X-Git-Url: https://codewiz.org/gitweb?a=blobdiff_plain;f=drv%2Ftimer.c;h=3877fcf38212483ee8e3ed7a37726089008323ff;hb=1cd1b0fea245b38739d66bdcc4b0394422654595;hp=c9c66832fda448b48e8f694db2ab8a624aa3b01d;hpb=294f744f2676575fa3704a2fc321eac0b894e1da;p=bertos.git diff --git a/drv/timer.c b/drv/timer.c index c9c66832..3877fcf3 100755 --- a/drv/timer.c +++ b/drv/timer.c @@ -1,86 +1,130 @@ -/*! +/** * \file * * - * \version $Id$ + * \brief Hardware independent timer driver (implementation) * + * \version $Id$ * \author Bernardo Innocenti - * - * \brief Hardware independent timer driver (implementation) */ /*#* *#* $Log$ - *#* Revision 1.15 2004/09/14 21:07:18 bernie - *#* Use debug.h instead of kdebug.h. - *#* - *#* Revision 1.14 2004/08/25 14:12:08 rasky - *#* Aggiornato il comment block dei log RCS + *#* Revision 1.32 2007/10/08 12:14:32 batt + *#* Fix some review issues. *#* - *#* Revision 1.13 2004/08/10 06:59:09 bernie - *#* timer_gettick(): Rename to timer_ticks() and add backwards compatibility inline. + *#* Revision 1.31 2006/07/19 12:56:26 bernie + *#* Convert to new Doxygen style. *#* - *#* Revision 1.12 2004/08/08 05:59:37 bernie - *#* Remove a few useless casts. + *#* Revision 1.30 2006/02/24 00:26:49 bernie + *#* Fixes for CONFIG_KERNEL. *#* - *#* Revision 1.11 2004/08/02 20:20:29 aleph - *#* Merge from project_ks + *#* Revision 1.29 2006/02/17 22:24:07 bernie + *#* Add MOD_CHECK() checks. *#* - *#* Revision 1.10 2004/07/30 14:15:53 rasky - *#* Nuovo supporto unificato per detect della CPU + *#* Revision 1.28 2006/02/10 12:32:52 bernie + *#* Update Copyright year. *#* - *#* Revision 1.9 2004/07/21 00:15:13 bernie - *#* Put timer driver on diet. + *#* Revision 1.27 2005/11/27 03:04:08 bernie + *#* Move test code to timer_test.c; Add OS_HOSTED support. *#* - *#* Revision 1.8 2004/07/18 21:57:07 bernie - *#* Fix preprocessor warning with potentially undefined symbol. + *#* Revision 1.26 2005/11/04 16:20:02 bernie + *#* Fix reference to README.devlib in header. *#* - *#* Revision 1.6 2004/06/07 18:10:06 aleph - *#* Remove free pool of timers; use user-provided Timer structure instead + *#* Revision 1.25 2005/07/19 07:26:37 bernie + *#* Refactor to decouple timer ticks from milliseconds. *#* - *#* Revision 1.5 2004/06/07 15:56:55 aleph - *#* Some tabs cleanup and add timer strobe macros + *#* Revision 1.24 2005/04/11 19:10:28 bernie + *#* Include top-level headers from cfg/ subdir. *#* - *#* Revision 1.4 2004/06/06 18:25:44 bernie - *#* Rename event macros to look like regular functions. + *#* Revision 1.23 2004/12/13 12:07:06 bernie + *#* DISABLE_IRQSAVE/ENABLE_IRQRESTORE: Convert to IRQ_SAVE_DISABLE/IRQ_RESTORE. *#* - *#* Revision 1.3 2004/06/06 17:18:42 bernie - *#* Fix \!CONFIG_KERN_SIGNALS code paths. + *#* Revision 1.22 2004/12/08 09:12:09 bernie + *#* Rename time_t to mtime_t. *#* - *#* 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. + *#* 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 "timer.h" -#include -#include CPU_HEADER(timer) -#include +#include +#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 + #include CPU_CSOURCE(timer) +#endif -#if defined(CONFIG_KERN_SIGNALS) && CONFIG_KERN_SIGNALS - #include +/* + * 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 -//! Master system clock (1ms accuracy) -volatile time_t _clock; +#if CONFIG_WATCHDOG + #include +#endif + +#if CONFIG_KERNEL + #include + #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 (1 tick accuracy) +volatile ticks_t _clock; #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. @@ -92,19 +136,28 @@ 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 insertion 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 */ @@ -112,21 +165,19 @@ void timer_add(Timer *timer) } /* Enqueue timer request into the list */ - INSERTBEFORE(&timer->link, &node->link); + 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(&timer->link); - ENABLE_IRQRESTORE(flags); + ATOMIC(REMOVE(&timer->link)); + DB(timer->magic = TIMER_MAGIC_INACTIVE;) return timer; } @@ -134,60 +185,91 @@ Timer *timer_abort(Timer *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_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_setDelay(&t, delay); timer_add(&t); sig_wait(SIG_SINGLE); #else /* !CONFIG_KERN_SIGNALS */ - time_t start = timer_ticks(); + ticks_t start = timer_clock(); /* Busy wait */ - while (timer_ticks() - 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_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 (UNLIKELY(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. */ @@ -205,9 +287,16 @@ DEFINE_TIMER_ISR #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 */ @@ -221,14 +310,15 @@ 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(&timer->link); + DB(timer->magic = TIMER_MAGIC_INACTIVE;) /* Execute the associated event */ event_do(&timer->expire); @@ -238,8 +328,9 @@ DEFINE_TIMER_ISR TIMER_STROBE_OFF; } +MOD_DEFINE(timer) -/*! +/** * Initialize timer */ void timer_init(void) @@ -247,10 +338,12 @@ void timer_init(void) TIMER_STROBE_INIT; #ifndef CONFIG_TIMER_DISABLE_EVENTS - INITLIST(&timers_queue); + LIST_INIT(&timers_queue); #endif _clock = 0; timer_hw_init(); + + MOD_INIT(timer); }