseconds, 64 bit version.
static int xtimer_msg_receive_timeout64(msg_t *msg, uint64_t timeout)
receive a message blocking but with timeout, 64bit version
uint64_t xtimer_left_usec(const xtimer_t *timer)
Get remaining time of timer.
xtimer implementation
Common macros and compiler attributes/pragmas configuration.
Mutex for thread synchronization.
Recursive Mutex for thread synchronization.
Scheduler API definition.
Describes a message object which can be sent between threads.
Definition msg.h:195
Mutex structure.
Definition mutex.h:39
Mutex structure.
Definition rmutex.h:37
A timex timestamp.
Definition timex.h:49
xtimer timestamp (32 bit)
Definition xtimer.h:91
uint32_t ticks32
Tick count.
Definition xtimer.h:92
xtimer timestamp (64 bit)
Definition xtimer.h:82
uint64_t ticks64
Tick count.
Definition xtimer.h:83
xtimer timer structure
Definition xtimer.h:103
uint32_t long_offset
upper 32bit offset time
Definition xtimer.h:106
struct xtimer * next
reference to next timer in timer lists
Definition xtimer.h:104
void * arg
argument to pass to callback function
Definition xtimer.h:111
uint32_t start_time
lower 32bit absolute start time
Definition xtimer.h:107
uint32_t long_start_time
upper 32bit absolute start time
Definition xtimer.h:108
xtimer_callback_t callback
callback function to call when timer expires
Definition xtimer.h:109
uint32_t offset
lower 32bit offset time
Definition xtimer.h:105
xtimer tick <-> seconds conversions for different values of XTIMER_HZ
Utility library for comparing and computing timestamps.
ztimer64 xtimer wrapper interface
ztimer xtimer wrapper interface