Ewout van Bekkum | 8b72a57 | 2021-03-09 08:53:39 -0800 | [diff] [blame] | 1 | // Copyright 2021 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 "RTOS.h" |
Wyatt Hepler | f298de4 | 2021-03-19 15:06:36 -0700 | [diff] [blame] | 20 | #include "pw_assert/check.h" |
Ewout van Bekkum | 8b72a57 | 2021-03-09 08:53:39 -0800 | [diff] [blame] | 21 | #include "pw_chrono/system_clock.h" |
| 22 | #include "pw_chrono_embos/system_clock_constants.h" |
| 23 | #include "pw_thread/id.h" |
| 24 | |
Ewout van Bekkum | 86c2547 | 2021-03-11 08:30:39 -0800 | [diff] [blame] | 25 | using pw::chrono::SystemClock; |
Ewout van Bekkum | 8b72a57 | 2021-03-09 08:53:39 -0800 | [diff] [blame] | 26 | |
| 27 | namespace pw::this_thread { |
| 28 | |
Ewout van Bekkum | 39144b6 | 2021-09-07 16:05:35 -0700 | [diff] [blame] | 29 | void sleep_for(chrono::SystemClock::duration sleep_duration) { |
Ewout van Bekkum | b789d8f | 2021-11-05 10:20:14 -0700 | [diff] [blame] | 30 | // Ensure we are invoking this from a thread. |
Ewout van Bekkum | 8b72a57 | 2021-03-09 08:53:39 -0800 | [diff] [blame] | 31 | PW_DCHECK(get_id() != thread::Id()); |
| 32 | |
Ewout van Bekkum | 86c2547 | 2021-03-11 08:30:39 -0800 | [diff] [blame] | 33 | // Yield for negative and zero length durations. |
Ewout van Bekkum | 39144b6 | 2021-09-07 16:05:35 -0700 | [diff] [blame] | 34 | if (sleep_duration <= SystemClock::duration::zero()) { |
Ewout van Bekkum | 86c2547 | 2021-03-11 08:30:39 -0800 | [diff] [blame] | 35 | OS_Yield(); |
Ewout van Bekkum | 8b72a57 | 2021-03-09 08:53:39 -0800 | [diff] [blame] | 36 | return; |
| 37 | } |
| 38 | |
Ewout van Bekkum | b789d8f | 2021-11-05 10:20:14 -0700 | [diff] [blame] | 39 | // In case the timeout is too long for us to express through the native |
| 40 | // embOS API, we repeatedly wait with shorter durations. Note that on a tick |
| 41 | // based kernel we cannot tell how far along we are on the current tick, ergo |
| 42 | // we add one whole tick to the final duration. However, this also means that |
| 43 | // the loop must ensure that timeout + 1 is less than the max timeout. |
Ewout van Bekkum | 86c2547 | 2021-03-11 08:30:39 -0800 | [diff] [blame] | 44 | constexpr SystemClock::duration kMaxTimeoutMinusOne = |
| 45 | pw::chrono::embos::kMaxTimeout - SystemClock::duration(1); |
Ewout van Bekkum | 39144b6 | 2021-09-07 16:05:35 -0700 | [diff] [blame] | 46 | while (sleep_duration > kMaxTimeoutMinusOne) { |
Ewout van Bekkum | 86c2547 | 2021-03-11 08:30:39 -0800 | [diff] [blame] | 47 | OS_Delay(static_cast<OS_TIME>(kMaxTimeoutMinusOne.count())); |
Ewout van Bekkum | 39144b6 | 2021-09-07 16:05:35 -0700 | [diff] [blame] | 48 | sleep_duration -= kMaxTimeoutMinusOne; |
Ewout van Bekkum | 8b72a57 | 2021-03-09 08:53:39 -0800 | [diff] [blame] | 49 | } |
Ewout van Bekkum | b789d8f | 2021-11-05 10:20:14 -0700 | [diff] [blame] | 50 | // On a tick based kernel we cannot tell how far along we are on the current |
| 51 | // tick, ergo we add one whole tick to the final duration. |
Ewout van Bekkum | 39144b6 | 2021-09-07 16:05:35 -0700 | [diff] [blame] | 52 | OS_Delay(static_cast<OS_TIME>(sleep_duration.count()) + 1); |
Ewout van Bekkum | 8b72a57 | 2021-03-09 08:53:39 -0800 | [diff] [blame] | 53 | } |
| 54 | |
| 55 | } // namespace pw::this_thread |