74eb830870
- Implemented `constexpr long int getMicros()` in `Kernel.h` - Changed `secondsToTicks()`, `minutesToTicks()` and `bool isIsr()` to `constexpr` - Added more relevant build info
118 lines
3.0 KiB
C++
118 lines
3.0 KiB
C++
#pragma once
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#ifdef ESP_PLATFORM
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#include "freertos/FreeRTOS.h"
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#include <esp_timer.h>
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#else
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#include "FreeRTOS.h"
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#include <sys/time.h>
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#endif
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namespace tt::kernel {
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/** Recognized platform types */
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typedef enum {
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PlatformEsp,
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PlatformSimulator
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} Platform;
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/** Return true when called from an Interrupt Service Routine (~IRQ mode) */
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#ifdef ESP_PLATFORM
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constexpr bool isIsr() { return (xPortInIsrContext() == pdTRUE); }
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#else
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constexpr bool isIsr() { return false; }
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#endif
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/** Check if kernel is running
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* @return true if the FreeRTOS kernel is running, false otherwise
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*/
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bool isRunning();
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/** Lock kernel, pause process scheduling
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* @warning don't call from ISR context
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* @return true on success
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*/
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bool lock();
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/** Unlock kernel, resume process scheduling
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* @warning don't call from ISR context
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* @return true on success
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*/
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bool unlock();
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/** Restore kernel lock state
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* @warning don't call from ISR context
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* @param[in] lock The lock state
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* @return true on success
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*/
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bool restoreLock(bool lock);
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/** Get kernel systick frequency
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* @return systick counts per second
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*/
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uint32_t getTickFrequency();
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TickType_t getTicks();
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constexpr size_t getMillis() { return getTicks() / portTICK_PERIOD_MS; }
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constexpr long int getMicros() {
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#ifdef ESP_PLATFORM
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return static_cast<unsigned long>(esp_timer_get_time());
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#else
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timeval tv;
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gettimeofday(&tv, nullptr);
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return 1000000 * tv.tv_sec + tv.tv_usec;
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#endif
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}
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/** Delay execution
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* @warning don't call from ISR context
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* Also keep in mind delay is aliased to scheduler timer intervals.
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* @param[in] ticks The ticks count to pause
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*/
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void delayTicks(TickType_t ticks);
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/** Delay until tick
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* @warning don't call from ISR context
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* @param[in] ticks The tick until which kerel should delay task execution
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* @return true on success
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*/
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bool delayUntilTick(TickType_t tick);
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constexpr TickType_t secondsToTicks(uint32_t seconds) {
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return static_cast<TickType_t>(seconds) * 1000U / portTICK_PERIOD_MS;
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}
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constexpr TickType_t minutesToTicks(uint32_t minutes) {
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return secondsToTicks(minutes * 60U);
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}
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/** Convert milliseconds to ticks
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*
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* @param[in] milliSeconds time in milliseconds
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* @return time in ticks
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*/
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TickType_t millisToTicks(uint32_t milliSeconds);
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/** Delay in milliseconds
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* This method uses kernel ticks on the inside, which causes delay to be aliased to scheduler timer intervals.
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* Real wait time will be between X+ milliseconds.
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* Special value: 0, will cause task yield.
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* Also if used when kernel is not running will fall back to delayMicros()
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* @warning don't call from ISR context
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* @param[in] milliSeconds milliseconds to wait
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*/
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void delayMillis(uint32_t milliSeconds);
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/** Delay in microseconds
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* Implemented using Cortex DWT counter. Blocking and non aliased.
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* @param[in] microSeconds microseconds to wait
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*/
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void delayMicros(uint32_t microSeconds);
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/** @return the platform that Tactility currently is running on. */
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Platform getPlatform();
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} // namespace
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