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 #include "rmutex.h"
41 
42 #ifdef MODULE_ZTIMER_XTIMER_COMPAT
43 #include "ztimer/xtimer_compat.h"
44 #else
45 
46 #include "board.h"
47 #ifndef MODULE_XTIMER_ON_ZTIMER
48 #include "periph_conf.h"
49 #endif
50 
51 #ifdef __cplusplus
52 extern "C" {
53 #endif
54 
60 typedef struct {
61  uint64_t ticks64;
63 
69 typedef struct {
70  uint32_t ticks32;
72 
76 typedef void (*xtimer_callback_t)(void*);
77 
81 typedef struct xtimer {
82  struct xtimer *next;
83  uint32_t offset;
84  uint32_t long_offset;
85  uint32_t start_time;
86  uint32_t long_start_time;
89  void *arg;
90 } xtimer_t;
91 
100 static inline xtimer_ticks32_t xtimer_now(void);
101 
107 static inline xtimer_ticks64_t xtimer_now64(void);
108 
114 void xtimer_now_timex(timex_t *out);
115 
121 static inline uint32_t xtimer_now_usec(void);
122 
128 static inline uint64_t xtimer_now_usec64(void);
129 
136 void xtimer_init(void);
137 
147 static inline void xtimer_sleep(uint32_t seconds);
148 
158 static inline void xtimer_usleep(uint32_t microseconds);
159 
167 static inline void xtimer_usleep64(uint64_t microseconds);
168 
180 static inline void xtimer_nanosleep(uint32_t nanoseconds);
181 
191 static inline void xtimer_tsleep32(xtimer_ticks32_t ticks);
192 
202 static inline void xtimer_tsleep64(xtimer_ticks64_t ticks);
203 
211 static inline void xtimer_spin(xtimer_ticks32_t ticks);
212 
230 static inline void xtimer_periodic_wakeup(xtimer_ticks32_t *last_wakeup, uint32_t period);
231 
242 static inline void xtimer_set_wakeup(xtimer_t *timer, uint32_t offset, kernel_pid_t pid);
243 
254 static inline void xtimer_set_wakeup64(xtimer_t *timer, uint64_t offset, kernel_pid_t pid);
255 
272 static inline void xtimer_set(xtimer_t *timer, uint32_t offset);
273 
291 static inline void xtimer_set64(xtimer_t *timer, uint64_t offset_us);
292 
300 void xtimer_remove(xtimer_t *timer);
301 
309 static inline xtimer_ticks32_t xtimer_ticks_from_usec(uint32_t usec);
310 
318 static inline xtimer_ticks64_t xtimer_ticks_from_usec64(uint64_t usec);
319 
327 static inline uint32_t xtimer_usec_from_ticks(xtimer_ticks32_t ticks);
328 
336 static inline uint64_t xtimer_usec_from_ticks64(xtimer_ticks64_t ticks);
337 
345 static inline xtimer_ticks32_t xtimer_ticks(uint32_t ticks);
346 
354 static inline xtimer_ticks64_t xtimer_ticks64(uint64_t ticks);
355 
365 
375 
385 
394 static inline bool xtimer_less(xtimer_ticks32_t a, xtimer_ticks32_t b);
395 
404 static inline bool xtimer_less64(xtimer_ticks64_t a, xtimer_ticks64_t b);
405 
415 int xtimer_mutex_lock_timeout(mutex_t *mutex, uint64_t us);
416 
426 int xtimer_rmutex_lock_timeout(rmutex_t *rmutex, uint64_t us);
427 
428 #if defined(MODULE_CORE_THREAD_FLAGS) || defined(DOXYGEN)
429 
439 void xtimer_set_timeout_flag(xtimer_t *t, uint32_t timeout);
440 
449 void xtimer_set_timeout_flag64(xtimer_t *t, uint64_t timeout);
450 #endif
451 
460 uint64_t xtimer_left_usec(const xtimer_t *timer);
461 
462 #if defined(MODULE_CORE_MSG) || defined(DOXYGEN)
463 
477 static inline void xtimer_set_msg(xtimer_t *timer, uint32_t offset, msg_t *msg, kernel_pid_t target_pid);
478 
493 static inline void xtimer_set_msg64(xtimer_t *timer, uint64_t offset, msg_t *msg, kernel_pid_t target_pid);
494 
504 static inline int xtimer_msg_receive_timeout(msg_t *msg, uint32_t timeout);
505 
515 static inline int xtimer_msg_receive_timeout64(msg_t *msg, uint64_t timeout);
516 #endif
517 
526 #ifndef XTIMER_BACKOFF
527 #define XTIMER_BACKOFF 30
528 #endif
529 
530 #ifndef XTIMER_ISR_BACKOFF
531 
539 #define XTIMER_ISR_BACKOFF 20
540 #endif
541 
542 /*
543  * Default xtimer configuration
544  */
545 #ifndef XTIMER_DEV
546 
549 #define XTIMER_DEV TIMER_DEV(0)
550 
553 #define XTIMER_CHAN (0)
554 
555 #if (TIMER_0_MAX_VALUE) == 0xfffffful
556 #define XTIMER_WIDTH (24)
557 #elif (TIMER_0_MAX_VALUE) == 0xffff
558 #define XTIMER_WIDTH (16)
559 #endif
560 
561 #endif
562 
563 #ifndef XTIMER_WIDTH
564 
570 #define XTIMER_WIDTH (32)
571 #endif
572 
573 #if (XTIMER_WIDTH != 32) || DOXYGEN
574 
583 #define XTIMER_MASK ((0xffffffff >> XTIMER_WIDTH) << XTIMER_WIDTH)
584 #else
585 #define XTIMER_MASK (0)
586 #endif
587 
591 #define XTIMER_HZ_BASE (1000000ul)
592 
593 #ifndef XTIMER_HZ
594 
597 #define XTIMER_HZ XTIMER_HZ_BASE
598 #endif
599 
600 #ifndef XTIMER_SHIFT
601 #if (XTIMER_HZ == 32768ul)
602 /* No shift necessary, the conversion is not a power of two and is handled by
603  * functions in tick_conversion.h */
604 #define XTIMER_SHIFT (0)
605 #elif (XTIMER_HZ == XTIMER_HZ_BASE)
606 
621 #define XTIMER_SHIFT (0)
622 #elif (XTIMER_HZ >> 1 == XTIMER_HZ_BASE) || (XTIMER_HZ << 1 == XTIMER_HZ_BASE)
623 #define XTIMER_SHIFT (1)
624 #elif (XTIMER_HZ >> 2 == XTIMER_HZ_BASE) || (XTIMER_HZ << 2 == XTIMER_HZ_BASE)
625 #define XTIMER_SHIFT (2)
626 #elif (XTIMER_HZ >> 3 == XTIMER_HZ_BASE) || (XTIMER_HZ << 3 == XTIMER_HZ_BASE)
627 #define XTIMER_SHIFT (3)
628 #elif (XTIMER_HZ >> 4 == XTIMER_HZ_BASE) || (XTIMER_HZ << 4 == XTIMER_HZ_BASE)
629 #define XTIMER_SHIFT (4)
630 #elif (XTIMER_HZ >> 5 == XTIMER_HZ_BASE) || (XTIMER_HZ << 5 == XTIMER_HZ_BASE)
631 #define XTIMER_SHIFT (5)
632 #elif (XTIMER_HZ >> 6 == XTIMER_HZ_BASE) || (XTIMER_HZ << 6 == XTIMER_HZ_BASE)
633 #define XTIMER_SHIFT (6)
634 #else
635 #error "XTIMER_SHIFT cannot be derived for given XTIMER_HZ, verify settings!"
636 #endif
637 #else
638 #error "XTIMER_SHIFT is set relative to XTIMER_HZ, no manual define required!"
639 #endif
640 
641 #include "xtimer/tick_conversion.h"
642 
643 #include "xtimer/implementation.h"
644 
645 #ifdef __cplusplus
646 }
647 #endif
648 
649 #endif /* MODULE_ZTIMER_XTIMER_COMPAT */
650 
652 #endif /* XTIMER_H */
static void xtimer_usleep64(uint64_t microseconds)
Pause the execution of a thread for some microseconds.
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:89
void xtimer_set_timeout_flag64(xtimer_t *t, uint64_t timeout)
Set timeout thread flag after timeout.
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)...
uint64_t xtimer_left_usec(const xtimer_t *timer)
Get remaining time of timer.
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.
Mutex structure.
Definition: rmutex.h:43
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
ztimer xtimer wrapper interface
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.
uint32_t long_start_time
upper 32bit absolute start time
Definition: xtimer.h:86
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:61
Messaging API for inter process communication.
int xtimer_rmutex_lock_timeout(rmutex_t *rmutex, uint64_t us)
lock a rmutex but with timeout
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:70
void(* xtimer_callback_t)(void *)
xtimer callback type
Definition: xtimer.h:76
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
Recursive Mutex for thread synchronization.
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.
uint32_t start_time
lower 32bit absolute start time
Definition: xtimer.h:85
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.
uint32_t long_offset
upper 32bit offset time
Definition: xtimer.h:84
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.
xtimer timer structure
Definition: xtimer.h:81
Mutex structure.
Definition: mutex.h:37
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:89
uint32_t offset
lower 32bit offset time
Definition: xtimer.h:83
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:87
xtimer timestamp (32 bit)
Definition: xtimer.h:69
struct xtimer * next
reference to next timer in timer lists
Definition: xtimer.h:82
xtimer timestamp (64 bit)
Definition: xtimer.h:60
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