#include <stdint.h>
#include <stddef.h>
#include <ti/drivers/rcl/RCL_Command.h>
#include <ti/drivers/rcl/hal/hal.h>

Include dependency graph for RCL_Scheduler.h:

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Data Structures
struct	RCL_SchedulerStopInfo

struct	RCL_SchedulerState

Macros
#define	RCL_SCHEDULER_SYSTIM_US(x) (((uint32_t) (x)) * 4U)

#define	RCL_SCHEDULER_SYSTIM_MS(x) (((uint32_t) (x)) * 4U * 1000U)

#define	ABS_START_TIME_OFFSET RCL_SCHEDULER_SYSTIM_US(100U)

#define	IMM_START_TIME_OFFSET RCL_SCHEDULER_SYSTIM_US(90U)

#define	RCL_SCHEDULER_MARGIN_ARM RCL_SCHEDULER_SYSTIM_US(40U)

#define	RCL_SCHEDULER_MARGIN_CONFIGURE RCL_SCHEDULER_SYSTIM_US(76U)

#define	RCL_SCHEDULER_MARGIN_LOAD RCL_SCHEDULER_SYSTIM_US(460U)

#define	RCL_SCHEDULER_SLEEP_CUTOFF RCL_SCHEDULER_SYSTIM_MS(10U)

#define	RCL_SCHEDULER_TRIG_NOW_DELAY RCL_SCHEDULER_SYSTIM_US(50U)

#define	RCL_SCHEDULER_WAKEUP_MARGIN RCL_SCHEDULER_SYSTIM_US(1000U)

Enumerations
enum	RCL_SchedulerStopTimeSelect { RCL_SchedulerStopTimeSelect_None = 0, RCL_SchedulerStopTimeSelect_Cmd = 1, RCL_SchedulerStopTimeSelect_Sched = 2 }

enum	RCL_SchedulerStopTimeState { RCL_SchedulerStopTimeState_Init = 0, RCL_SchedulerStopTimeState_Found = 1, RCL_SchedulerStopTimeState_Programmed = 2 }

Functions
RCL_CommandStatus	RCL_Scheduler_setStartStopTime (const RCL_Command *cmd)
	Set start and stop time for LRF based on command. More...

RCL_CommandStatus	RCL_Scheduler_setStartStopTimeEarliestStart (const RCL_Command *cmd, uint32_t earliestStartTime)
	Set start and stop time for LRF based on command with earliest start time. More...

RCL_CommandStatus	RCL_Scheduler_setCmdStopTimeNoStartTrigger (const RCL_Command *cmd)
	Set stop time for LRF based on command when it does not need a start trigger. More...

RCL_CommandStatus	RCL_Scheduler_setNewStartNow (void)
	Set new start time for LRF to now, after a previous start. More...

RCL_CommandStatus	RCL_Scheduler_setNewStartAbsTime (uint32_t startTime)
	Set new start time for LRF to given absolute time, after a previous start. More...

RCL_CommandStatus	RCL_Scheduler_setNewStartRelTime (uint32_t relStartTime)
	Set new start time for LRF to given time relative to previous LRF start. More...

RCL_StopType	RCL_Scheduler_setStopTimes (void)
	Function to apply relevant stop times. More...

bool	RCL_Scheduler_isLater (uint32_t refTime, uint32_t chkTime)
	Find if a time instant occurs after another, allowing wrap-around. More...

int32_t	RCL_Scheduler_delta (uint32_t refTime, uint32_t chkTime)
	Find the time difference between two times, allowing wrap-around. More...

static uint32_t	RCL_Scheduler_getCurrentTime (void)
	Get current time. More...

RCL_StopType	RCL_Scheduler_setSchedStopTime (RCL_SchedulerStopInfo *stopInfo, uint32_t schedStopTime)
	Set scheduler stop time. More...

bool	RCL_Scheduler_postEvent (RCL_Command_Handle c, RCL_Events e)
	Post event to command handler. More...

Variables
RCL_SchedulerState	rclSchedulerState

Data Structure Documentation

◆ RCL_SchedulerStopInfo

struct RCL_SchedulerStopInfo

Data Fields
uint32_t	cmdStopEnabled: 1
uint32_t	schedStopEnabled: 1
uint32_t	apiStopEnabled: 1
RCL_SchedulerStopTimeSelect	stopTimeSelect: 2
uint32_t	cmdStopTime
uint32_t	schedStopTime

◆ RCL_SchedulerState

struct RCL_SchedulerState

Collaboration diagram for RCL_SchedulerState:

Data Fields
RCL_Command *	currCmd
uint32_t	nextWantsStop: 1
RCL_SchedulerStopTimeState	stopTimeState: 2
RCL_Events	postedRclEvents
uint32_t	actualStartTime
RCL_SchedulerStopInfo	hardStopInfo
RCL_SchedulerStopInfo	gracefulStopInfo

Macro Definition Documentation

◆ RCL_SCHEDULER_SYSTIM_US

#define RCL_SCHEDULER_SYSTIM_US ( x ) (((uint32_t) (x)) * 4U)

Number of ticks in the given number of microseconds

◆ RCL_SCHEDULER_SYSTIM_MS

#define RCL_SCHEDULER_SYSTIM_MS ( x ) (((uint32_t) (x)) * 4U * 1000U)

Number of ticks in the given number of milliseconds

◆ ABS_START_TIME_OFFSET

#define ABS_START_TIME_OFFSET RCL_SCHEDULER_SYSTIM_US(100U)

Delay from scheduled start to start trigger to LRF

◆ IMM_START_TIME_OFFSET

#define IMM_START_TIME_OFFSET RCL_SCHEDULER_SYSTIM_US(90U)

Delay from immediate start to start trigger to LRF

◆ RCL_SCHEDULER_MARGIN_ARM

#define RCL_SCHEDULER_MARGIN_ARM RCL_SCHEDULER_SYSTIM_US(40U)

Time to prepare FIFO + PBE

◆ RCL_SCHEDULER_MARGIN_CONFIGURE

#define RCL_SCHEDULER_MARGIN_CONFIGURE RCL_SCHEDULER_SYSTIM_US(76U)

Time to reload REGBANKs

◆ RCL_SCHEDULER_MARGIN_LOAD

#define RCL_SCHEDULER_MARGIN_LOAD RCL_SCHEDULER_SYSTIM_US(460U)

Time to load TOPsm images

◆ RCL_SCHEDULER_SLEEP_CUTOFF

#define RCL_SCHEDULER_SLEEP_CUTOFF RCL_SCHEDULER_SYSTIM_MS(10U)

Time margin when not to arm LRF immediately

◆ RCL_SCHEDULER_TRIG_NOW_DELAY

#define RCL_SCHEDULER_TRIG_NOW_DELAY RCL_SCHEDULER_SYSTIM_US(50U)

Delay to add to current time to allow start to be in the future

◆ RCL_SCHEDULER_WAKEUP_MARGIN

#define RCL_SCHEDULER_WAKEUP_MARGIN RCL_SCHEDULER_SYSTIM_US(1000U)

Wakeup margin to allow for varying command and setup time

Enumeration Type Documentation

◆ RCL_SchedulerStopTimeSelect

enum RCL_SchedulerStopTimeSelect

Enumerator
RCL_SchedulerStopTimeSelect_None	Stop type is not active
RCL_SchedulerStopTimeSelect_Cmd	Command stop time is the earliest for the stop type
RCL_SchedulerStopTimeSelect_Sched	Scheduler stop time is the earliest for the stop type

◆ RCL_SchedulerStopTimeState

enum RCL_SchedulerStopTimeState

Enumerator
RCL_SchedulerStopTimeState_Init	Stop times not calculated or programmed
RCL_SchedulerStopTimeState_Found	Stop times calculated, but not programmed
RCL_SchedulerStopTimeState_Programmed	Stop times calculated and programmed to timer

Data Structures

Macros

Enumerations

Functions

Variables