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time.h
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1/*
2 * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
3 *
4 * SPDX-License-Identifier: BSD-3-Clause
5 */
6
7#ifndef _PICO_TIME_H
8#define _PICO_TIME_H
9
10#include "pico.h"
11#include "hardware/timer.h"
12
13#ifdef __cplusplus
14extern "C" {
15#endif
16
32// PICO_CONFIG: PARAM_ASSERTIONS_ENABLED_PICO_TIME, Enable/disable assertions in the pico_time module, type=bool, default=0, group=pico_time
33#ifndef PARAM_ASSERTIONS_ENABLED_PICO_TIME
34#ifdef PARAM_ASSERTIONS_ENABLED_PICO_TIME // backwards compatibility with SDK < 2.0.0
35#define PARAM_ASSERTIONS_ENABLED_PICO_TIME PARAM_ASSERTIONS_ENABLED_TIME
36#else
37#define PARAM_ASSERTIONS_ENABLED_PICO_TIME 0
38#endif
39#endif
40
41// PICO_CONFIG: PICO_TIME_SLEEP_OVERHEAD_ADJUST_US, How many microseconds to wake up early (and then busy_wait) to account for timer overhead when sleeping in low power mode, type=int, default=6, group=pico_time
42#ifndef PICO_TIME_SLEEP_OVERHEAD_ADJUST_US
43#define PICO_TIME_SLEEP_OVERHEAD_ADJUST_US 6
44#endif
45
69 return t;
70}
71
72static inline uint32_t us_to_ms(uint64_t us) {
73 if (us >> 32u) {
74 return (uint32_t)(us / 1000u);
75 } else {
76 return ((uint32_t)us) / 1000u;
77 }
78}
79
87static inline uint32_t to_ms_since_boot(absolute_time_t t) {
88 uint64_t us = to_us_since_boot(t);
89 return us_to_ms(us);
90}
91
99static inline absolute_time_t delayed_by_us(const absolute_time_t t, uint64_t us) {
101 uint64_t base = to_us_since_boot(t);
102 uint64_t delayed = base + us;
103 if ((int64_t)delayed < 0) {
104 // absolute_time_t (to allow for signed time deltas) is never greater than INT64_MAX which == at_the_end_of_time
105 delayed = INT64_MAX;
106 }
107 update_us_since_boot(&t2, delayed);
108 return t2;
109}
110
118static inline absolute_time_t delayed_by_ms(const absolute_time_t t, uint32_t ms) {
120 uint64_t base = to_us_since_boot(t);
121 uint64_t delayed = base + ms * 1000ull;
122 if ((int64_t)delayed < 0) {
123 // absolute_time_t (to allow for signed time deltas) is never greater than INT64_MAX which == at_the_end_of_time
124 delayed = INT64_MAX;
125 }
126 update_us_since_boot(&t2, delayed);
127 return t2;
128}
129
136static inline absolute_time_t make_timeout_time_us(uint64_t us) {
137 return delayed_by_us(get_absolute_time(), us);
138}
139
146static inline absolute_time_t make_timeout_time_ms(uint32_t ms) {
147 return delayed_by_ms(get_absolute_time(), ms);
148}
149
162 return (int64_t)(to_us_since_boot(to) - to_us_since_boot(from));
163}
164
175
182
192
196extern const absolute_time_t nil_time;
197
204static inline bool is_nil_time(absolute_time_t t) {
205 return !to_us_since_boot(t);
206}
207
237void sleep_until(absolute_time_t target);
238
247void sleep_us(uint64_t us);
248
256void sleep_ms(uint32_t ms);
257
293bool best_effort_wfe_or_timeout(absolute_time_t timeout_timestamp);
294
313// PICO_CONFIG: PICO_TIME_DEFAULT_ALARM_POOL_DISABLED, Disable the default alarm pool, type=bool, default=0, advanced=true, group=pico_time
314#ifndef PICO_TIME_DEFAULT_ALARM_POOL_DISABLED
327#define PICO_TIME_DEFAULT_ALARM_POOL_DISABLED 0
328#endif
329
330// PICO_CONFIG: PICO_TIME_DEFAULT_ALARM_POOL_HARDWARE_ALARM_NUM, Select which HW alarm is used for the default alarm pool, min=0, max=3, default=3, advanced=true, group=pico_time
331#ifndef PICO_TIME_DEFAULT_ALARM_POOL_HARDWARE_ALARM_NUM
337#define PICO_TIME_DEFAULT_ALARM_POOL_HARDWARE_ALARM_NUM 3
338#endif
339
340// PICO_CONFIG: PICO_TIME_DEFAULT_ALARM_POOL_MAX_TIMERS, Selects the maximum number of concurrent timers in the default alarm pool, min=0, max=255, default=16, advanced=true, group=pico_time
341#ifndef PICO_TIME_DEFAULT_ALARM_POOL_MAX_TIMERS
350#define PICO_TIME_DEFAULT_ALARM_POOL_MAX_TIMERS 16
351#endif
352
367typedef int32_t alarm_id_t; // note this is signed because we use <0 as a meaningful error value
368
378typedef int64_t (*alarm_callback_t)(alarm_id_t id, void *user_data);
379
380typedef struct alarm_pool alarm_pool_t;
381typedef void alarm_pool_timer_t;
382
387void alarm_pool_init_default(void);
388void runtime_init_default_alarm_pool(void);
389
390#if !PICO_TIME_DEFAULT_ALARM_POOL_DISABLED
399#endif
400
401alarm_pool_t *alarm_pool_create_on_timer(alarm_pool_timer_t *timer, uint timer_alarm_num, uint max_timers);
402
403alarm_pool_timer_t *alarm_pool_timer_for_timer_num(uint timer_num);
404
405alarm_pool_timer_t *alarm_pool_get_default_timer(void);
406
425static inline alarm_pool_t *alarm_pool_create(uint timer_alarm_num, uint max_timers) {
426 return alarm_pool_create_on_timer(alarm_pool_get_default_timer(), timer_alarm_num, max_timers);
427}
428
429alarm_pool_t *alarm_pool_create_on_timer_with_unused_hardware_alarm(alarm_pool_timer_t *timer, uint max_timers);
430
449 return alarm_pool_create_on_timer_with_unused_hardware_alarm(alarm_pool_get_default_timer(), max_timers);
450}
451
459// backwards compatibility
460static inline uint alarm_pool_hardware_alarm_num(alarm_pool_t *pool) {
461 return alarm_pool_timer_alarm_num(pool);
462}
470
477
499alarm_id_t alarm_pool_add_alarm_at(alarm_pool_t *pool, absolute_time_t time, alarm_callback_t callback, void *user_data, bool fire_if_past);
500
519 void *user_data);
541static inline alarm_id_t alarm_pool_add_alarm_in_us(alarm_pool_t *pool, uint64_t us, alarm_callback_t callback, void *user_data, bool fire_if_past) {
542 return alarm_pool_add_alarm_at(pool, delayed_by_us(get_absolute_time(), us), callback, user_data, fire_if_past);
543}
544
566static inline alarm_id_t alarm_pool_add_alarm_in_ms(alarm_pool_t *pool, uint32_t ms, alarm_callback_t callback, void *user_data, bool fire_if_past) {
567 return alarm_pool_add_alarm_at(pool, delayed_by_ms(get_absolute_time(), ms), callback, user_data, fire_if_past);
568}
569
581
593
603
604#if !PICO_TIME_DEFAULT_ALARM_POOL_DISABLED
625static inline alarm_id_t add_alarm_at(absolute_time_t time, alarm_callback_t callback, void *user_data, bool fire_if_past) {
626 return alarm_pool_add_alarm_at(alarm_pool_get_default(), time, callback, user_data, fire_if_past);
627}
628
649static inline alarm_id_t add_alarm_in_us(uint64_t us, alarm_callback_t callback, void *user_data, bool fire_if_past) {
650 return alarm_pool_add_alarm_in_us(alarm_pool_get_default(), us, callback, user_data, fire_if_past);
651}
652
673static inline alarm_id_t add_alarm_in_ms(uint32_t ms, alarm_callback_t callback, void *user_data, bool fire_if_past) {
674 return alarm_pool_add_alarm_in_ms(alarm_pool_get_default(), ms, callback, user_data, fire_if_past);
675}
683static inline bool cancel_alarm(alarm_id_t alarm_id) {
685}
686
696int64_t remaining_alarm_time_us(alarm_id_t alarm_id);
697
707int32_t remaining_alarm_time_ms(alarm_id_t alarm_id);
708
709#endif
710
722
730
737 int64_t delay_us;
738 alarm_pool_t *pool;
739 alarm_id_t alarm_id;
741 void *user_data;
742};
743
762bool alarm_pool_add_repeating_timer_us(alarm_pool_t *pool, int64_t delay_us, repeating_timer_callback_t callback, void *user_data, repeating_timer_t *out);
763
782static inline bool alarm_pool_add_repeating_timer_ms(alarm_pool_t *pool, int32_t delay_ms, repeating_timer_callback_t callback, void *user_data, repeating_timer_t *out) {
783 return alarm_pool_add_repeating_timer_us(pool, delay_ms * (int64_t)1000, callback, user_data, out);
784}
785
786#if !PICO_TIME_DEFAULT_ALARM_POOL_DISABLED
804static inline bool add_repeating_timer_us(int64_t delay_us, repeating_timer_callback_t callback, void *user_data, repeating_timer_t *out) {
805 return alarm_pool_add_repeating_timer_us(alarm_pool_get_default(), delay_us, callback, user_data, out);
806}
807
825static inline bool add_repeating_timer_ms(int32_t delay_ms, repeating_timer_callback_t callback, void *user_data, repeating_timer_t *out) {
826 return alarm_pool_add_repeating_timer_us(alarm_pool_get_default(), delay_ms * (int64_t)1000, callback, user_data, out);
827}
828#endif
829
838
839#ifdef __cplusplus
840}
841#endif
842
843#endif
bool alarm_pool_cancel_alarm(alarm_pool_t *pool, alarm_id_t alarm_id)
Cancel an alarm.
Definition time.c:354
static alarm_id_t alarm_pool_add_alarm_in_us(alarm_pool_t *pool, uint64_t us, alarm_callback_t callback, void *user_data, bool fire_if_past)
Add an alarm callback to be called after a delay specified in microseconds.
Definition time.h:541
static alarm_pool_t * alarm_pool_create(uint timer_alarm_num, uint max_timers)
Create an alarm pool.
Definition time.h:425
int64_t alarm_pool_remaining_alarm_time_us(alarm_pool_t *pool, alarm_id_t alarm_id)
Return the time remaining before the next trigger of an alarm.
Definition time.c:528
int32_t alarm_pool_remaining_alarm_time_ms(alarm_pool_t *pool, alarm_id_t alarm_id)
Return the time remaining before the next trigger of an alarm.
Definition time.c:556
uint alarm_pool_core_num(alarm_pool_t *pool)
Return the core number the alarm pool was initialized on (and hence callbacks are called on)
Definition time.c:380
alarm_pool_t * alarm_pool_get_default(void)
The default alarm pool used when alarms are added without specifying an alarm pool,...
Definition time.c:100
int64_t remaining_alarm_time_us(alarm_id_t alarm_id)
Return the time remaining before the next trigger of an alarm.
Definition time.c:563
int32_t remaining_alarm_time_ms(alarm_id_t alarm_id)
Return the time remaining before the next trigger of an alarm.
Definition time.c:567
static alarm_id_t add_alarm_in_us(uint64_t us, alarm_callback_t callback, void *user_data, bool fire_if_past)
Add an alarm callback to be called after a delay specified in microseconds.
Definition time.h:649
static alarm_id_t alarm_pool_add_alarm_in_ms(alarm_pool_t *pool, uint32_t ms, alarm_callback_t callback, void *user_data, bool fire_if_past)
Add an alarm callback to be called after a delay specified in milliseconds.
Definition time.h:566
static alarm_pool_t * alarm_pool_create_with_unused_hardware_alarm(uint max_timers)
Create an alarm pool, claiming an used timer_alarm to back it.
Definition time.h:448
alarm_id_t alarm_pool_add_alarm_at_force_in_context(alarm_pool_t *pool, absolute_time_t time, alarm_callback_t callback, void *user_data)
Add an alarm callback to be called at or after a specific time.
Definition time.c:321
static alarm_id_t add_alarm_in_ms(uint32_t ms, alarm_callback_t callback, void *user_data, bool fire_if_past)
Add an alarm callback to be called after a delay specified in milliseconds.
Definition time.h:673
int32_t alarm_id_t
The identifier for an alarm.
Definition time.h:367
void alarm_pool_init_default(void)
Create the default alarm pool (if not already created or disabled)
Definition time.c:95
alarm_id_t alarm_pool_add_alarm_at(alarm_pool_t *pool, absolute_time_t time, alarm_callback_t callback, void *user_data, bool fire_if_past)
Add an alarm callback to be called at a specific time.
Definition time.c:312
int64_t(* alarm_callback_t)(alarm_id_t id, void *user_data)
User alarm callback.
Definition time.h:378
void alarm_pool_destroy(alarm_pool_t *pool)
Destroy the alarm pool, cancelling all alarms and freeing up the underlying timer_alarm.
Definition time.c:298
static alarm_id_t add_alarm_at(absolute_time_t time, alarm_callback_t callback, void *user_data, bool fire_if_past)
Add an alarm callback to be called at a specific time.
Definition time.h:625
static bool cancel_alarm(alarm_id_t alarm_id)
Cancel an alarm from the default alarm pool.
Definition time.h:683
uint alarm_pool_timer_alarm_num(alarm_pool_t *pool)
Return the timer alarm used by an alarm pool.
Definition time.c:376
uint64_t time_us_64(void)
Return the current 64 bit timestamp value in microseconds for the default timer instance.
Definition timer.c:125
static bool add_repeating_timer_ms(int32_t delay_ms, repeating_timer_callback_t callback, void *user_data, repeating_timer_t *out)
Add a repeating timer that is called repeatedly at the specified interval in milliseconds.
Definition time.h:825
bool(* repeating_timer_callback_t)(repeating_timer_t *rt)
Callback for a repeating timer.
Definition time.h:729
bool alarm_pool_add_repeating_timer_us(alarm_pool_t *pool, int64_t delay_us, repeating_timer_callback_t callback, void *user_data, repeating_timer_t *out)
Add a repeating timer that is called repeatedly at the specified interval in microseconds.
Definition time.c:500
static bool add_repeating_timer_us(int64_t delay_us, repeating_timer_callback_t callback, void *user_data, repeating_timer_t *out)
Add a repeating timer that is called repeatedly at the specified interval in microseconds.
Definition time.h:804
bool cancel_repeating_timer(repeating_timer_t *timer)
Cancel a repeating timer.
Definition time.c:511
static bool alarm_pool_add_repeating_timer_ms(alarm_pool_t *pool, int32_t delay_ms, repeating_timer_callback_t callback, void *user_data, repeating_timer_t *out)
Add a repeating timer that is called repeatedly at the specified interval in milliseconds.
Definition time.h:782
void sleep_until(absolute_time_t target)
Wait until after the given timestamp to return.
Definition time.c:392
void sleep_ms(uint32_t ms)
Wait for the given number of milliseconds before returning.
Definition time.c:439
bool best_effort_wfe_or_timeout(absolute_time_t timeout_timestamp)
Helper method for blocking on a timeout.
Definition time.c:443
void sleep_us(uint64_t us)
Wait for the given number of microseconds before returning.
Definition time.c:422
static bool is_nil_time(absolute_time_t t)
Determine if the given timestamp is nil.
Definition time.h:204
static uint64_t to_us_since_boot(absolute_time_t t)
convert an absolute_time_t into a number of microseconds since boot.
Definition types.h:52
static int64_t absolute_time_diff_us(absolute_time_t from, absolute_time_t to)
Return the difference in microseconds between two timestamps.
Definition time.h:161
static bool is_at_the_end_of_time(absolute_time_t t)
Determine if the given timestamp is "at_the_end_of_time".
Definition time.h:189
static absolute_time_t absolute_time_min(absolute_time_t a, absolute_time_t b)
Return the earlier of two timestamps.
Definition time.h:172
static absolute_time_t get_absolute_time(void)
Return a representation of the current time.
Definition time.h:66
static absolute_time_t make_timeout_time_us(uint64_t us)
Convenience method to get the timestamp a number of microseconds from the current time.
Definition time.h:136
static absolute_time_t delayed_by_us(const absolute_time_t t, uint64_t us)
Return a timestamp value obtained by adding a number of microseconds to another timestamp.
Definition time.h:99
static absolute_time_t delayed_by_ms(const absolute_time_t t, uint32_t ms)
Return a timestamp value obtained by adding a number of milliseconds to another timestamp.
Definition time.h:118
const absolute_time_t nil_time
The timestamp representing a null timestamp.
static absolute_time_t make_timeout_time_ms(uint32_t ms)
Convenience method to get the timestamp a number of milliseconds from the current time.
Definition time.h:146
static uint32_t to_ms_since_boot(absolute_time_t t)
Convert a timestamp into a number of milliseconds since boot.
Definition time.h:87
const absolute_time_t at_the_end_of_time
The timestamp representing the end of time; this is actually not the maximum possible timestamp,...
static void update_us_since_boot(absolute_time_t *t, uint64_t us_since_boot)
update an absolute_time_t value to represent a given number of microseconds since boot
Definition types.h:67
uint64_t absolute_time_t
An opaque 64 bit timestamp in microseconds.
Definition types.h:43
Definition time.c:28
Information about a repeating timer.
Definition time.h:736