Data Structures
struct	rtimer
	Representation of a real-time task. More...

Macros
#define	RTIMER_CLOCK_SIZE 4
	The rtimer size (in bytes)

#define	RTIMER_SECOND RTIMER_ARCH_SECOND
	Number of rtimer ticks for 1 second.

#define	rtimer_init()
	Initialize the real-time scheduler.

#define	RTIMER_NOW()
	Get the current clock time.

#define	RTIMER_TIME(task)
	Get the time that a task last was executed.

#define	RTIMER_BUSYWAIT_UNTIL_ABS(cond, t0, max_time)
	Busy-wait until a condition.

#define	RTIMER_BUSYWAIT_UNTIL(cond, max_time)
	Busy-wait until a condition for at most max_time.

#define	RTIMER_BUSYWAIT(duration) RTIMER_BUSYWAIT_UNTIL(0, duration)
	Busy-wait for a fixed duration.

Enumerations
enum	{ RTIMER_OK , RTIMER_ERR_FULL , RTIMER_ERR_TIME , RTIMER_ERR_ALREADY_SCHEDULED }
	TODO: we need to document meanings of these symbols. More...

Functions
int	rtimer_set (struct rtimer task, rtimer_clock_t time, rtimer_clock_t duration, rtimer_callback_t func, void ptr)
	Post a real-time task.

void	rtimer_run_next (void)
	Execute the next real-time task and schedule the next task, if any.

Architecture-dependent symbols
The functions declared in this section must be defined in architecture-dependent implementation of rtimer. Alternatively, they can be defined as macros in rtimer-arch.h. In addition, the architecture-dependent header (rtimer-arch.h) must define the following macros. RTIMER_ARCH_SECOND US_TO_RTIMERTICKS(us) RTIMERTICKS_TO_US(t) RTIMERTICKS_TO_US_64(t)
void	rtimer_arch_init (void)
	Initialized the architecture-dependent part of rtimer.

void	rtimer_arch_schedule (rtimer_clock_t t)
	Schedules an rtimer task to be triggered at time t.

Detailed Description

The real-time module handles the scheduling and execution of real-time tasks (with predictable execution times).

Macro Definition Documentation

◆ RTIMER_BUSYWAIT_UNTIL_ABS

#define RTIMER_BUSYWAIT_UNTIL_ABS	(	cond,
		t0,
		max_time )

Value:

  ({                                                                \
    bool c;                                                         \
    while(!(c = cond) && RTIMER_CLOCK_LT(RTIMER_NOW(), (t0) + (max_time))); \
    c;                                                              \
  })

Busy-wait until a condition.

Start time is t0, max wait time is max_time

Definition at line 208 of file rtimer.h.

◆ rtimer_init

#define rtimer_init ( )

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.

Definition at line 127 of file rtimer.h.

Referenced by soc_init().

◆ RTIMER_NOW

#define RTIMER_NOW ( )

Get the current clock time.

Returns

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.

Definition at line 191 of file rtimer.h.

Referenced by at86rf215_isr(), read(), rf_core_check_rat_overflow(), rf_core_convert_rat_to_rtimer(), rtimer_arch_schedule(), tsch_get_lock(), tsch_rx_slot(), tsch_tx_slot(), update_ticks(), and value().

◆ RTIMER_TIME

#define RTIMER_TIME ( task )

Get the time that a task last was executed.

Parameters

task The task

Returns

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.

Definition at line 204 of file rtimer.h.

Enumeration Type Documentation

◆ anonymous enum

anonymous enum

TODO: we need to document meanings of these symbols.

Enumerator
RTIMER_OK	rtimer task is scheduled successfully

Definition at line 148 of file rtimer.h.

Function Documentation

◆ rtimer_arch_init()

void rtimer_arch_init ( void )

Initialized the architecture-dependent part of rtimer.

The Sleep Timer starts ticking automatically as soon as the device turns on. We don't need to turn on interrupts before the first call to rtimer_arch_schedule()

Initialized the architecture-dependent part of rtimer.

The RTC is initialised elsewhere

Initialized the architecture-dependent part of rtimer.

Definition at line 59 of file rtimer-arch.c.

References rtimer_clock_stub(), and rtimer_isr_hook().

◆ rtimer_arch_schedule()

void rtimer_arch_schedule ( rtimer_clock_t t )

Schedules an rtimer task to be triggered at time t.

Parameters

t	The time when the task will need executed.

t is an absolute time, in other words the task will be executed AT time t, not IN t rtimer ticks.

Schedules an rtimer task to be triggered at time t.

This functions converts to a value suitable for the AON RTC.

Schedules an rtimer task to be triggered at time t.

This functions converts t to a value suitable for the AON RTC.

< Compare value load status

< STx upload status signal

< ST count/compare value 3

< ST count/compare value 2

< ST count/compare value 1

< ST count/compare value 0

Definition at line 65 of file rtimer-arch.c.

References INTERRUPTS_DISABLE, INTERRUPTS_ENABLE, rtimer_arch_now(), RTIMER_NOW, rtimer_run_next(), RTIMER_SECOND, SMT_IRQn, SMWDTHROSC_ST0, SMWDTHROSC_ST1, SMWDTHROSC_ST2, SMWDTHROSC_ST3, SMWDTHROSC_STLOAD, SMWDTHROSC_STLOAD_STLOAD, and soc_rtc_schedule_one_shot().

Referenced by rtimer_set().

◆ rtimer_run_next()

void rtimer_run_next ( void )

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.

Definition at line 78 of file rtimer.c.

Referenced by rtimer_arch_schedule(), rtimer_isr(), and rtimer_isr_hook().

◆ rtimer_set()

int rtimer_set	(	struct rtimer *	task,
		rtimer_clock_t	time,
		rtimer_clock_t	duration,
		rtimer_callback_t	func,
		void *	ptr )

Post a real-time task.

Parameters

task	A pointer to the task variable allocated somewhere.
time	The time when the task is to be executed.
duration	Unused argument.
func	A function to be called when the task is executed.
ptr	An opaque pointer that will be supplied as an argument to the callback function.

Returns: RTIMER_OK if the task could be scheduled. Any other value indicates the task could not be scheduled.

This function schedules a real-time task at a specified time in the future.

Definition at line 57 of file rtimer.c.

References rtimer_arch_schedule(), and RTIMER_OK.

Data Structures

Macros

Enumerations

Functions

Architecture-dependent symbols

Detailed Description

Macro Definition Documentation

◆ RTIMER_BUSYWAIT_UNTIL_ABS

◆ rtimer_init

◆ RTIMER_NOW

◆ RTIMER_TIME

Enumeration Type Documentation

◆ anonymous enum

Function Documentation

◆ rtimer_arch_init()

◆ rtimer_arch_schedule()

◆ rtimer_run_next()

◆ rtimer_set()