TactilityKernel improvements (#464)
* **New Features** * Thread API with lifecycle, priority, affinity and state monitoring * Timer subsystem: one-shot/periodic timers, reset, pending callbacks, expiry queries * Expanded I²C: register-level ops, bulk writes, presence checks, ESP32 integration and new config properties * GPIO controller: pin level and options APIs * Error utilities: new error code, error-to-string, timeout helper and common macros * Device construction helpers (construct+start) * **Tests** * New unit tests for thread and timer behavior * **Documentation** * Expanded coding style guide (files/folders, C conventions)
This commit is contained in:
Ken Van Hoeylandt
committed by
GitHub
GitHub
parent
f6ddb14ec1
commit
71f8369377
@@ -14,7 +14,7 @@ __attribute__((noreturn)) extern void __crash(void);
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#define CHECK_NO_MSG(condition) \
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do { \
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if (!(condition)) { \
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LOG_E("Error", "Check failed: %s at %s:%d", #condition, __FILE__, __LINE__); \
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LOG_E("Error", "Check failed: %s\n\tat %s:%d", #condition, __FILE__, __LINE__); \
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__crash(); \
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} \
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} while (0)
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@@ -22,7 +22,7 @@ __attribute__((noreturn)) extern void __crash(void);
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#define CHECK_MSG(condition, message) \
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do { \
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if (!(condition)) { \
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LOG_E("Error", "Check failed: %s at %s:%d", message, __FILE__, __LINE__); \
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LOG_E("Error", "Check failed: %s\n\tat %s:%d", message, __FILE__, __LINE__); \
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__crash(); \
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} \
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} while (0)
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@@ -0,0 +1,182 @@
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// SPDX-License-Identifier: Apache-2.0
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#pragma once
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#include "tactility/error.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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#ifdef ESP_PLATFORM
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#include <esp_log.h>
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#endif
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#include <tactility/freertos/task.h>
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#include <tactility/concurrent/mutex.h>
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#include <assert.h>
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#include <stdbool.h>
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#include <stdint.h>
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typedef enum {
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THREAD_STATE_STOPPED,
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THREAD_STATE_STARTING,
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THREAD_STATE_RUNNING,
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} ThreadState;
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/** ThreadPriority */
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enum ThreadPriority {
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THREAD_PRIORITY_NONE = 0U,
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THREAD_PRIORITY_IDLE = 1U,
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THREAD_PRIORITY_LOWER = 2U,
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THREAD_PRIORITY_LOW = 3U,
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THREAD_PRIORITY_NORMAL = 4U,
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THREAD_PRIORITY_HIGH = 5U,
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THREAD_PRIORITY_HIGHER = 6U,
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THREAD_PRIORITY_CRITICAL = 7U
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};
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typedef int32_t (*thread_main_fn_t)(void* context);
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typedef void (*thread_state_callback_t)(ThreadState state, void* context);
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struct Thread;
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typedef struct Thread Thread;
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/**
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* @brief Creates a new thread instance with default settings.
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* @return A pointer to the created Thread instance, or NULL if allocation failed.
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*/
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Thread* thread_alloc(void);
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/**
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* @brief Creates a new thread instance with specified parameters.
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* @param[in] name The name of the thread.
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* @param[in] stack_size The size of the thread stack in bytes.
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* @param[in] function The main function to be executed by the thread.
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* @param[in] function_context A pointer to the context to be passed to the main function.
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* @param[in] affinity The CPU core affinity for the thread (e.g., tskNO_AFFINITY).
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* @return A pointer to the created Thread instance, or NULL if allocation failed.
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*/
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Thread* thread_alloc_full(
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const char* name,
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configSTACK_DEPTH_TYPE stack_size,
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thread_main_fn_t function,
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void* function_context,
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portBASE_TYPE affinity
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);
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/**
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* @brief Destroys a thread instance.
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* @param[in] thread The thread instance to destroy.
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* @note The thread must be in the STOPPED state.
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*/
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void thread_free(Thread* thread);
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/**
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* @brief Sets the name of the thread.
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* @param[in] thread The thread instance.
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* @param[in] name The new name for the thread.
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* @note Can only be called when the thread is in the STOPPED state.
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*/
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void thread_set_name(Thread* thread, const char* name);
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/**
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* @brief Sets the stack size for the thread.
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* @param[in] thread The thread instance.
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* @param[in] stack_size The stack size in bytes. Must be a multiple of 4.
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* @note Can only be called when the thread is in the STOPPED state.
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*/
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void thread_set_stack_size(Thread* thread, size_t stack_size);
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/**
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* @brief Sets the CPU core affinity for the thread.
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* @param[in] thread The thread instance.
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* @param[in] affinity The CPU core affinity.
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* @note Can only be called when the thread is in the STOPPED state.
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*/
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void thread_set_affinity(Thread* thread, portBASE_TYPE affinity);
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/**
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* @brief Sets the main function and context for the thread.
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* @param[in] thread The thread instance.
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* @param[in] function The main function to be executed.
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* @param[in] context A pointer to the context to be passed to the main function.
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* @note Can only be called when the thread is in the STOPPED state.
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*/
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void thread_set_main_function(Thread* thread, thread_main_fn_t function, void* context);
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/**
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* @brief Sets the priority for the thread.
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* @param[in] thread The thread instance.
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* @param[in] priority The thread priority.
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* @note Can only be called when the thread is in the STOPPED state.
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*/
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void thread_set_priority(Thread* thread, enum ThreadPriority priority);
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/**
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* @brief Sets a callback to be invoked when the thread state changes.
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* @param[in] thread The thread instance.
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* @param[in] callback The callback function.
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* @param[in] context A pointer to the context to be passed to the callback function.
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* @note Can only be called when the thread is in the STOPPED state.
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*/
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void thread_set_state_callback(Thread* thread, thread_state_callback_t callback, void* context);
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/**
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* @brief Gets the current state of the thread.
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* @param[in] thread The thread instance.
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* @return The current ThreadState.
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*/
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ThreadState thread_get_state(Thread* thread);
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/**
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* @brief Starts the thread execution.
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* @param[in] thread The thread instance.
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* @note The thread must be in the STOPPED state and have a main function set.
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* @retval ERROR_NONE when the thread was started
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* @retval ERROR_UNDEFINED when the thread failed to start
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*/
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error_t thread_start(Thread* thread);
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/**
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* @brief Waits for the thread to finish execution.
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* @param[in] thread The thread instance.
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* @param[in] timeout The maximum time to wait in ticks.
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* @param[in] poll_interval The interval between status checks in ticks.
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* @retval ERROR_NONE when the thread was stopped
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* @retval ERROR_TIMEOUT when the thread was not stopped because the timeout has passed
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* @note Cannot be called from the thread being joined.
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*/
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error_t thread_join(Thread* thread, TickType_t timeout, TickType_t poll_interval);
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/**
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* @brief Gets the FreeRTOS task handle associated with the thread.
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* @param[in] thread The thread instance.
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* @return The TaskHandle_t, or NULL if the thread is not running.
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*/
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TaskHandle_t thread_get_task_handle(Thread* thread);
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/**
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* @brief Gets the return code from the thread's main function.
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* @param[in] thread The thread instance.
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* @return The return code of the thread's main function.
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* @note The thread must be in the STOPPED state.
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*/
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int32_t thread_get_return_code(Thread* thread);
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/**
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* @brief Gets the minimum remaining stack space for the thread since it started.
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* @param[in] thread The thread instance.
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* @return The minimum remaining stack space in bytes.
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* @note The thread must be in the RUNNING state.
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*/
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uint32_t thread_get_stack_space(Thread* thread);
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/**
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* @brief Gets the current thread instance.
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* @return A pointer to the current Thread instance, or NULL if not called from a thread created by this module.
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*/
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Thread* thread_get_current(void);
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#ifdef __cplusplus
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}
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#endif
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@@ -0,0 +1,104 @@
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// SPDX-License-Identifier: Apache-2.0
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#pragma once
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#include "tactility/error.h"
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#include "tactility/freertos/timers.h"
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#include "tactility/concurrent/thread.h"
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#include <stdbool.h>
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#include <stdint.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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enum TimerType {
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TIMER_TYPE_ONCE = 0, // Timer triggers once after time has passed
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TIMER_TYPE_PERIODIC = 1 // Timer triggers repeatedly after time has passed
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};
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typedef void (*timer_callback_t)(void* context);
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typedef void (*timer_pending_callback_t)(void* context, uint32_t arg);
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struct Timer;
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/**
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* @brief Creates a new timer instance.
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* @param[in] type The timer type.
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* @param[in] ticks The timer period in ticks.
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* @param[in] callback The callback function.
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* @param[in] context The context to pass to the callback function.
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* @return A pointer to the created timer instance, or NULL if allocation failed.
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*/
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struct Timer* timer_alloc(enum TimerType type, TickType_t ticks, timer_callback_t callback, void* context);
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/**
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* @brief Destroys a timer instance.
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* @param[in] timer The timer instance to destroy.
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*/
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void timer_free(struct Timer* timer);
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/**
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* @brief Starts the timer.
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* @param[in] timer The timer instance.
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* @return ERROR_NONE on success, ERROR_TIMEOUT if the command queue was full.
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*/
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error_t timer_start(struct Timer* timer);
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/**
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* @brief Stops the timer.
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* @param[in] timer The timer instance.
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* @return ERROR_NONE on success, ERROR_TIMEOUT if the command queue was full.
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*/
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error_t timer_stop(struct Timer* timer);
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/**
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* @brief Set a new interval and reset the timer.
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* @param[in] timer The timer instance.
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* @param[in] interval The new timer interval in ticks.
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* @return ERROR_NONE on success, ERROR_TIMEOUT if the command queue was full.
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*/
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error_t timer_reset_with_interval(struct Timer* timer, TickType_t interval);
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/**
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* @brief Reset the timer.
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* @param[in] timer The timer instance.
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* @return ERROR_NONE on success, ERROR_TIMEOUT if the command queue was full.
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*/
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error_t timer_reset(struct Timer* timer);
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/**
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* @brief Check if the timer is running.
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* @param[in] timer The timer instance.
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* @return true when the timer is running.
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*/
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bool timer_is_running(struct Timer* timer);
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/**
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* @brief Gets the expiry time of the timer.
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* @param[in] timer The timer instance.
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* @return The expiry time in ticks.
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*/
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TickType_t timer_get_expiry_time(struct Timer* timer);
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/**
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* @brief Calls xTimerPendFunctionCall internally.
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* @param[in] timer The timer instance.
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* @param[in] callback the function to call
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* @param[in] context the first function argument
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* @param[in] arg the second function argument
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* @param[in] timeout the function timeout (must set to 0 in ISR mode)
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* @return ERROR_NONE on success, ERROR_TIMEOUT if the command queue was full.
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*/
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error_t timer_set_pending_callback(struct Timer* timer, timer_pending_callback_t callback, void* context, uint32_t arg, TickType_t timeout);
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/**
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* @brief Set callback priority (priority of the timer daemon task).
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* @param[in] timer The timer instance.
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* @param[in] priority The priority.
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*/
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void timer_set_callback_priority(struct Timer* timer, enum ThreadPriority priority);
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#ifdef __cplusplus
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}
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#endif
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@@ -0,0 +1,21 @@
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// SPDX-License-Identifier: Apache-2.0
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/**
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* @brief Contains various unsorted defines
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* @note Preprocessor defines with potentially clashing names implement an #ifdef check.
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*/
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#pragma once
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#ifndef MIN
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/** @brief Get the minimum value of 2 values */
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#define MIN(a, b) (((a) < (b)) ? (a) : (b))
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#endif
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#ifndef MAX
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/** @brief Get the maximum value of 2 values */
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#define MAX(a, b) (((a) > (b)) ? (a) : (b))
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#endif
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#ifndef CLAMP
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/** @brief Clamp a value between the provided minimum and maximum */
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#define CLAMP(min, max, value) (((value) < (min)) ? (min) : (((value) > (max)) ? (max) : (value)))
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#endif
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@@ -133,6 +133,10 @@ error_t device_stop(struct Device* device);
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*/
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void device_set_parent(struct Device* device, struct Device* parent);
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error_t device_construct_add(struct Device* device, const char* compatible);
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error_t device_construct_add_start(struct Device* device, const char* compatible);
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static inline void device_set_driver(struct Device* device, struct Driver* driver) {
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device->internal.driver = driver;
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}
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@@ -10,17 +10,85 @@ extern "C" {
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#include <tactility/error.h>
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struct GpioControllerApi {
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/**
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* @brief Sets the logical level of a GPIO pin.
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* @param[in] device the GPIO controller device
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* @param[in] pin the pin index
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* @param[in] high true to set the pin high, false to set it low
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* @return ERROR_NONE if successful
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*/
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error_t (*set_level)(struct Device* device, gpio_pin_t pin, bool high);
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/**
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* @brief Gets the logical level of a GPIO pin.
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* @param[in] device the GPIO controller device
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* @param[in] pin the pin index
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* @param[out] high pointer to store the pin level
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* @return ERROR_NONE if successful
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*/
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error_t (*get_level)(struct Device* device, gpio_pin_t pin, bool* high);
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/**
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* @brief Configures the options for a GPIO pin.
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* @param[in] device the GPIO controller device
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* @param[in] pin the pin index
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* @param[in] options configuration flags (direction, pull-up/down, etc.)
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* @return ERROR_NONE if successful
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*/
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error_t (*set_options)(struct Device* device, gpio_pin_t pin, gpio_flags_t options);
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/**
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* @brief Gets the configuration options for a GPIO pin.
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* @param[in] device the GPIO controller device
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* @param[in] pin the pin index
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* @param[out] options pointer to store the configuration flags
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* @return ERROR_NONE if successful
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*/
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error_t (*get_options)(struct Device* device, gpio_pin_t pin, gpio_flags_t* options);
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};
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/**
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* @brief Sets the logical level of a GPIO pin.
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* @param[in] device the GPIO controller device
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* @param[in] pin the pin index
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* @param[in] high true to set the pin high, false to set it low
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* @return ERROR_NONE if successful
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*/
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error_t gpio_controller_set_level(struct Device* device, gpio_pin_t pin, bool high);
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/**
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* @brief Gets the logical level of a GPIO pin.
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* @param[in] device the GPIO controller device
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* @param[in] pin the pin index
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* @param[out] high pointer to store the pin level
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* @return ERROR_NONE if successful
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*/
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error_t gpio_controller_get_level(struct Device* device, gpio_pin_t pin, bool* high);
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/**
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* @brief Configures the options for a GPIO pin.
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* @param[in] device the GPIO controller device
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* @param[in] pin the pin index
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* @param[in] options configuration flags (direction, pull-up/down, etc.)
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* @return ERROR_NONE if successful
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*/
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error_t gpio_controller_set_options(struct Device* device, gpio_pin_t pin, gpio_flags_t options);
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/**
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* @brief Gets the configuration options for a GPIO pin.
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* @param[in] device the GPIO controller device
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* @param[in] pin the pin index
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* @param[out] options pointer to store the configuration flags
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* @return ERROR_NONE if successful
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*/
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error_t gpio_controller_get_options(struct Device* device, gpio_pin_t pin, gpio_flags_t* options);
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/**
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* @brief Configures the options for a GPIO pin using a pin configuration structure.
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* @param[in] device the GPIO controller device
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* @param[in] config the pin configuration structure
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* @return ERROR_NONE if successful
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*/
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static inline error_t gpio_set_options_config(struct Device* device, const struct GpioPinConfig* config) {
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return gpio_controller_set_options(device, config->pin, config->flags);
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}
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@@ -13,18 +13,154 @@ extern "C" {
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#include <tactility/freertos/freertos.h>
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#include <tactility/error.h>
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/**
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* @brief API for I2C controller drivers.
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*/
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struct I2cControllerApi {
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/**
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* @brief Reads data from an I2C device.
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* @param[in] device the I2C controller device
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* @param[in] address the 7-bit I2C address of the slave device
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* @param[out] data the buffer to store the read data
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* @param[in] dataSize the number of bytes to read
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* @param[in] timeout the maximum time to wait for the operation to complete
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* @retval ERROR_NONE when the read operation was successful
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* @retval ERROR_TIMEOUT when the operation timed out
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*/
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error_t (*read)(struct Device* device, uint8_t address, uint8_t* data, size_t dataSize, TickType_t timeout);
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/**
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* @brief Writes data to an I2C device.
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* @param[in] device the I2C controller device
|
||||
* @param[in] address the 7-bit I2C address of the slave device
|
||||
* @param[in] data the buffer containing the data to write
|
||||
* @param[in] dataSize the number of bytes to write
|
||||
* @param[in] timeout the maximum time to wait for the operation to complete
|
||||
* @retval ERROR_NONE when the write operation was successful
|
||||
* @retval ERROR_TIMEOUT when the operation timed out
|
||||
*/
|
||||
error_t (*write)(struct Device* device, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout);
|
||||
|
||||
/**
|
||||
* @brief Writes data to then reads data from an I2C device.
|
||||
* @param[in] device the I2C controller device
|
||||
* @param[in] address the 7-bit I2C address of the slave device
|
||||
* @param[in] writeData the buffer containing the data to write
|
||||
* @param[in] writeDataSize the number of bytes to write
|
||||
* @param[out] readData the buffer to store the read data
|
||||
* @param[in] readDataSize the number of bytes to read
|
||||
* @param[in] timeout the maximum time to wait for the operation to complete
|
||||
* @retval ERROR_NONE when the operation was successful
|
||||
* @retval ERROR_TIMEOUT when the operation timed out
|
||||
*/
|
||||
error_t (*write_read)(struct Device* device, uint8_t address, const uint8_t* writeData, size_t writeDataSize, uint8_t* readData, size_t readDataSize, TickType_t timeout);
|
||||
|
||||
/**
|
||||
* @brief Reads data from a register of an I2C device.
|
||||
* @param[in] device the I2C controller device
|
||||
* @param[in] address the 7-bit I2C address of the slave device
|
||||
* @param[in] reg the register address to read from
|
||||
* @param[out] data the buffer to store the read data
|
||||
* @param[in] dataSize the number of bytes to read
|
||||
* @param[in] timeout the maximum time to wait for the operation to complete
|
||||
* @retval ERROR_NONE when the read operation was successful
|
||||
* @retval ERROR_TIMEOUT when the operation timed out
|
||||
*/
|
||||
error_t (*read_register)(struct Device* device, uint8_t address, uint8_t reg, uint8_t* data, size_t dataSize, TickType_t timeout);
|
||||
|
||||
/**
|
||||
* @brief Writes data to a register of an I2C device.
|
||||
* @param[in] device the I2C controller device
|
||||
* @param[in] address the 7-bit I2C address of the slave device
|
||||
* @param[in] reg the register address to write to
|
||||
* @param[in] data the buffer containing the data to write
|
||||
* @param[in] dataSize the number of bytes to write
|
||||
* @param[in] timeout the maximum time to wait for the operation to complete
|
||||
* @retval ERROR_NONE when the write operation was successful
|
||||
* @retval ERROR_TIMEOUT when the operation timed out
|
||||
*/
|
||||
error_t (*write_register)(struct Device* device, uint8_t address, uint8_t reg, const uint8_t* data, uint16_t dataSize, TickType_t timeout);
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Reads data from an I2C device using the specified controller.
|
||||
* @param[in] device the I2C controller device
|
||||
* @param[in] address the 7-bit I2C address of the slave device
|
||||
* @param[out] data the buffer to store the read data
|
||||
* @param[in] dataSize the number of bytes to read
|
||||
* @param[in] timeout the maximum time to wait for the operation to complete
|
||||
* @retval ERROR_NONE when the read operation was successful
|
||||
*/
|
||||
error_t i2c_controller_read(struct Device* device, uint8_t address, uint8_t* data, size_t dataSize, TickType_t timeout);
|
||||
|
||||
/**
|
||||
* @brief Writes data to an I2C device using the specified controller.
|
||||
* @param[in] device the I2C controller device
|
||||
* @param[in] address the 7-bit I2C address of the slave device
|
||||
* @param[in] data the buffer containing the data to write
|
||||
* @param[in] dataSize the number of bytes to write
|
||||
* @param[in] timeout the maximum time to wait for the operation to complete
|
||||
* @retval ERROR_NONE when the write operation was successful
|
||||
*/
|
||||
error_t i2c_controller_write(struct Device* device, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout);
|
||||
|
||||
/**
|
||||
* @brief Writes data to then reads data from an I2C device using the specified controller.
|
||||
* @param[in] device the I2C controller device
|
||||
* @param[in] address the 7-bit I2C address of the slave device
|
||||
* @param[in] writeData the buffer containing the data to write
|
||||
* @param[in] writeDataSize the number of bytes to write
|
||||
* @param[out] readData the buffer to store the read data
|
||||
* @param[in] readDataSize the number of bytes to read
|
||||
* @param[in] timeout the maximum time to wait for the operation to complete
|
||||
* @retval ERROR_NONE when the operation was successful
|
||||
*/
|
||||
error_t i2c_controller_write_read(struct Device* device, uint8_t address, const uint8_t* writeData, size_t writeDataSize, uint8_t* readData, size_t readDataSize, TickType_t timeout);
|
||||
|
||||
/**
|
||||
* @brief Reads data from a register of an I2C device using the specified controller.
|
||||
* @param[in] device the I2C controller device
|
||||
* @param[in] address the 7-bit I2C address of the slave device
|
||||
* @param[in] reg the register address to read from
|
||||
* @param[out] data the buffer to store the read data
|
||||
* @param[in] dataSize the number of bytes to read
|
||||
* @param[in] timeout the maximum time to wait for the operation to complete
|
||||
* @retval ERROR_NONE when the read operation was successful
|
||||
*/
|
||||
error_t i2c_controller_read_register(struct Device* device, uint8_t address, uint8_t reg, uint8_t* data, size_t dataSize, TickType_t timeout);
|
||||
|
||||
/**
|
||||
* @brief Writes data to a register of an I2C device using the specified controller.
|
||||
* @param[in] device the I2C controller device
|
||||
* @param[in] address the 7-bit I2C address of the slave device
|
||||
* @param[in] reg the register address to write to
|
||||
* @param[in] data the buffer containing the data to write
|
||||
* @param[in] dataSize the number of bytes to write
|
||||
* @param[in] timeout the maximum time to wait for the operation to complete
|
||||
* @retval ERROR_NONE when the write operation was successful
|
||||
*/
|
||||
error_t i2c_controller_write_register(struct Device* device, uint8_t address, uint8_t reg, const uint8_t* data, uint16_t dataSize, TickType_t timeout);
|
||||
|
||||
/**
|
||||
* @brief Writes an array of register-value pairs to an I2C device.
|
||||
* @param[in] device the I2C controller device
|
||||
* @param[in] address the 7-bit I2C address of the slave device
|
||||
* @param[in] data an array of bytes where even indices are register addresses and odd indices are values
|
||||
* @param[in] dataSize the number of bytes in the data array (must be even)
|
||||
* @param[in] timeout the maximum time to wait for each operation to complete
|
||||
* @retval ERROR_NONE when all write operations were successful
|
||||
*/
|
||||
error_t i2c_controller_write_register_array(struct Device* device, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout);
|
||||
|
||||
/**
|
||||
* @brief Checks if an I2C device is present at the specified address.
|
||||
* @param[in] device the I2C controller device
|
||||
* @param[in] address the 7-bit I2C address to check
|
||||
* @param[in] timeout the maximum time to wait for the check to complete
|
||||
* @retval ERROR_NONE when a device responded at the address
|
||||
*/
|
||||
error_t i2c_controller_has_device_at_address(struct Device* device, uint8_t address, TickType_t timeout);
|
||||
|
||||
extern const struct DeviceType I2C_CONTROLLER_TYPE;
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
@@ -2,6 +2,10 @@
|
||||
|
||||
#pragma once
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
// Avoid potential clash with bits/types/error_t.h
|
||||
#ifndef __error_t_defined
|
||||
typedef int error_t;
|
||||
@@ -17,3 +21,11 @@ typedef int error_t;
|
||||
#define ERROR_RESOURCE 7 // A problem with a resource/dependency
|
||||
#define ERROR_TIMEOUT 8
|
||||
#define ERROR_OUT_OF_MEMORY 9
|
||||
#define ERROR_NOT_SUPPORTED 10
|
||||
|
||||
/** Convert an error_t to a human-readable text. Useful for logging. */
|
||||
const char* error_to_string(error_t error);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
@@ -1,7 +1,13 @@
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
/**
|
||||
* Time-keeping related functionality.
|
||||
* This includes functionality for both ticks and seconds.
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include "defines.h"
|
||||
#include "tactility/freertos/task.h"
|
||||
|
||||
#ifdef ESP_PLATFORM
|
||||
@@ -32,6 +38,14 @@ static inline size_t get_millis() {
|
||||
return get_ticks() * portTICK_PERIOD_MS;
|
||||
}
|
||||
|
||||
static inline TickType_t get_timeout_remaining_ticks(TickType_t timeout, TickType_t start_time) {
|
||||
TickType_t ticks_passed = get_ticks() - start_time;
|
||||
if (ticks_passed >= timeout) {
|
||||
return 0;
|
||||
}
|
||||
return timeout - ticks_passed;
|
||||
}
|
||||
|
||||
/** @return the frequency at which the kernel task schedulers operate */
|
||||
uint32_t kernel_get_tick_frequency();
|
||||
|
||||
|
||||
Reference in New Issue
Block a user