X-Git-Url: https://codewiz.org/gitweb?a=blobdiff_plain;f=drv%2Ftimer.c;h=0fe4d2c22c270e2b3743fa6d1a02c26a1378fb6f;hb=41625d1b16c8f1904c3a2a40b6972725311c66a8;hp=0bd5defef8e623c91a7a1607ae96f7c24bef180c;hpb=357026e01c5b8305bfca0ab67193f25fbd49e5ee;p=bertos.git diff --git a/drv/timer.c b/drv/timer.c index 0bd5defe..0fe4d2c2 100755 --- a/drv/timer.c +++ b/drv/timer.c @@ -1,108 +1,95 @@ /*! * \file * * - * \version $Id$ + * \brief Hardware independent timer driver (implementation) * + * \version $Id$ * \author Bernardo Innocenti - * - * \brief Hardware independent timer driver (implementation) */ -/* - * $Log$ - * 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. - * - * 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. - * - */ +/*#* + *#* $Log$ + *#* Revision 1.26 2005/11/04 16:20:02 bernie + *#* Fix reference to README.devlib in header. + *#* + *#* Revision 1.25 2005/07/19 07:26:37 bernie + *#* Refactor to decouple timer ticks from milliseconds. + *#* + *#* Revision 1.24 2005/04/11 19:10:28 bernie + *#* Include top-level headers from cfg/ subdir. + *#* + *#* Revision 1.23 2004/12/13 12:07:06 bernie + *#* DISABLE_IRQSAVE/ENABLE_IRQRESTORE: Convert to IRQ_SAVE_DISABLE/IRQ_RESTORE. + *#* + *#* Revision 1.22 2004/12/08 09:12:09 bernie + *#* Rename time_t to mtime_t. + *#* + *#* Revision 1.21 2004/11/28 23:20:25 bernie + *#* Remove obsolete INITLIST macro. + *#* + *#* Revision 1.20 2004/11/16 20:59:06 bernie + *#* Add watchdog timer support. + *#*/ -#include "hw.h" -#include "kdebug.h" #include "timer.h" +#include +#include +#include +#include -#ifdef CONFIG_KERN_SIGNALS -#include -#endif - -#if (ARCH & ARCH_EMUL) +#include CPU_CSOURCE(timer) -# 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" -#else -# error Unknown system +/* + * 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 -/*! Number of available timers */ -#define MAX_TIMERS 4 - - -//! Master system clock (1ms accuracy) -volatile time_t _clock; - -static Timer soft_timers[MAX_TIMERS]; /*!< Pool of Timer structures */ -static List timers_pool; /*!< Pool of free timers */ -REGISTER static List timers_queue; /*!< Active timers */ +#if CONFIG_KERNEL && CONFIG_KERN_SIGNALS + #include +#endif /*! - * Return a new timer picking and removing it from the available - * timers pool. Return NULL if no more timers are available. + * \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. */ -Timer *timer_new(void) -{ - Timer *timer; - cpuflags_t flags; +#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 - DISABLE_IRQSAVE(flags); - /* Should never happen */ - if (ISLISTEMPTY(&timers_pool)) - { - ENABLE_IRQRESTORE(flags); - DB(kprintf("Tmrspool empty\n");) - return NULL; - } +//! Master system clock (1 tick accuracy) +volatile ticks_t _clock; - /* Get a timer from the free pool */ - timer = (Timer *)timers_pool.head; - REMOVE((Node *)timer); - - ENABLE_IRQRESTORE(flags); - - return timer; -} +#ifndef CONFIG_TIMER_DISABLE_EVENTS /*! - * Delete a timer, putting it in the available timers queue. + * List of active asynchronous timers. */ -void timer_delete(Timer *timer) -{ - cpuflags_t flags; - DISABLE_IRQSAVE(flags); - ADDHEAD(&timers_pool, &timer->link); - ENABLE_IRQRESTORE(flags); -} +REGISTER static List timers_queue; /*! @@ -117,19 +104,28 @@ 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 */ @@ -137,71 +133,108 @@ void timer_add(Timer *timer) } /* Enqueue timer request into the list */ - INSERTBEFORE((Node *)timer, (Node *)node); + INSERTBEFORE(&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 time (expressed in ms). */ -void timer_delay(time_t time) +void timer_delayTicks(ticks_t delay) { +#if defined(IRQ_GETSTATE) + /* We shouldn't sleep with interrupts disabled */ + ASSERT(IRQ_GETSTATE()); +#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_set_delay(&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 */ } +#ifndef CONFIG_TIMER_DISABLE_UDELAY + /*! - * Wait for the specified amount of time (expressed in microseconds) + * 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_udelay(utime_t usec_delay) +void timer_busyWait(hptime_t delay) { - if (usec_delay > 1000) + hptime_t now, prev = timer_hw_hpread(); + hptime_t delta; + + for(;;) { - timer_delay(usec_delay / 1000); - usec_delay %= 1000; + 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; } +} - // 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; +/*! + * 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_delayHp(hptime_t delay) +{ + if (UNLIKELY(delay > us_to_hptime(1000))) + { + timer_delayTicks(delay / (TIMER_HW_HPTICKS_PER_SEC / TIMER_TICKS_PER_SEC)); + delay %= (TIMER_HW_HPTICKS_PER_SEC / TIMER_TICKS_PER_SEC); + } - while (timer_hw_hpread() - start < delay) - {} + timer_busyWait(delay); } +#endif /* CONFIG_TIMER_DISABLE_UDELAY */ /*! @@ -210,20 +243,27 @@ void timer_udelay(utime_t usec_delay) */ 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 + + TIMER_STROBE_ON; 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 @@ -231,20 +271,23 @@ 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; +} /*! @@ -252,17 +295,105 @@ DEFINE_TIMER_ISR */ void timer_init(void) { - int i; - - INITLIST(&timers_queue); - INITLIST(&timers_pool); + TIMER_STROBE_INIT; - /* Init all software timers in the free pool */ - for (i = 0; i < MAX_TIMERS; i++) - ADDTAIL(&timers_pool, (Node *)&soft_timers[i]); +#ifndef CONFIG_TIMER_DISABLE_EVENTS + LIST_INIT(&timers_queue); +#endif _clock = 0; timer_hw_init(); } + +#if CONFIG_TEST + +static void timer_test_constants(void) +{ + kprintf("TIMER_PRESCALER=%d\n", TIMER_PRESCALER); + kprintf("TIMER_HW_HPTICKS_PER_SEC=%lu\n", TIMER_HW_HPTICKS_PER_SEC); + #ifdef TIMER1_OVF_COUNT + kprintf("TIMER1_OVF_COUNT=%d\n", (int)TIMER1_OVF_COUNT); + #endif + kprintf("TIMER_TICKS_PER_MSEC=%d\n", (int)TIMER_TICKS_PER_MSEC); + kprintf("\n"); + kprintf("ms_to_ticks(100)=%lu\n", ms_to_ticks(100)); + kprintf("ms_to_ticks(10000)=%lu\n", ms_to_ticks(10000)); + kprintf("us_to_ticks(100)=%lu\n", us_to_ticks(100)); + kprintf("us_to_ticks(10000)=%lu\n", us_to_ticks(10000)); + kprintf("\n"); + kprintf("ticks_to_ms(100)=%lu\n", ticks_to_ms(100)); + kprintf("ticks_to_ms(10000)=%lu\n", ticks_to_ms(10000)); + kprintf("ticks_to_us(100)=%lu\n", ticks_to_us(100)); + kprintf("ticks_to_us(10000)=%lu\n", ticks_to_us(10000)); + kprintf("\n"); + kprintf("hptime_to_us(100)=%lu\n", hptime_to_us(100)); + kprintf("hptime_to_us(10000)=%lu\n", hptime_to_us(10000)); + kprintf("us_to_hptime(100)=%lu\n", us_to_hptime(100)); + kprintf("us_to_hptime(10000)=%lu\n", us_to_hptime(10000)); +} + +static void timer_test_delay(void) +{ + int i; + + kputs("Delay test\n"); + for (i = 0; i < 1000; i += 100) + { + kprintf("delay %d...", i); + timer_delay(i); + kputs("done\n"); + } +} + +static void timer_test_hook(iptr_t _timer) +{ + Timer *timer = (Timer *)(void *)_timer; + + kprintf("Timer %ld expired\n", ticks_to_ms(timer->_delay)); + timer_add(timer); +} + +static void timer_test_async(void) +{ + static Timer test_timers[5]; + static const mtime_t test_delays[5] = { 170, 50, 310, 1500, 310 }; + size_t i; + + for (i = 0; i < countof(test_timers); ++i) + { + Timer *timer = &test_timers[i]; + timer_setDelay(timer, ms_to_ticks(test_delays[i])); + timer_set_event_softint(timer, timer_test_hook, (iptr_t)timer); + timer_add(timer); + } +} + +static void timer_test_poll(void) +{ + int secs = 0; + mtime_t start_time = ticks_to_ms(timer_clock()); + mtime_t now; + + while (secs <= 10) + { + now = ticks_to_ms(timer_clock()); + if (now - start_time >= 1000) + { + ++secs; + start_time += 1000; + kprintf("seconds = %d, ticks=%ld\n", secs, now); + } + } +} + +void timer_test(void) +{ + timer_test_constants(); + timer_test_delay(); + timer_test_async(); + timer_test_poll(); +} + +#endif /* CONFIG_TEST */