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time.h
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/*
* Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
*
* SPDX-License-Identifier: BSD-3-Clause
*/
#ifndef _PICO_TIME_H
#define _PICO_TIME_H
#include "pico.h"
#include "hardware/timer.h"
#ifdef __cplusplus
extern "C" {
#endif
// PICO_CONFIG: PARAM_ASSERTIONS_ENABLED_PICO_TIME, Enable/disable assertions in the pico_time module, type=bool, default=0, group=pico_time
#ifndef PARAM_ASSERTIONS_ENABLED_PICO_TIME
#ifdef PARAM_ASSERTIONS_ENABLED_PICO_TIME // backwards compatibility with SDK < 2.0.0
#define PARAM_ASSERTIONS_ENABLED_PICO_TIME PARAM_ASSERTIONS_ENABLED_TIME
#else
#define PARAM_ASSERTIONS_ENABLED_PICO_TIME 0
#endif
#endif
// 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
#ifndef PICO_TIME_SLEEP_OVERHEAD_ADJUST_US
#define PICO_TIME_SLEEP_OVERHEAD_ADJUST_US 6
#endif
static inline absolute_time_t get_absolute_time(void) {
absolute_time_t t;
update_us_since_boot(&t, time_us_64());
return t;
}
static inline uint32_t us_to_ms(uint64_t us) {
if (us >> 32u) {
return (uint32_t)(us / 1000u);
} else {
return ((uint32_t)us) / 1000u;
}
}
static inline uint32_t to_ms_since_boot(absolute_time_t t) {
uint64_t us = to_us_since_boot(t);
return us_to_ms(us);
}
static inline absolute_time_t delayed_by_us(const absolute_time_t t, uint64_t us) {
absolute_time_t t2;
uint64_t base = to_us_since_boot(t);
uint64_t delayed = base + us;
if ((int64_t)delayed < 0) {
// absolute_time_t (to allow for signed time deltas) is never greater than INT64_MAX which == at_the_end_of_time
delayed = INT64_MAX;
}
update_us_since_boot(&t2, delayed);
return t2;
}
static inline absolute_time_t delayed_by_ms(const absolute_time_t t, uint32_t ms) {
absolute_time_t t2;
uint64_t base = to_us_since_boot(t);
uint64_t delayed = base + ms * 1000ull;
if ((int64_t)delayed < 0) {
// absolute_time_t (to allow for signed time deltas) is never greater than INT64_MAX which == at_the_end_of_time
delayed = INT64_MAX;
}
update_us_since_boot(&t2, delayed);
return t2;
}
static inline absolute_time_t make_timeout_time_us(uint64_t us) {
return delayed_by_us(get_absolute_time(), us);
}
static inline absolute_time_t make_timeout_time_ms(uint32_t ms) {
return delayed_by_ms(get_absolute_time(), ms);
}
static inline int64_t absolute_time_diff_us(absolute_time_t from, absolute_time_t to) {
return (int64_t)(to_us_since_boot(to) - to_us_since_boot(from));
}
static inline absolute_time_t absolute_time_min(absolute_time_t a, absolute_time_t b) {
return to_us_since_boot(a) < to_us_since_boot(b) ? a : b;
}
extern const absolute_time_t at_the_end_of_time;
static inline bool is_at_the_end_of_time(absolute_time_t t) {
return to_us_since_boot(t) == to_us_since_boot(at_the_end_of_time);
}
extern const absolute_time_t nil_time;
static inline bool is_nil_time(absolute_time_t t) {
return !to_us_since_boot(t);
}
void sleep_until(absolute_time_t target);
void sleep_us(uint64_t us);
void sleep_ms(uint32_t ms);
bool best_effort_wfe_or_timeout(absolute_time_t timeout_timestamp);
// PICO_CONFIG: PICO_TIME_DEFAULT_ALARM_POOL_DISABLED, Disable the default alarm pool, type=bool, default=0, advanced=true, group=pico_time
#ifndef PICO_TIME_DEFAULT_ALARM_POOL_DISABLED
#define PICO_TIME_DEFAULT_ALARM_POOL_DISABLED 0
#endif
// 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
#ifndef PICO_TIME_DEFAULT_ALARM_POOL_HARDWARE_ALARM_NUM
#define PICO_TIME_DEFAULT_ALARM_POOL_HARDWARE_ALARM_NUM 3
#endif
// 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
#ifndef PICO_TIME_DEFAULT_ALARM_POOL_MAX_TIMERS
#define PICO_TIME_DEFAULT_ALARM_POOL_MAX_TIMERS 16
#endif
typedef int32_t alarm_id_t; // note this is signed because we use <0 as a meaningful error value
typedef int64_t (*alarm_callback_t)(alarm_id_t id, void *user_data);
typedef struct alarm_pool alarm_pool_t;
typedef void alarm_pool_timer_t;
void alarm_pool_init_default(void);
void runtime_init_default_alarm_pool(void);
#if !PICO_TIME_DEFAULT_ALARM_POOL_DISABLED
alarm_pool_t *alarm_pool_get_default(void);
#endif
alarm_pool_t *alarm_pool_create_on_timer(alarm_pool_timer_t *timer, uint timer_alarm_num, uint max_timers);
alarm_pool_timer_t *alarm_pool_timer_for_timer_num(uint timer_num);
alarm_pool_timer_t *alarm_pool_get_default_timer(void);
static inline alarm_pool_t *alarm_pool_create(uint timer_alarm_num, uint max_timers) {
return alarm_pool_create_on_timer(alarm_pool_get_default_timer(), timer_alarm_num, max_timers);
}
alarm_pool_t *alarm_pool_create_on_timer_with_unused_hardware_alarm(alarm_pool_timer_t *timer, uint max_timers);
static inline alarm_pool_t *alarm_pool_create_with_unused_hardware_alarm(uint max_timers) {
return alarm_pool_create_on_timer_with_unused_hardware_alarm(alarm_pool_get_default_timer(), max_timers);
}
uint alarm_pool_timer_alarm_num(alarm_pool_t *pool);
// backwards compatibility
static inline uint alarm_pool_hardware_alarm_num(alarm_pool_t *pool) {
return alarm_pool_timer_alarm_num(pool);
}
uint alarm_pool_core_num(alarm_pool_t *pool);
void alarm_pool_destroy(alarm_pool_t *pool);
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);
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);
static 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) {
return alarm_pool_add_alarm_at(pool, delayed_by_us(get_absolute_time(), us), callback, user_data, fire_if_past);
}
static 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) {
return alarm_pool_add_alarm_at(pool, delayed_by_ms(get_absolute_time(), ms), callback, user_data, fire_if_past);
}
int64_t alarm_pool_remaining_alarm_time_us(alarm_pool_t *pool, alarm_id_t alarm_id);
int32_t alarm_pool_remaining_alarm_time_ms(alarm_pool_t *pool, alarm_id_t alarm_id);
bool alarm_pool_cancel_alarm(alarm_pool_t *pool, alarm_id_t alarm_id);
#if !PICO_TIME_DEFAULT_ALARM_POOL_DISABLED
static inline alarm_id_t add_alarm_at(absolute_time_t time, alarm_callback_t callback, void *user_data, bool fire_if_past) {
return alarm_pool_add_alarm_at(alarm_pool_get_default(), time, callback, user_data, fire_if_past);
}
static inline alarm_id_t add_alarm_in_us(uint64_t us, alarm_callback_t callback, void *user_data, bool fire_if_past) {
return alarm_pool_add_alarm_in_us(alarm_pool_get_default(), us, callback, user_data, fire_if_past);
}
static inline alarm_id_t add_alarm_in_ms(uint32_t ms, alarm_callback_t callback, void *user_data, bool fire_if_past) {
return alarm_pool_add_alarm_in_ms(alarm_pool_get_default(), ms, callback, user_data, fire_if_past);
}
static inline bool cancel_alarm(alarm_id_t alarm_id) {
return alarm_pool_cancel_alarm(alarm_pool_get_default(), alarm_id);
}
int64_t remaining_alarm_time_us(alarm_id_t alarm_id);
int32_t remaining_alarm_time_ms(alarm_id_t alarm_id);
#endif
typedef struct repeating_timer repeating_timer_t;
typedef bool (*repeating_timer_callback_t)(repeating_timer_t *rt);
struct repeating_timer {
int64_t delay_us;
alarm_pool_t *pool;
alarm_id_t alarm_id;
repeating_timer_callback_t callback;
void *user_data;
};
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);
static 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) {
return alarm_pool_add_repeating_timer_us(pool, delay_ms * (int64_t)1000, callback, user_data, out);
}
#if !PICO_TIME_DEFAULT_ALARM_POOL_DISABLED
static inline bool add_repeating_timer_us(int64_t delay_us, repeating_timer_callback_t callback, void *user_data, repeating_timer_t *out) {
return alarm_pool_add_repeating_timer_us(alarm_pool_get_default(), delay_us, callback, user_data, out);
}
static inline bool add_repeating_timer_ms(int32_t delay_ms, repeating_timer_callback_t callback, void *user_data, repeating_timer_t *out) {
return alarm_pool_add_repeating_timer_us(alarm_pool_get_default(), delay_ms * (int64_t)1000, callback, user_data, out);
}
#endif
bool cancel_repeating_timer(repeating_timer_t *timer);
#ifdef __cplusplus
}
#endif
#endif
alarm_pool_cancel_alarm
bool alarm_pool_cancel_alarm(alarm_pool_t *pool, alarm_id_t alarm_id)
Cancel an alarm.
Definition time.c:354
alarm_pool_add_alarm_in_us
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
alarm_pool_create
static alarm_pool_t * alarm_pool_create(uint timer_alarm_num, uint max_timers)
Create an alarm pool.
Definition time.h:425
alarm_pool_remaining_alarm_time_us
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
alarm_pool_remaining_alarm_time_ms
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
alarm_pool_core_num
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_get_default
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
remaining_alarm_time_us
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
remaining_alarm_time_ms
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
add_alarm_in_us
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
alarm_pool_add_alarm_in_ms
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
alarm_pool_create_with_unused_hardware_alarm
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_pool_add_alarm_at_force_in_context
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
add_alarm_in_ms
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
alarm_id_t
int32_t alarm_id_t
The identifier for an alarm.
Definition time.h:367
alarm_pool_init_default
void alarm_pool_init_default(void)
Create the default alarm pool (if not already created or disabled).
Definition time.c:95
alarm_pool_add_alarm_at
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
alarm_callback_t
int64_t(* alarm_callback_t)(alarm_id_t id, void *user_data)
User alarm callback.
Definition time.h:378
alarm_pool_destroy
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
add_alarm_at
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
cancel_alarm
static bool cancel_alarm(alarm_id_t alarm_id)
Cancel an alarm from the default alarm pool.
Definition time.h:683
alarm_pool_timer_alarm_num
uint alarm_pool_timer_alarm_num(alarm_pool_t *pool)
Return the timer alarm used by an alarm pool.
Definition time.c:376
time_us_64
uint64_t time_us_64(void)
Return the current 64 bit timestamp value in microseconds for the default timer instance.
Definition timer.c:125
add_repeating_timer_ms
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
repeating_timer_callback_t
bool(* repeating_timer_callback_t)(repeating_timer_t *rt)
Callback for a repeating timer.
Definition time.h:729
alarm_pool_add_repeating_timer_us
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
add_repeating_timer_us
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
cancel_repeating_timer
bool cancel_repeating_timer(repeating_timer_t *timer)
Cancel a repeating timer.
Definition time.c:511
alarm_pool_add_repeating_timer_ms
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
sleep_until
void sleep_until(absolute_time_t target)
Wait until after the given timestamp to return.
Definition time.c:392
sleep_ms
void sleep_ms(uint32_t ms)
Wait for the given number of milliseconds before returning.
Definition time.c:439
best_effort_wfe_or_timeout
bool best_effort_wfe_or_timeout(absolute_time_t timeout_timestamp)
Helper method for blocking on a timeout.
Definition time.c:443
sleep_us
void sleep_us(uint64_t us)
Wait for the given number of microseconds before returning.
Definition time.c:422
is_nil_time
static bool is_nil_time(absolute_time_t t)
Determine if the given timestamp is nil.
Definition time.h:204
to_us_since_boot
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
absolute_time_diff_us
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
is_at_the_end_of_time
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
absolute_time_min
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
get_absolute_time
static absolute_time_t get_absolute_time(void)
Return a representation of the current time.
Definition time.h:66
make_timeout_time_us
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
delayed_by_us
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
delayed_by_ms
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
nil_time
const absolute_time_t nil_time
The timestamp representing a null timestamp.
make_timeout_time_ms
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
to_ms_since_boot
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
at_the_end_of_time
const absolute_time_t at_the_end_of_time
The timestamp representing the end of time; this is actually not the maximum possible timestamp,...
update_us_since_boot
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
absolute_time_t
uint64_t absolute_time_t
An opaque 64 bit timestamp in microseconds.
Definition types.h:43
pico.h
timer.h
alarm_pool
Definition time.c:28
repeating_timer
Information about a repeating timer.
Definition time.h:736