diff options
Diffstat (limited to 'src/drivers/boards/px4cannode-v1/bootloader/src/timer.h')
| -rw-r--r-- | src/drivers/boards/px4cannode-v1/bootloader/src/timer.h | 303 |
1 files changed, 288 insertions, 15 deletions
diff --git a/src/drivers/boards/px4cannode-v1/bootloader/src/timer.h b/src/drivers/boards/px4cannode-v1/bootloader/src/timer.h index 65f977d3b..7f125c702 100644 --- a/src/drivers/boards/px4cannode-v1/bootloader/src/timer.h +++ b/src/drivers/boards/px4cannode-v1/bootloader/src/timer.h @@ -33,9 +33,15 @@ * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ - #pragma once +/* + * We support two classes of timer interfaces. The first one is for structured + * timers that have an API for life cycle management and use. (timer_xx) + * The Second type of methods are for interfacing to a high resolution + * counter with fast access and are provided via an in line API (timer_hrt) + */ + /**************************************************************************** * Included Files ****************************************************************************/ @@ -54,28 +60,55 @@ * Public Type Definitions ****************************************************************************/ +/* Types for timer access */ +typedef uint8_t bl_timer_id; /* A timer handle */ +typedef uint32_t time_ms_t; /* A timer value */ +typedef volatile time_ms_t* time_ref_t; /* A pointer to the internal + counter in the structure of a timer + used to do a time out test value */ + +typedef uint32_t time_hrt_cycles_t; /* A timer value type of the hrt */ + + +/* + * Timers + * + * There are 3 modes of operation for the timers. + * All modes support a call back on expiration. + * + */ typedef enum { - //! Specifies a one-shot timer. After notification timer is discarded. + /* Specifies a one-shot timer. After notification timer is discarded. */ modeOneShot = 1, - //! Specifies a repeating timer. + /* Specifies a repeating timer. */ modeRepeating = 2, - //! Specifies a persisten start / stop timer. + /* Specifies a persistent start / stop timer. */ modeTimeout = 3, - + /* Or'ed in to start the timer when allocated */ modeStarted = 0x40 - - } bl_timer_modes_t; -typedef uint8_t bl_timer_id; -typedef uint32_t time_ms_t; -typedef volatile time_ms_t* time_ref_t; - -typedef uint32_t time_hrt_cycles_t; +/* The call back function signature type */ typedef void (*bl_timer_ontimeout)(bl_timer_id id, void *context); +/* + * A helper type for timer allocation to setup a callback + * There is a null_cb object (see below) that can be used to + * a bl_timer_cb_t. + * + * Typical usage is: + * + * void my_process(bl_timer_id id, void *context) { + * ... + * }; + * + * bl_timer_cb_t mycallback = null_cb; + * mycallback.cb = my_process; + * bl_timer_id mytimer = timer_allocate(modeRepeating|modeStarted, 100, &mycallback); + */ + typedef struct { void *context; bl_timer_ontimeout cb; @@ -87,39 +120,279 @@ typedef struct { * Global Variables ****************************************************************************/ -extern bl_timer_cb_t null_cb; +extern const bl_timer_cb_t null_cb; /**************************************************************************** * Public Function Prototypes ****************************************************************************/ +/**************************************************************************** + * Name: timer_init + * + * Description: + * Called early in os_start to initialize the data associated with + * the timers + * + * Input Parameters: + * None + * + * Returned Value: + * None + * + ****************************************************************************/ void timer_init(void); -bl_timer_id timer_allocate(bl_timer_modes_t mode, time_ms_t msfromnow, bl_timer_cb_t *fc); + +/**************************************************************************** + * Name: timer_allocate + * + * Description: + * Is used to allocate a timer. Allocation does not involve memory + * allocation as the data for the timer are compile time generated. + * See OPT_BL_NUMBER_TIMERS + * + * There is an inherent priority to the timers in that the first timer + * allocated is the first timer run per tick. + * + * There are 3 modes of operation for the timers. All modes support an + * optional call back on expiration. + * + * modeOneShot - Specifies a one-shot timer. After notification timer + * is resource is freed. + * modeRepeating - Specifies a repeating timer that will reload and + * call an optional. + * modeTimeout - Specifies a persistent start / stop timer. + * + * modeStarted - Or'ed in to start the timer when allocated + * + * + * Input Parameters: + * mode - One of bl_timer_modes_t with the Optional modeStarted + * msfromnow - The reload and initial value for the timer in Ms. + * fc - A pointer or NULL (0). If it is non null it can be any + * of the following: + * + * a) A bl_timer_cb_t populated on the users stack or + * in the data segment. The values are copied into the + * internal data structure of the timer and therefore do + * not have to persist after the call to timer_allocate + * + * b) The address of null_cb. This is identical to passing + * null for the value of fc. + * + * Returned Value: + * On success a value from 0 - OPT_BL_NUMBER_TIMERS-1 that is + * the bl_timer_id for subsequent timer operations + * -1 on failure. This indicates there are no free timers. + * + ****************************************************************************/ + +bl_timer_id timer_allocate(bl_timer_modes_t mode, time_ms_t msfromnow, + bl_timer_cb_t *fc); + +/**************************************************************************** + * Name: timer_free + * + * Description: + * Is used to free a timer. Freeing a timer does not involve memory + * deallocation as the data for the timer are compile time generated. + * See OPT_BL_NUMBER_TIMERS + * + * Input Parameters: + * id - Returned from timer_allocate; + * + * Returned Value: + * None. + * + ****************************************************************************/ + void timer_free(bl_timer_id id); + +/**************************************************************************** + * Name: timer_start + * + * Description: + * Is used to Start a timer. The reload value is copied to the counter. + * And the running bit it set. There is no problem in Starting a running + * timer. But it will restart the timeout. + * + * Input Parameters: + * id - Returned from timer_allocate; + * + * Returned Value: + * None. + * + ****************************************************************************/ + void timer_start(bl_timer_id id); + +/**************************************************************************** + * Name: timer_restart + * + * Description: + * Is used to re start a timer with a new reload count. The reload value + * is copied to the counter and the running bit it set. There is no + * problem in restarting a running timer. + * + * Input Parameters: + * id - Returned from timer_allocate; + * ms - Is a time_ms_t and the new reload value to use. + * + * Returned Value: + * None. + * + ****************************************************************************/ + void timer_restart(bl_timer_id id, time_ms_t ms); + +/**************************************************************************** + * Name: timer_stop + * + * Description: + * Is used to stop a timer. It is Ok to stop a stopped timer. + * + * Input Parameters: + * id - Returned from timer_allocate; + * + * Returned Value: + * None. + * + ****************************************************************************/ + void timer_stop(bl_timer_id id); + +/**************************************************************************** + * Name: timer_expired + * + * Description: + * Test if a timer that was configured as a modeTimeout timer is expired. + * To be expired the time has to be running and have a count of 0. + * + * Input Parameters: + * id - Returned from timer_allocate; + * + * Returned Value: + * No Zero if the timer is expired otherwise zero. + * + ****************************************************************************/ + int timer_expired(bl_timer_id id); -time_ms_t timer_tic(void); + +/**************************************************************************** + * Name: timer_ref + * + * Description: + * Returns an time_ref_t that is a reference (pointer) to the internal counter + * of the timer selected by id. It should only be used with calls to + * timer_ref_expired. + * + * Input Parameters: + * id - Returned from timer_allocate; + * + * Returned Value: + * An internal reference that should be treated as opaque by the caller and + * should only be used with calls to timer_ref_expired. + * There is no reference counting on the reference and therefore does not + * require any operation to free it. + * + ****************************************************************************/ time_ref_t timer_ref(bl_timer_id id); + +/**************************************************************************** + * Name: timer_ref_expired + * + * Description: + * Test if a timer, that was configured as a modeTimeout timer is expired + * based on the reference provided. + * + * Input Parameters: + * ref - Returned timer_ref; + * + * Returned Value: + * No Zero if the timer is expired otherwise zero. + * + ****************************************************************************/ + static inline int timer_ref_expired(time_ref_t ref) { return *ref == 0; } +/**************************************************************************** + * Name: timer_tic + * + * Description: + * Returns the system tic counter that counts in units of + * (CONFIG_USEC_PER_TICK/1000). By default 10 Ms. + * + * Input Parameters: + * None + * + * Returned Value: + * None + * + ****************************************************************************/ +time_ms_t timer_tic(void); + + +/**************************************************************************** + * Name: timer_hrt_read + * + * Description: + * Returns the hardware SysTic counter that counts in units of + * STM32_HCLK_FREQUENCY. This file defines TIMER_HRT_CYCLES_PER_US + * and TIMER_HRT_CYCLES_PER_MS that should be used to define times. + * + * Input Parameters: + * None + * + * Returned Value: + * The current value of the HW counter in the type of time_hrt_cycles_t. + * + ****************************************************************************/ static inline time_hrt_cycles_t timer_hrt_read(void) { return getreg32(NVIC_SYSTICK_CURRENT); } +/**************************************************************************** + * Name: timer_hrt_max + * + * Description: + * Returns the hardware SysTic reload value +1 + * + * Input Parameters: + * None + * + * Returned Value: + * The current SysTic reload of the HW counter in the type of + * time_hrt_cycles_t. + * + ****************************************************************************/ + static inline time_hrt_cycles_t timer_hrt_max(void) { return getreg32(NVIC_SYSTICK_RELOAD) + 1; } +/**************************************************************************** + * Name: timer_hrt_elapsed + * + * Description: + * Returns the difference between 2 time values, taking into account + * the way the timer wrap. + * + * Input Parameters: + * begin - Beginning timer count. + * end - Ending timer count. + * + * Returned Value: + * The difference from begin to end + * + ****************************************************************************/ + static inline time_hrt_cycles_t timer_hrt_elapsed(time_hrt_cycles_t begin, time_hrt_cycles_t end) { /* It is a down count from NVIC_SYSTICK_RELOAD */ |