| /* |
| * Copyright (c) 2005, Swedish Institute of Computer Science |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions |
| * are met: |
| * 1. Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * 2. Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * 3. Neither the name of the Institute nor the names of its contributors |
| * may be used to endorse or promote products derived from this software |
| * without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND |
| * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| * ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE |
| * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS |
| * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
| * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY |
| * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF |
| * SUCH DAMAGE. |
| * |
| * This file is part of the Contiki operating system. |
| * |
| */ |
| |
| /** |
| * \file |
| * Header file for the real-time timer module. |
| * \author |
| * Adam Dunkels <adam@sics.se> |
| * |
| */ |
| |
| /** \addtogroup sys |
| * @{ */ |
| |
| /** |
| * \defgroup rt Real-time task scheduling |
| * |
| * The real-time module handles the scheduling and execution of |
| * real-time tasks (with predictable execution times). |
| * |
| * @{ |
| */ |
| |
| #ifndef RTIMER_H_ |
| #define RTIMER_H_ |
| |
| #include "contiki-conf.h" |
| |
| #ifndef RTIMER_CLOCK_LT |
| typedef unsigned short rtimer_clock_t; |
| #define RTIMER_CLOCK_LT(a,b) ((signed short)((a)-(b)) < 0) |
| #endif /* RTIMER_CLOCK_LT */ |
| |
| #include "rtimer-arch.h" |
| |
| /** |
| * \brief Initialize the real-time scheduler. |
| * |
| * This function initializes the real-time scheduler and |
| * must be called at boot-up, before any other functions |
| * from the real-time scheduler is called. |
| */ |
| void rtimer_init(void); |
| |
| struct rtimer; |
| typedef void (* rtimer_callback_t)(struct rtimer *t, void *ptr); |
| |
| /** |
| * \brief Representation of a real-time task |
| * |
| * This structure represents a real-time task and is used |
| * by the real-time module and the architecture specific |
| * support module for the real-time module. |
| */ |
| struct rtimer { |
| rtimer_clock_t time; |
| rtimer_callback_t func; |
| void *ptr; |
| }; |
| |
| enum { |
| RTIMER_OK, |
| RTIMER_ERR_FULL, |
| RTIMER_ERR_TIME, |
| RTIMER_ERR_ALREADY_SCHEDULED, |
| }; |
| |
| /** |
| * \brief Post a real-time task. |
| * \param task A pointer to the task variable previously declared with RTIMER_TASK(). |
| * \param time The time when the task is to be executed. |
| * \param duration Unused argument. |
| * \param func A function to be called when the task is executed. |
| * \param ptr An opaque pointer that will be supplied as an argument to the callback function. |
| * \return Non-zero (true) if the task could be scheduled, zero |
| * (false) if the task could not be scheduled. |
| * |
| * This function schedules a real-time task at a specified |
| * time in the future. |
| * |
| */ |
| int rtimer_set(struct rtimer *task, rtimer_clock_t time, |
| rtimer_clock_t duration, rtimer_callback_t func, void *ptr); |
| |
| /** |
| * \brief Execute the next real-time task and schedule the next task, if any |
| * |
| * This function is called by the architecture dependent |
| * code to execute and schedule the next real-time task. |
| * |
| */ |
| void rtimer_run_next(void); |
| |
| /** |
| * \brief Get the current clock time |
| * \return The current time |
| * |
| * This function returns what the real-time module thinks |
| * is the current time. The current time is used to set |
| * the timeouts for real-time tasks. |
| * |
| * \hideinitializer |
| */ |
| #define RTIMER_NOW() rtimer_arch_now() |
| |
| /** |
| * \brief Get the time that a task last was executed |
| * \param task The task |
| * \return The time that a task last was executed |
| * |
| * This function returns the time that the task was last |
| * executed. This typically is used to get a periodic |
| * execution of a task without clock drift. |
| * |
| * \hideinitializer |
| */ |
| #define RTIMER_TIME(task) ((task)->time) |
| |
| void rtimer_arch_init(void); |
| void rtimer_arch_schedule(rtimer_clock_t t); |
| /*rtimer_clock_t rtimer_arch_now(void);*/ |
| |
| #define RTIMER_SECOND RTIMER_ARCH_SECOND |
| |
| #endif /* RTIMER_H_ */ |
| |
| /** @} */ |
| /** @} */ |