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159 lines
3.5 KiB
159 lines
3.5 KiB
#pragma once
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/**
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* To use the Timebase functionality,
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* set up SysTick to 1 kHz and call
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* timebase_ms_cb() in the IRQ.
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*
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* If you plan to use pendable future tasks,
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* also make sure you call run_pending_tasks()
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* in your main loop.
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*
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* This is not needed for non-pendable tasks.
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*/
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#include "main.h"
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/** Task PID. */
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typedef uint32_t task_pid_t;
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/** Time value in ms */
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typedef uint32_t ms_time_t;
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// PID value that can be used to indicate no task
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#define PID_NONE 0
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/** Loop until timeout - use in place of while() or for(). break and continue work too! */
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#define until_timeout(to_ms) for(uint32_t _utmeo = ms_now(); ms_elapsed(_utmeo) < (to_ms);)
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/** Retry a call until a timeout. Variable 'suc' is set to the return value. Must be defined. */
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#define retry_TO(to_ms, call) \
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until_timeout(to_ms) { \
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suc = call; \
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if (suc) break; \
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}
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/** Init timebase, allocate slots for tasks. */
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void timebase_init(size_t periodic_count, size_t future_count);
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/** Must be called every 1 ms */
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void timebase_ms_cb(void);
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// --- Periodic -----------------------------------------------
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/**
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* @brief Add a periodic task with an arg.
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* @param callback : task callback
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* @param arg : callback argument
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* @param interval : task interval (ms)
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* @param enqueue : put on the task queue when due
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* @return task PID
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*/
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task_pid_t add_periodic_task(void (*callback)(void *), void *arg, ms_time_t interval, bool enqueue);
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/** Destroy a periodic task. */
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bool remove_periodic_task(task_pid_t pid);
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/** Enable or disable a periodic task. Returns true on success. */
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bool enable_periodic_task(task_pid_t pid, FunctionalState cmd);
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/** Check if a periodic task exists and is enabled. */
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bool is_periodic_task_enabled(task_pid_t pid);
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/** Reset timer for a task */
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bool reset_periodic_task(task_pid_t pid);
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// --- Future -------------------------------------------------
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/**
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* @brief Schedule a future task, with uint32_t argument.
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* @param callback : task callback
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* @param arg : callback argument
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* @param delay : task delay (ms)
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* @param enqueue : put on the task queue when due
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* @return task PID
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*/
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task_pid_t schedule_task(void (*callback_arg)(void *), void *arg, ms_time_t delay, bool enqueue);
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/** Abort a scheduled task. */
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bool abort_scheduled_task(task_pid_t pid);
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// --- Waiting functions --------------------------------------
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/** Get milliseconds elapsed since start timestamp */
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ms_time_t ms_elapsed(ms_time_t start);
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/** Get current timestamp. */
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ms_time_t ms_now(void);
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/** Delay using SysTick */
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void delay_ms(ms_time_t ms);
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/** Delay N seconds */
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void delay_s(uint32_t s);
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inline __attribute__((always_inline))
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void delay_cycles(uint32_t n)
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{
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uint32_t l = n >> 2;
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__asm volatile(
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"0: mov r0,r0;"
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"subs %[count], #1;"
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"bne 0b;"
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: [count] "+r"(l)
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);
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}
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inline __attribute__((always_inline))
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void delay_ns(uint32_t ns)
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{
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delay_cycles(ns / 24);
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}
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/**
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* @brief Microsecond delay.
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* @param us
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*/
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inline __attribute__((always_inline))
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void delay_us(uint32_t us)
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{
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delay_ns(us * 1150);
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}
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/**
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* @brief Check if time since `start` elapsed.
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*
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* If so, sets the *start variable to the current time.
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*
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* Example:
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*
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* ms_time_t s = ms_now();
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*
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* while(1) {
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* if (ms_loop_elapsed(&s, 100)) {
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* // this is called every 100 ms
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* }
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* // ... rest of the loop ...
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* }
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*
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* @param start start time variable
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* @param duration delay length
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* @return delay elapsed; start was updated.
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*/
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bool ms_loop_elapsed(ms_time_t *start, ms_time_t duration);
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