/usr/include/xenomai/nucleus/timer.h is in libxenomai-dev 2.6.4+dfsg-1.
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* @file
* @note Copyright (C) 2001,2002,2003 Philippe Gerum <rpm@xenomai.org>.
*
* Xenomai is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published
* by the Free Software Foundation; either version 2 of the License,
* or (at your option) any later version.
*
* Xenomai is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Xenomai; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
* 02111-1307, USA.
*
* \ingroup timer
*/
#ifndef _XENO_NUCLEUS_TIMER_H
#define _XENO_NUCLEUS_TIMER_H
#include <nucleus/timebase.h>
#include <nucleus/stat.h>
#if defined(__KERNEL__) || defined(__XENO_SIM__)
#ifndef CONFIG_XENO_OPT_DEBUG_TIMERS
#define CONFIG_XENO_OPT_DEBUG_TIMERS 0
#endif
#define XNTIMER_WHEELSIZE 64
#define XNTIMER_WHEELMASK (XNTIMER_WHEELSIZE - 1)
/* Timer status */
#define XNTIMER_DEQUEUED 0x00000001
#define XNTIMER_KILLED 0x00000002
#define XNTIMER_PERIODIC 0x00000004
#define XNTIMER_REALTIME 0x00000008
#define XNTIMER_FIRED 0x00000010
#define XNTIMER_NOBLCK 0x00000020
/* These flags are available to the real-time interfaces */
#define XNTIMER_SPARE0 0x01000000
#define XNTIMER_SPARE1 0x02000000
#define XNTIMER_SPARE2 0x04000000
#define XNTIMER_SPARE3 0x08000000
#define XNTIMER_SPARE4 0x10000000
#define XNTIMER_SPARE5 0x20000000
#define XNTIMER_SPARE6 0x40000000
#define XNTIMER_SPARE7 0x80000000
/* Timer priorities */
#define XNTIMER_LOPRIO (-999999999)
#define XNTIMER_STDPRIO 0
#define XNTIMER_HIPRIO 999999999
#define XNTIMER_KEEPER_ID 0
typedef struct {
xnholder_t link;
xnticks_t key;
int prio;
#define link2tlholder(ln) container_of(ln, xntlholder_t, link)
} xntlholder_t;
#define xntlholder_date(h) ((h)->key)
#define xntlholder_prio(h) ((h)->prio)
#define xntlholder_init(h) inith(&(h)->link)
#define xntlist_init(q) initq(q)
#define xntlist_head(q) \
({ xnholder_t *_h = getheadq(q); \
!_h ? NULL : link2tlholder(_h); \
})
#define xntlist_next(q, h) \
({ xnholder_t *_h = nextq(q, &(h)->link); \
!_h ? NULL : link2tlholder(_h); \
})
static inline void xntlist_insert(xnqueue_t *q, xntlholder_t *holder)
{
xnholder_t *p;
/* Insert the new timer at the proper place in the single
queue managed when running in aperiodic mode. O(N) here,
but users of the aperiodic mode need to pay a price for the
increased flexibility... */
for (p = q->head.last; p != &q->head; p = p->last)
if ((xnsticks_t) (holder->key - link2tlholder(p)->key) > 0 ||
(holder->key == link2tlholder(p)->key &&
holder->prio <= link2tlholder(p)->prio))
break;
insertq(q,p->next,&holder->link);
}
#define xntlist_remove(q, h) removeq((q),&(h)->link)
#if defined(CONFIG_XENO_OPT_TIMER_HEAP)
#include <nucleus/bheap.h>
typedef bheaph_t xntimerh_t;
#define xntimerh_date(h) bheaph_key(h)
#define xntimerh_prio(h) bheaph_prio(h)
#define xntimerh_init(h) bheaph_init(h)
typedef DECLARE_BHEAP_CONTAINER(xntimerq_t, CONFIG_XENO_OPT_TIMER_HEAP_CAPACITY);
#define xntimerq_init(q) bheap_init((q), CONFIG_XENO_OPT_TIMER_HEAP_CAPACITY)
#define xntimerq_destroy(q) bheap_destroy(q)
#define xntimerq_head(q) bheap_gethead(q)
#define xntimerq_insert(q, h) bheap_insert((q),(h))
#define xntimerq_remove(q, h) bheap_delete((q),(h))
typedef struct {} xntimerq_it_t;
#define xntimerq_it_begin(q, i) ((void) (i), bheap_gethead(q))
#define xntimerq_it_next(q, i, h) ((void) (i), bheap_next((q),(h)))
#elif defined(CONFIG_XENO_OPT_TIMER_WHEEL)
typedef xntlholder_t xntimerh_t;
#define xntimerh_date(h) xntlholder_date(h)
#define xntimerh_prio(h) xntlholder_prio(h)
#define xntimerh_init(h) xntlholder_init(h)
typedef struct xntimerq {
unsigned date_shift;
unsigned long long next_shot;
unsigned long long shot_wrap;
xnqueue_t bucket[XNTIMER_WHEELSIZE];
} xntimerq_t;
typedef struct xntimerq_it {
unsigned bucket;
} xntimerq_it_t;
static inline void xntimerq_init(xntimerq_t *q)
{
unsigned long long step_tsc;
unsigned i;
step_tsc = xnarch_ns_to_tsc(CONFIG_XENO_OPT_TIMER_WHEEL_STEP);
/* q->date_shift = fls(step_tsc); */
for (q->date_shift = 0; (1 << q->date_shift) < step_tsc; q->date_shift++)
;
q->next_shot = q->shot_wrap = ((~0ULL) >> q->date_shift) + 1;
for (i = 0; i < sizeof(q->bucket)/sizeof(xnqueue_t); i++)
xntlist_init(&q->bucket[i]);
}
#define xntimerq_destroy(q) do { } while (0)
static inline xntlholder_t *xntimerq_head(xntimerq_t *q)
{
unsigned bucket = ((unsigned) q->next_shot) & XNTIMER_WHEELMASK;
xntlholder_t *result;
unsigned i;
if (q->next_shot == q->shot_wrap)
return NULL;
result = xntlist_head(&q->bucket[bucket]);
if (result && (xntlholder_date(result) >> q->date_shift) == q->next_shot)
return result;
/* We could not find the next timer in the first bucket, iterate over
the other buckets. */
for (i = (bucket + 1) & XNTIMER_WHEELMASK ;
i != bucket; i = (i + 1) & XNTIMER_WHEELMASK) {
xntlholder_t *candidate = xntlist_head(&q->bucket[i]);
if(++q->next_shot == q->shot_wrap)
q->next_shot = 0;
if (!candidate)
continue;
if ((xntlholder_date(candidate) >> q->date_shift) == q->next_shot)
return candidate;
if (!result || (xnsticks_t) (xntlholder_date(candidate)
- xntlholder_date(result)) < 0)
result = candidate;
}
if (result)
q->next_shot = (xntlholder_date(result) >> q->date_shift);
else
q->next_shot = q->shot_wrap;
return result;
}
static inline void xntimerq_insert(xntimerq_t *q, xntimerh_t *h)
{
unsigned long long shifted_date = xntlholder_date(h) >> q->date_shift;
unsigned bucket = ((unsigned) shifted_date) & XNTIMER_WHEELMASK;
if ((long long) (shifted_date - q->next_shot) < 0)
q->next_shot = shifted_date;
xntlist_insert(&q->bucket[bucket], h);
}
static inline void xntimerq_remove(xntimerq_t *q, xntimerh_t *h)
{
unsigned long long shifted_date = xntlholder_date(h) >> q->date_shift;
unsigned bucket = ((unsigned) shifted_date) & XNTIMER_WHEELMASK;
xntlist_remove(&q->bucket[bucket], h);
/* Do not attempt to update q->next_shot, xntimerq_head will recover. */
}
static inline xntimerh_t *xntimerq_it_begin(xntimerq_t *q, xntimerq_it_t *it)
{
xntimerh_t *holder = NULL;
for (it->bucket = 0; it->bucket < XNTIMER_WHEELSIZE; it->bucket++)
if ((holder = xntlist_head(&q->bucket[it->bucket])))
break;
return holder;
}
static inline xntimerh_t *
xntimerq_it_next(xntimerq_t *q, xntimerq_it_t *it, xntimerh_t *holder)
{
xntimerh_t *next = xntlist_next(&q->bucket[it->bucket], holder);
if (!next)
for(it->bucket++; it->bucket < XNTIMER_WHEELSIZE; it->bucket++)
if ((next = xntlist_head(&q->bucket[it->bucket])))
break;
return next;
}
#else /* CONFIG_XENO_OPT_TIMER_LIST */
typedef xntlholder_t xntimerh_t;
#define xntimerh_date(h) xntlholder_date(h)
#define xntimerh_prio(h) xntlholder_prio(h)
#define xntimerh_init(h) xntlholder_init(h)
typedef xnqueue_t xntimerq_t;
#define xntimerq_init(q) xntlist_init(q)
#define xntimerq_destroy(q) do { } while (0)
#define xntimerq_head(q) xntlist_head(q)
#define xntimerq_insert(q,h) xntlist_insert((q),(h))
#define xntimerq_remove(q, h) xntlist_remove((q),(h))
typedef struct {} xntimerq_it_t;
#define xntimerq_it_begin(q,i) ((void) (i), xntlist_head(q))
#define xntimerq_it_next(q,i,h) ((void) (i), xntlist_next((q),(h)))
#endif /* CONFIG_XENO_OPT_TIMER_LIST */
struct xnsched;
typedef struct xntimer {
xntimerh_t aplink; /* Link in aperiodic timers list. */
#define aplink2timer(ln) container_of(ln, xntimer_t, aplink)
#ifdef CONFIG_XENO_OPT_TIMING_PERIODIC
xntbase_t *base; /* Time base. */
xntlholder_t plink; /* Link in periodic timers wheel. */
#define plink2timer(ln) container_of(ln, xntimer_t, plink)
#endif /* CONFIG_XENO_OPT_TIMING_PERIODIC */
xnholder_t adjlink;
#define adjlink2timer(ln) container_of(ln, xntimer_t, adjlink)
xnflags_t status; /* !< Timer status. */
xnticks_t interval; /* !< Periodic interval (in ticks, 0 == one shot). */
xnticks_t pexpect; /* !< Date of next periodic release point (raw ticks). */
struct xnsched *sched; /* !< Sched structure to which the timer is
attached. */
void (*handler)(struct xntimer *timer); /* !< Timeout handler. */
#ifdef CONFIG_XENO_OPT_STATS
char name[XNOBJECT_NAME_LEN]; /* !< Timer name to be displayed. */
const char *handler_name; /* !< Handler name to be displayed. */
xnholder_t tblink; /* !< Timer holder in timebase. */
#define tblink2timer(ln) container_of(ln, xntimer_t, tblink)
#endif /* CONFIG_XENO_OPT_STATS */
xnstat_counter_t scheduled; /* !< Number of timer schedules. */
xnstat_counter_t fired; /* !< Number of timer events. */
XNARCH_DECL_DISPLAY_CONTEXT();
} xntimer_t;
typedef struct xntimed_slave {
xntbase_t base; /* !< Cascaded time base. */
struct percpu_cascade {
xntimer_t timer; /* !< Cascading timer in master time base. */
xnqueue_t wheel[XNTIMER_WHEELSIZE]; /*!< BSDish timer wheel. */
} cascade[XNARCH_NR_CPUS];
#define timer2slave(t) \
((xntslave_t *)(((char *)t) - offsetof(xntslave_t, cascade[xnsched_cpu((t)->sched)].timer)))
#define base2slave(b) \
((xntslave_t *)(((char *)b) - offsetof(xntslave_t, base)))
} xntslave_t;
#ifdef CONFIG_SMP
#define xntimer_sched(t) ((t)->sched)
#else /* !CONFIG_SMP */
#define xntimer_sched(t) xnpod_current_sched()
#endif /* !CONFIG_SMP */
#define xntimer_interval(t) ((t)->interval)
#define xntimer_pexpect(t) ((t)->pexpect)
#define xntimer_pexpect_forward(t,delta) ((t)->pexpect += delta)
#ifdef CONFIG_XENO_OPT_TIMING_PERIODIC
#define xntimer_base(t) ((t)->base)
#define xntimer_set_priority(t,p) \
({ \
xntimer_t *_t = (t); \
unsigned prio = (p); \
xntimerh_prio(&(_t)->aplink) = prio; \
xntlholder_prio(&(_t)->plink) = prio; \
})
#else /* !CONFIG_XENO_OPT_TIMING_PERIODIC */
#define xntimer_base(t) (&nktbase)
#define xntimer_set_priority(t,p) \
do { xntimerh_prio(&(t)->aplink) = (p); } while(0)
#endif /* !CONFIG_XENO_OPT_TIMING_PERIODIC */
static inline int xntimer_active_p (xntimer_t *timer)
{
return timer->sched != NULL;
}
static inline int xntimer_running_p(xntimer_t *timer)
{
return !testbits(timer->status,XNTIMER_DEQUEUED);
}
static inline int xntimer_reload_p(xntimer_t *timer)
{
return testbits(timer->status,
XNTIMER_PERIODIC|XNTIMER_DEQUEUED|XNTIMER_KILLED) ==
(XNTIMER_PERIODIC|XNTIMER_DEQUEUED);
}
#ifdef __cplusplus
extern "C" {
#endif
extern xntbops_t nktimer_ops_aperiodic,
nktimer_ops_periodic;
#ifdef CONFIG_XENO_OPT_STATS
#define xntimer_init(timer, base, handler) \
do { \
__xntimer_init(timer, base, handler); \
(timer)->handler_name = #handler; \
} while (0)
#else /* !CONFIG_XENO_OPT_STATS */
#define xntimer_init __xntimer_init
#endif /* !CONFIG_XENO_OPT_STATS */
#define xntimer_init_noblock(timer, base, handler) \
do { \
xntimer_init(timer, base, handler); \
(timer)->status |= XNTIMER_NOBLCK; \
} while(0)
void __xntimer_init(struct xntimer *timer,
struct xntbase *base,
void (*handler)(struct xntimer *timer));
void xntimer_destroy(xntimer_t *timer);
static inline void xntimer_set_name(xntimer_t *timer, const char *name)
{
#ifdef CONFIG_XENO_OPT_STATS
strncpy(timer->name, name, sizeof(timer->name));
#endif /* CONFIG_XENO_OPT_STATS */
}
void xntimer_next_local_shot(struct xnsched *sched);
/*!
* \addtogroup timer
*@{ */
#if defined(CONFIG_XENO_OPT_TIMING_PERIODIC) || defined(DOXYGEN_CPP)
/*!
* @fn void xntimer_start(xntimer_t *timer,xnticks_t value,xnticks_t interval,
* xntmode_t mode)
* @brief Arm a timer.
*
* Activates a timer so that the associated timeout handler will be
* fired after each expiration time. A timer can be either periodic or
* single-shot, depending on the reload value passed to this
* routine. The given timer must have been previously initialized, and
* will be clocked according to the policy defined by the time base
* specified in xntimer_init().
*
* @param timer The address of a valid timer descriptor.
*
* @param value The date of the initial timer shot, expressed in clock ticks
* (see note).
*
* @param interval The reload value of the timer. It is a periodic
* interval value to be used for reprogramming the next timer shot,
* expressed in clock ticks (see note). If @a interval is equal to
* XN_INFINITE, the timer will not be reloaded after it has expired.
*
* @param mode The timer mode. It can be XN_RELATIVE if @a value shall
* be interpreted as a relative date, XN_ABSOLUTE for an absolute date
* based on the monotonic clock of the related time base (as returned
* my xntbase_get_jiffies()), or XN_REALTIME if the absolute date is
* based on the adjustable real-time clock of the time base (as returned
* by xntbase_get_time().
*
* @return 0 is returned upon success, or -ETIMEDOUT if an absolute
* date in the past has been given.
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Interrupt service routine
* - Kernel-based task
* - User-space task
*
* Rescheduling: never.
*
* @note This service is sensitive to the current operation mode of
* the associated time base, as defined by the xnpod_init_timebase()
* service. In periodic mode, clock ticks are interpreted as periodic
* jiffies. In oneshot mode, clock ticks are interpreted as
* nanoseconds.
*
* @note Must be called with nklock held, IRQs off.
*/
static inline int xntimer_start(xntimer_t *timer,
xnticks_t value, xnticks_t interval,
xntmode_t mode)
{
return timer->base->ops->start_timer(timer, value, interval, mode);
}
/*!
* \fn int xntimer_stop(xntimer_t *timer)
*
* \brief Disarm a timer.
*
* This service deactivates a timer previously armed using
* xntimer_start(). Once disarmed, the timer can be subsequently
* re-armed using the latter service.
*
* @param timer The address of a valid timer descriptor.
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Interrupt service routine
* - Kernel-based task
* - User-space task
*
* Rescheduling: never.
*
* @note Must be called with nklock held, IRQs off.
*/
static inline void xntimer_stop(xntimer_t *timer)
{
/* Careful: the do_timer_stop() helper is expected to preserve
the date field of the stopped timer, so that subsequent
calls to xntimer_get_timeout() would still work on such
timer as expected. */
if (!testbits(timer->status,XNTIMER_DEQUEUED))
timer->base->ops->stop_timer(timer);
}
/*!
* \fn xnticks_t xntimer_get_date(xntimer_t *timer)
*
* \brief Return the absolute expiration date.
*
* Return the next expiration date of a timer in absolute clock ticks
* (see note).
*
* @param timer The address of a valid timer descriptor.
*
* @return The expiration date converted to the current time unit. The
* special value XN_INFINITE is returned if @a timer is currently
* inactive.
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Interrupt service routine
* - Kernel-based task
* - User-space task
*
* Rescheduling: never.
*
* @note This service is sensitive to the current operation mode of
* the associated time base, as defined by the xnpod_init_timebase()
* service. In periodic mode, clock ticks are interpreted as periodic
* jiffies. In oneshot mode, clock ticks are interpreted as
* nanoseconds.
*/
static inline xnticks_t xntimer_get_date(xntimer_t *timer)
{
if (!xntimer_running_p(timer))
return XN_INFINITE;
return timer->base->ops->get_timer_date(timer);
}
/*!
* \fn xnticks_t xntimer_get_timeout(xntimer_t *timer)
*
* \brief Return the relative expiration date.
*
* Return the next expiration date of a timer in relative clock ticks
* (see note).
*
* @param timer The address of a valid timer descriptor.
*
* @return The expiration date converted to the current time unit. The
* special value XN_INFINITE is returned if @a timer is currently
* inactive. In oneshot mode, it might happen that the timer has
* already expired when this service is run (even if the associated
* handler has not been fired yet); in such a case, 1 is returned.
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Interrupt service routine
* - Kernel-based task
* - User-space task
*
* Rescheduling: never.
*
* @note This service is sensitive to the current operation mode of
* the associated time base, as defined by the xnpod_init_timebase()
* service. In periodic mode, clock ticks are interpreted as periodic
* jiffies. In oneshot mode, clock ticks are interpreted as
* nanoseconds.
*/
static inline xnticks_t xntimer_get_timeout(xntimer_t *timer)
{
if (!xntimer_running_p(timer))
return XN_INFINITE;
return timer->base->ops->get_timer_timeout(timer);
}
static inline xnticks_t xntimer_get_timeout_stopped(xntimer_t *timer)
{
return timer->base->ops->get_timer_timeout(timer);
}
/*!
* \fn xnticks_t xntimer_get_interval(xntimer_t *timer)
*
* \brief Return the timer interval value.
*
* Return the timer interval value in clock ticks (see note).
*
* @param timer The address of a valid timer descriptor.
*
* @return The expiration date converted to the current time unit. The
* special value XN_INFINITE is returned if @a timer is currently
* inactive or aperiodic.
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Interrupt service routine
* - Kernel-based task
* - User-space task
*
* Rescheduling: never.
*
* @note This service is sensitive to the current operation mode of
* the associated time base, as defined by the xnpod_init_timebase()
* service. In periodic mode, clock ticks are interpreted as periodic
* jiffies. In oneshot mode, clock ticks are interpreted as
* nanoseconds.
*/
static inline xnticks_t xntimer_get_interval(xntimer_t *timer)
{
return timer->base->ops->get_timer_interval(timer);
}
static inline xnticks_t xntimer_get_raw_expiry (xntimer_t *timer)
{
return timer->base->ops->get_timer_raw_expiry(timer);
}
void xntslave_init(xntslave_t *slave);
void xntslave_destroy(xntslave_t *slave);
void xntslave_update(xntslave_t *slave,
xnticks_t interval);
void xntslave_start(xntslave_t *slave,
xnticks_t start,
xnticks_t interval);
void xntslave_stop(xntslave_t *slave);
void xntslave_adjust(xntslave_t *slave, xnsticks_t delta);
#else /* !CONFIG_XENO_OPT_TIMING_PERIODIC */
int xntimer_start_aperiodic(xntimer_t *timer,
xnticks_t value,
xnticks_t interval,
xntmode_t mode);
void xntimer_stop_aperiodic(xntimer_t *timer);
xnticks_t xntimer_get_date_aperiodic(xntimer_t *timer);
xnticks_t xntimer_get_timeout_aperiodic(xntimer_t *timer);
xnticks_t xntimer_get_interval_aperiodic(xntimer_t *timer);
xnticks_t xntimer_get_raw_expiry_aperiodic(xntimer_t *timer);
static inline int xntimer_start(xntimer_t *timer,
xnticks_t value, xnticks_t interval,
xntmode_t mode)
{
return xntimer_start_aperiodic(timer, value, interval, mode);
}
static inline void xntimer_stop(xntimer_t *timer)
{
if (!testbits(timer->status,XNTIMER_DEQUEUED))
xntimer_stop_aperiodic(timer);
}
static inline xnticks_t xntimer_get_date(xntimer_t *timer)
{
if (!xntimer_running_p(timer))
return XN_INFINITE;
return xntimer_get_date_aperiodic(timer);
}
static inline xnticks_t xntimer_get_timeout(xntimer_t *timer)
{
if (!xntimer_running_p(timer))
return XN_INFINITE;
return xntimer_get_timeout_aperiodic(timer);
}
static inline xnticks_t xntimer_get_timeout_stopped(xntimer_t *timer)
{
return xntimer_get_timeout_aperiodic(timer);
}
static inline xnticks_t xntimer_get_interval(xntimer_t *timer)
{
return xntimer_get_interval_aperiodic(timer);
}
static inline xnticks_t xntimer_get_raw_expiry (xntimer_t *timer)
{
return xntimerh_date(&timer->aplink);
}
#endif /* CONFIG_XENO_OPT_TIMING_PERIODIC */
/*@}*/
void xntimer_init_proc(void);
void xntimer_cleanup_proc(void);
unsigned long xntimer_get_overruns(xntimer_t *timer, xnticks_t now);
void xntimer_freeze(void);
void xntimer_tick_aperiodic(void);
void xntimer_tick_periodic(xntimer_t *timer);
void xntimer_tick_periodic_inner(xntslave_t *slave);
void xntimer_adjust_all_aperiodic(xnsticks_t delta);
#ifdef CONFIG_SMP
int xntimer_migrate(xntimer_t *timer,
struct xnsched *sched);
#else /* ! CONFIG_SMP */
#define xntimer_migrate(timer, sched) do { } while(0)
#endif /* CONFIG_SMP */
#define xntimer_set_sched(timer, sched) xntimer_migrate(timer, sched)
char *xntimer_format_time(xnticks_t value, int periodic,
char *buf, size_t bufsz);
#ifdef __cplusplus
}
#endif
#endif /* __KERNEL__ || __XENO_SIM__ */
#endif /* !_XENO_NUCLEUS_TIMER_H */
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