X-Git-Url: https://codewiz.org/gitweb?a=blobdiff_plain;f=drv%2Ftimer.c;h=0e756dbb6cb01c435062380cbd60536d0e165520;hb=faf2f6bfd5933ff75e6cc01e3d48f9277f731d8f;hp=64eaf9443503a05ab2c814612b94f0072c7bbf88;hpb=27671ff704b1f10807faf2a3ffd102c0cde3e367;p=bertos.git diff --git a/drv/timer.c b/drv/timer.c old mode 100755 new mode 100644 index 64eaf944..0e756dbb --- a/drv/timer.c +++ b/drv/timer.c @@ -1,71 +1,120 @@ -/*! +/** * \file * + * This file is part of BeRTOS. * - * \version $Id$ - * - * \author Bernardo Innocenti + * Bertos is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. * - * \brief Hardware independent timer driver (implementation) - */ - -/* - * $Log$ - * Revision 1.8 2004/07/18 21:57:07 bernie - * Fix preprocessor warning with potentially undefined symbol. + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. * - * Revision 1.6 2004/06/07 18:10:06 aleph - * Remove free pool of timers; use user-provided Timer structure instead + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA * - * Revision 1.5 2004/06/07 15:56:55 aleph - * Some tabs cleanup and add timer strobe macros + * As a special exception, you may use this file as part of a free software + * library without restriction. Specifically, if other files instantiate + * templates or use macros or inline functions from this file, or you compile + * this file and link it with other files to produce an executable, this + * file does not by itself cause the resulting executable to be covered by + * the GNU General Public License. This exception does not however + * invalidate any other reasons why the executable file might be covered by + * the GNU General Public License. * - * Revision 1.4 2004/06/06 18:25:44 bernie - * Rename event macros to look like regular functions. - * - * Revision 1.3 2004/06/06 17:18:42 bernie - * Fix \!CONFIG_KERN_SIGNALS code paths. + * Copyright 2003, 2004, 2005, 2006 Develer S.r.l. (http://www.develer.com/) + * Copyright 2000 Bernardo Innocenti * - * Revision 1.2 2004/06/03 11:27:09 bernie - * Add dual-license information. + * --> * - * Revision 1.1 2004/05/23 18:23:30 bernie - * Import drv/timer module. + * \brief Hardware independent timer driver (implementation) * + * \version $Id$ + * \author Bernardo Innocenti */ -#include "hw.h" -#include "kdebug.h" #include "timer.h" -#if defined(CONFIG_KERN_SIGNALS) && CONFIG_KERN_SIGNALS - #include -#endif +#include +#include +#include -#if defined(ARCH_EMUL) && (ARCH & ARCH_EMUL) - #error To be recoded -#elif defined(__AVR__) - #include "timer_avr.h" -#elif defined(__IAR_SYSTEMS_ICC) || defined(__IAR_SYSTEMS_ICC__) /* 80C196 */ - #include "timer_i196.h" -#elif defined (__m56800__) - #include "timer_dsp56k.h" +#include +#include +#include +#include + +/* + * Include platform-specific binding code if we're hosted. + * Try the CPU specific one for bare-metal environments. + */ +#if OS_HOSTED + #include OS_CSOURCE(timer) #else - #error Unknown system + #include CPU_CSOURCE(timer) +#endif + +/* + * Sanity check for config parameters required by this module. + */ +#if !defined(CONFIG_KERNEL) || ((CONFIG_KERNEL != 0) && CONFIG_KERNEL != 1) + #error CONFIG_KERNEL must be set to either 0 or 1 in config.h +#endif +#if !defined(CONFIG_WATCHDOG) || ((CONFIG_WATCHDOG != 0) && CONFIG_WATCHDOG != 1) + #error CONFIG_WATCHDOG must be set to either 0 or 1 in config.h +#endif + +#if CONFIG_WATCHDOG + #include +#endif + +#if CONFIG_KERNEL + #include + #if CONFIG_KERN_PREEMPTIVE + #include + #endif + #if CONFIG_KERN_SIGNALS + #include /* sig_wait(), sig_check() */ + #include /* proc_current() */ + #include /* BV() */ + #endif +#endif + + +/** + * \def CONFIG_TIMER_STROBE + * + * This is a debug facility that can be used to + * monitor timer interrupt activity on an external pin. + * + * To use strobes, redefine the macros TIMER_STROBE_ON, + * TIMER_STROBE_OFF and TIMER_STROBE_INIT and set + * CONFIG_TIMER_STROBE to 1. + */ +#if !defined(CONFIG_TIMER_STROBE) || !CONFIG_TIMER_STROBE + #define TIMER_STROBE_ON do {/*nop*/} while(0) + #define TIMER_STROBE_OFF do {/*nop*/} while(0) + #define TIMER_STROBE_INIT do {/*nop*/} while(0) #endif -//! Master system clock (1ms accuracy) -volatile time_t _clock; +/// Master system clock (1 tick accuracy) +volatile ticks_t _clock; -REGISTER static List timers_queue; /*!< Active timers */ +#ifndef CONFIG_TIMER_DISABLE_EVENTS + +/** + * List of active asynchronous timers. + */ +REGISTER static List timers_queue; -/*! + +/** * Add the specified timer to the software timer service queue. * When the delay indicated by the timer expires, the timer * device will execute the event associated with it. @@ -77,19 +126,28 @@ void timer_add(Timer *timer) Timer *node; cpuflags_t flags; - DISABLE_IRQSAVE(flags); + + /* Inserting timers twice causes mayhem. */ + ASSERT(timer->magic != TIMER_MAGIC_ACTIVE); + DB(timer->magic = TIMER_MAGIC_ACTIVE;) + + IRQ_SAVE_DISABLE(flags); /* Calculate expiration time for this timer */ - timer->tick = _clock + timer->delay; + timer->tick = _clock + timer->_delay; - /* Search for the first node whose expiration time is + /* + * Search for the first node whose expiration time is * greater than the timer we want to add. */ - node = (Timer *)timers_queue.head; + node = (Timer *)LIST_HEAD(&timers_queue); while (node->link.succ) { - /* Stop just after the insert point */ - if (node->tick > timer->tick) + /* + * Stop just after the insertion point. + * (this fancy compare takes care of wrap-arounds). + */ + if (node->tick - timer->tick > 0) break; /* Go to next node */ @@ -97,99 +155,144 @@ void timer_add(Timer *timer) } /* Enqueue timer request into the list */ - INSERTBEFORE((Node *)timer, (Node *)node); + INSERT_BEFORE(&timer->link, &node->link); - ENABLE_IRQRESTORE(flags); + IRQ_RESTORE(flags); } -/*! - * Remove a timer from the timer queue before it has expired +/** + * Remove a timer from the timer queue before it has expired. */ Timer *timer_abort(Timer *timer) { - cpuflags_t flags; - DISABLE_IRQSAVE(flags); - REMOVE((Node *)timer); - ENABLE_IRQRESTORE(flags); + ATOMIC(REMOVE(&timer->link)); + DB(timer->magic = TIMER_MAGIC_INACTIVE;) return timer; } +#endif /* CONFIG_TIMER_DISABLE_EVENTS */ + -/*! - * Wait for the specified amount of time (expressed in ms) +/** + * Wait for the specified amount of timer ticks. */ -void timer_delay(time_t time) +void timer_delayTicks(ticks_t delay) { +#if defined(IRQ_ENABLED) + /* We shouldn't sleep with interrupts disabled */ + ASSERT(IRQ_ENABLED()); +#endif + #if defined(CONFIG_KERN_SIGNALS) && CONFIG_KERN_SIGNALS Timer t; ASSERT(!sig_check(SIG_SINGLE)); timer_set_event_signal(&t, proc_current(), SIG_SINGLE); - timer_set_delay(&t, time); + timer_setDelay(&t, delay); timer_add(&t); sig_wait(SIG_SINGLE); #else /* !CONFIG_KERN_SIGNALS */ - time_t start = timer_gettick(); + ticks_t start = timer_clock(); /* Busy wait */ - while (timer_gettick() - start < time) { /* nop */ } + while (timer_clock() - start < delay) + { +#if CONFIG_WATCHDOG + wdt_reset(); +#endif + } #endif /* !CONFIG_KERN_SIGNALS */ } -/*! - * Wait for the specified amount of time (expressed in microseconds) +#ifndef CONFIG_TIMER_DISABLE_UDELAY + +/** + * Busy wait until the specified amount of high-precision ticks have elapsed. + * + * \note This function is interrupt safe, the only + * requirement is a running hardware timer. + */ +void timer_busyWait(hptime_t delay) +{ + hptime_t now, prev = timer_hw_hpread(); + hptime_t delta; + + for(;;) + { + now = timer_hw_hpread(); + /* + * We rely on hptime_t being unsigned here to + * reduce the modulo to an AND in the common + * case of TIMER_HW_CNT. + */ + delta = (now - prev) % TIMER_HW_CNT; + if (delta >= delay) + break; + delay -= delta; + prev = now; + } +} + +/** + * Wait for the specified amount of time (expressed in microseconds). * * \bug In AVR arch the maximum amount of time that can be used as * delay could be very limited, depending on the hardware timer * used. Check timer_avr.h, and what register is used as hptime_t. */ -void timer_udelay(utime_t usec_delay) +void timer_delayHp(hptime_t delay) { - if (usec_delay > 1000) + if (UNLIKELY(delay > us_to_hptime(1000))) { - timer_delay(usec_delay / 1000); - usec_delay %= 1000; + timer_delayTicks(delay / (TIMER_HW_HPTICKS_PER_SEC / TIMER_TICKS_PER_SEC)); + delay %= (TIMER_HW_HPTICKS_PER_SEC / TIMER_TICKS_PER_SEC); } - // FIXME: This multiplication is too slow at run-time. We should try and move it - // to compile-time by exposing the TIMER_HW_HPTICKS_PER_SEC in the header - // file. - hptime_t start = timer_hw_hpread(); - hptime_t delay = (uint32_t)usec_delay * TIMER_HW_HPTICKS_PER_SEC / 1000000ul; - - while (timer_hw_hpread() - start < delay) - {} + timer_busyWait(delay); } +#endif /* CONFIG_TIMER_DISABLE_UDELAY */ -/*! +/** * Timer interrupt handler. Find soft timers expired and * trigger corresponding events. */ DEFINE_TIMER_ISR { - /* With the Metrowerks compiler, the only way to force the compiler generate - an interrupt service routine is to put a pragma directive within the function - body. */ + /* + * With the Metrowerks compiler, the only way to force the compiler generate + * an interrupt service routine is to put a pragma directive within the function + * body. + */ #ifdef __MWERKS__ #pragma interrupt saveall #endif +#ifndef CONFIG_TIMER_DISABLE_EVENTS Timer *timer; +#endif + /* + * On systems sharing IRQ line and vector, this check is needed + * to ensure that IRQ is generated by timer source. + */ + if (!timer_hw_triggered()) + return; TIMER_STROBE_ON; + /* Perform hw IRQ handling */ timer_hw_irq(); /* Update the master ms counter */ ++_clock; +#ifndef CONFIG_TIMER_DISABLE_EVENTS /* * Check the first timer request in the list and process * it when it has expired. Repeat this check until the @@ -197,33 +300,40 @@ DEFINE_TIMER_ISR * by expiry time, all the following requests are guaranteed * to expire later. */ - while ((timer = (Timer *)timers_queue.head)->link.succ) + while ((timer = (Timer *)LIST_HEAD(&timers_queue))->link.succ) { /* This request in list has not yet expired? */ - if (_clock < timer->tick) + if (_clock - timer->tick < 0) break; /* Retreat the expired timer */ - REMOVE((Node *)timer); + REMOVE(&timer->link); + DB(timer->magic = TIMER_MAGIC_INACTIVE;) /* Execute the associated event */ - event_doIntr(&timer->expire); + event_do(&timer->expire); } +#endif /* CONFIG_TIMER_DISABLE_EVENTS */ TIMER_STROBE_OFF; } +MOD_DEFINE(timer) -/*! +/** * Initialize timer */ void timer_init(void) { TIMER_STROBE_INIT; - INITLIST(&timers_queue); +#ifndef CONFIG_TIMER_DISABLE_EVENTS + LIST_INIT(&timers_queue); +#endif _clock = 0; timer_hw_init(); + + MOD_INIT(timer); }