Ewout van Bekkum | 749342b | 2021-01-19 14:53:19 -0800 | [diff] [blame] | 1 | // Copyright 2020 The Pigweed Authors |
| 2 | // |
| 3 | // Licensed under the Apache License, Version 2.0 (the "License"); you may not |
| 4 | // use this file except in compliance with the License. You may obtain a copy of |
| 5 | // the License at |
| 6 | // |
| 7 | // https://www.apache.org/licenses/LICENSE-2.0 |
| 8 | // |
| 9 | // Unless required by applicable law or agreed to in writing, software |
| 10 | // distributed under the License is distributed on an "AS IS" BASIS, WITHOUT |
| 11 | // WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the |
| 12 | // License for the specific language governing permissions and limitations under |
| 13 | // the License. |
| 14 | |
| 15 | #include "pw_thread/sleep.h" |
| 16 | |
| 17 | #include <algorithm> |
| 18 | |
| 19 | #include "FreeRTOS.h" |
| 20 | #include "pw_assert/assert.h" |
| 21 | #include "pw_chrono/system_clock.h" |
| 22 | #include "pw_chrono_freertos/system_clock_constants.h" |
| 23 | #include "pw_thread/id.h" |
| 24 | #include "task.h" |
| 25 | |
Ewout van Bekkum | 3a00cda | 2021-03-09 13:56:52 -0800 | [diff] [blame] | 26 | using pw::chrono::SystemClock; |
Ewout van Bekkum | 749342b | 2021-01-19 14:53:19 -0800 | [diff] [blame] | 27 | |
| 28 | namespace pw::this_thread { |
| 29 | |
Ewout van Bekkum | 3a00cda | 2021-03-09 13:56:52 -0800 | [diff] [blame] | 30 | void sleep_for(SystemClock::duration for_at_least) { |
Ewout van Bekkum | 749342b | 2021-01-19 14:53:19 -0800 | [diff] [blame] | 31 | PW_DCHECK(get_id() != thread::Id()); |
| 32 | |
Ewout van Bekkum | a6ad4da | 2021-03-10 12:11:16 -0800 | [diff] [blame] | 33 | // Yield for negative and zero length durations. |
| 34 | if (for_at_least <= SystemClock::duration::zero()) { |
Ewout van Bekkum | 3a00cda | 2021-03-09 13:56:52 -0800 | [diff] [blame] | 35 | taskYIELD(); |
| 36 | return; |
Ewout van Bekkum | 749342b | 2021-01-19 14:53:19 -0800 | [diff] [blame] | 37 | } |
Ewout van Bekkum | 3a00cda | 2021-03-09 13:56:52 -0800 | [diff] [blame] | 38 | |
| 39 | // On a tick based kernel we cannot tell how far along we are on the current |
| 40 | // tick, ergo we add one whole tick to the final duration. |
| 41 | constexpr SystemClock::duration kMaxTimeoutMinusOne = |
| 42 | pw::chrono::freertos::kMaxTimeout - SystemClock::duration(1); |
| 43 | while (for_at_least > kMaxTimeoutMinusOne) { |
Ewout van Bekkum | a6ad4da | 2021-03-10 12:11:16 -0800 | [diff] [blame] | 44 | vTaskDelay(static_cast<TickType_t>(kMaxTimeoutMinusOne.count())); |
Ewout van Bekkum | 3a00cda | 2021-03-09 13:56:52 -0800 | [diff] [blame] | 45 | for_at_least -= kMaxTimeoutMinusOne; |
| 46 | } |
Ewout van Bekkum | a6ad4da | 2021-03-10 12:11:16 -0800 | [diff] [blame] | 47 | vTaskDelay(static_cast<TickType_t>(for_at_least.count() + 1)); |
Ewout van Bekkum | 749342b | 2021-01-19 14:53:19 -0800 | [diff] [blame] | 48 | } |
| 49 | |
| 50 | } // namespace pw::this_thread |