Timers¶

A timer is a kernel object that measures the passage of time using the kernel’s system clock. When a timer’s specified time limit is reached it can perform an application-defined action, or it can simply record the expiration and wait for the application to read its status.

Concepts
Implementation
Suggested Uses
Configuration Options
API Reference

Concepts ¶

Any number of timers can be defined. Each timer is referenced by its memory address.

A timer has the following key properties:

A duration specifying the time interval before the timer expires for the first time. This is a k_timeout_t value that may be initialized via different units.
A period specifying the time interval between all timer expirations after the first one, also a k_timeout_t. It must be non-negative. A period of K_NO_WAIT (i.e. zero) or K_FOREVER means that the timer is a one shot timer that stops after a single expiration. (For example then, if a timer is started with a duration of 200 and a period of 75, it will first expire after 200ms and then every 75ms after that.)
An expiry function that is executed each time the timer expires. The function is executed by the system clock interrupt handler. If no expiry function is required a NULL function can be specified.
A stop function that is executed if the timer is stopped prematurely while running. The function is executed by the thread that stops the timer. If no stop function is required a NULL function can be specified.
A status value that indicates how many times the timer has expired since the status value was last read.

A timer must be initialized before it can be used. This specifies its expiry function and stop function values, sets the timer’s status to zero, and puts the timer into the stopped state.

A timer is started by specifying a duration and a period. The timer’s status is reset to zero, then the timer enters the running state and begins counting down towards expiry.

Note that the timer’s duration and period parameters specify minimum delays that will elapse. Because of internal system timer precision (and potentially runtime interractions like interrupt delay) it is possible that more time may have passed as measured by reads from the relevant system time APIs. But at least this much time is guaranteed to have elapsed.

When a running timer expires its status is incremented and the timer executes its expiry function, if one exists; If a thread is waiting on the timer, it is unblocked. If the timer’s period is zero the timer enters the stopped state; otherwise the timer restarts with a new duration equal to its period.

A running timer can be stopped in mid-countdown, if desired. The timer’s status is left unchanged, then the timer enters the stopped state and executes its stop function, if one exists. If a thread is waiting on the timer, it is unblocked. Attempting to stop a non-running timer is permitted, but has no effect on the timer since it is already stopped.

A running timer can be restarted in mid-countdown, if desired. The timer’s status is reset to zero, then the timer begins counting down using the new duration and period values specified by the caller. If a thread is waiting on the timer, it continues waiting.

A timer’s status can be read directly at any time to determine how many times the timer has expired since its status was last read. Reading a timer’s status resets its value to zero. The amount of time remaining before the timer expires can also be read; a value of zero indicates that the timer is stopped.

A thread may read a timer’s status indirectly by synchronizing with the timer. This blocks the thread until the timer’s status is non-zero (indicating that it has expired at least once) or the timer is stopped; if the timer status is already non-zero or the timer is already stopped the thread continues without waiting. The synchronization operation returns the timer’s status and resets it to zero.

Note

Only a single user should examine the status of any given timer, since reading the status (directly or indirectly) changes its value. Similarly, only a single thread at a time should synchronize with a given timer. ISRs are not permitted to synchronize with timers, since ISRs are not allowed to block.

Implementation ¶

Defining a Timer ¶

A timer is defined using a variable of type k_timer. It must then be initialized by calling k_timer_init().

The following code defines and initializes a timer.

struct k_timer my_timer;
extern void my_expiry_function(struct k_timer *timer_id);

k_timer_init(&my_timer, my_expiry_function, NULL);

Alternatively, a timer can be defined and initialized at compile time by calling K_TIMER_DEFINE.

The following code has the same effect as the code segment above.

K_TIMER_DEFINE(my_timer, my_expiry_function, NULL);

Using a Timer Expiry Function ¶

The following code uses a timer to perform a non-trivial action on a periodic basis. Since the required work cannot be done at interrupt level, the timer’s expiry function submits a work item to the system workqueue, whose thread performs the work.

void my_work_handler(struct k_work *work)
{
    /* do the processing that needs to be done periodically */
    ...
}

K_WORK_DEFINE(my_work, my_work_handler);

void my_timer_handler(struct k_timer *dummy)
{
    k_work_submit(&my_work);
}

K_TIMER_DEFINE(my_timer, my_timer_handler, NULL);

...

/* start periodic timer that expires once every second */
k_timer_start(&my_timer, K_SECONDS(1), K_SECONDS(1));

Reading Timer Status ¶

The following code reads a timer’s status directly to determine if the timer has expired on not.

K_TIMER_DEFINE(my_status_timer, NULL, NULL);

...

/* start one shot timer that expires after 200 ms */
k_timer_start(&my_status_timer, K_MSEC(200), K_NO_WAIT);

/* do work */
...

/* check timer status */
if (k_timer_status_get(&my_status_timer) > 0) {
    /* timer has expired */
} else if (k_timer_remaining_get(&my_status_timer) == 0) {
    /* timer was stopped (by someone else) before expiring */
} else {
    /* timer is still running */
}

Using Timer Status Synchronization ¶

The following code performs timer status synchronization to allow a thread to do useful work while ensuring that a pair of protocol operations are separated by the specified time interval.

K_TIMER_DEFINE(my_sync_timer, NULL, NULL);

...

/* do first protocol operation */
...

/* start one shot timer that expires after 500 ms */
k_timer_start(&my_sync_timer, K_MSEC(500), K_NO_WAIT);

/* do other work */
...

/* ensure timer has expired (waiting for expiry, if necessary) */
k_timer_status_sync(&my_sync_timer);

/* do second protocol operation */
...

Note

If the thread had no other work to do it could simply sleep between the two protocol operations, without using a timer.

Suggested Uses ¶

Use a timer to initiate an asynchronous operation after a specified amount of time.

Use a timer to determine whether or not a specified amount of time has elapsed. In particular, timers should be used when higher precision and/or unit control is required than that afforded by the simpler k_sleep() and k_usleep() calls.

Use a timer to perform other work while carrying out operations involving time limits.

Note

If a thread needs to measure the time required to perform an operation it can read the system clock or the hardware clock directly, rather than using a timer.

Configuration Options ¶

Related configuration options:

None

API Reference ¶

group timer_apis

Defines

K_TIMER_DEFINE(name, expiry_fn, stop_fn)¶

Statically define and initialize a timer.

The timer can be accessed outside the module where it is defined using:

extern struct k_timer <name>; 

Parameters

name: Name of the timer variable.
expiry_fn: Function to invoke each time the timer expires.
stop_fn: Function to invoke if the timer is stopped while running.

Typedefs

typedef void (*k_timer_expiry_t)(struct k_timer *timer)¶

Timer expiry function type.

A timer’s expiry function is executed by the system clock interrupt handler each time the timer expires. The expiry function is optional, and is only invoked if the timer has been initialized with one.

Return

N/A

Parameters

timer: Address of timer.

typedef void (*k_timer_stop_t)(struct k_timer *timer)¶

Timer stop function type.

A timer’s stop function is executed if the timer is stopped prematurely. The function runs in the context of call that stops the timer. As k_timer_stop() can be invoked from an ISR, the stop function must be callable from interrupt context (isr-ok).

The stop function is optional, and is only invoked if the timer has been initialized with one.

Return

N/A

Parameters

timer: Address of timer.

Functions

void k_timer_init(struct k_timer *timer, k_timer_expiry_t expiry_fn, k_timer_stop_t stop_fn)¶

Initialize a timer.

This routine initializes a timer, prior to its first use.

Return

N/A

Parameters

timer: Address of timer.
expiry_fn: Function to invoke each time the timer expires.
stop_fn: Function to invoke if the timer is stopped while running.

void k_timer_start(struct k_timer *timer, k_timeout_t duration, k_timeout_t period)¶

Start a timer.

This routine starts a timer, and resets its status to zero. The timer begins counting down using the specified duration and period values.

Attempting to start a timer that is already running is permitted. The timer’s status is reset to zero and the timer begins counting down using the new duration and period values.

Return

N/A

Parameters

timer: Address of timer.
duration: Initial timer duration.
period: Timer period.

void k_timer_stop(struct k_timer *timer)¶

Stop a timer.

This routine stops a running timer prematurely. The timer’s stop function, if one exists, is invoked by the caller.

Attempting to stop a timer that is not running is permitted, but has no effect on the timer.

Note

Can be called by ISRs. The stop handler has to be callable from ISRs if k_timer_stop is to be called from ISRs.

Return

N/A

Parameters

timer: Address of timer.

uint32_t k_timer_status_get(struct k_timer *timer)¶

Read timer status.

This routine reads the timer’s status, which indicates the number of times it has expired since its status was last read.

Calling this routine resets the timer’s status to zero.

Return

Timer status.

Parameters

timer: Address of timer.

uint32_t k_timer_status_sync(struct k_timer *timer)¶

Synchronize thread to timer expiration.

This routine blocks the calling thread until the timer’s status is non-zero (indicating that it has expired at least once since it was last examined) or the timer is stopped. If the timer status is already non-zero, or the timer is already stopped, the caller continues without waiting.

Calling this routine resets the timer’s status to zero.

This routine must not be used by interrupt handlers, since they are not allowed to block.

Return

Timer status.

Parameters

timer: Address of timer.

k_ticks_t k_timer_expires_ticks(struct k_timer *timer)¶

Get next expiration time of a timer, in system ticks.

This routine returns the future system uptime reached at the next time of expiration of the timer, in units of system ticks. If the timer is not running, current system time is returned.

Return

Uptime of expiration, in ticks

Parameters

timer: The timer object

k_ticks_t k_timer_remaining_ticks(struct k_timer *timer)¶

Get time remaining before a timer next expires, in system ticks.

This routine computes the time remaining before a running timer next expires, in units of system ticks. If the timer is not running, it returns zero.

uint32_t k_timer_remaining_get(struct k_timer *timer)¶

Get time remaining before a timer next expires.

This routine computes the (approximate) time remaining before a running timer next expires. If the timer is not running, it returns zero.

Return

Remaining time (in milliseconds).

Parameters

timer: Address of timer.

void k_timer_user_data_set(struct k_timer *timer, void *user_data)¶

Associate user-specific data with a timer.

This routine records the user_data with the timer, to be retrieved later.

It can be used e.g. in a timer handler shared across multiple subsystems to retrieve data specific to the subsystem this timer is associated with.

Return

N/A

Parameters

timer: Address of timer.
user_data: User data to associate with the timer.

void *k_timer_user_data_get(const struct k_timer *timer)¶

Retrieve the user-specific data from a timer.

Return

The user data.

Parameters

timer: Address of timer.