Modified for BG96
Fork of mbed-dev by
hal/mbed_ticker_api.c@186:707f6e361f3e, 2018-06-22 (annotated)
- Committer:
- Anna Bridge
- Date:
- Fri Jun 22 16:45:37 2018 +0100
- Revision:
- 186:707f6e361f3e
- Parent:
- 182:a56a73fd2a6f
- Child:
- 187:0387e8f68319
mbed-dev library. Release version 162
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
<> | 149:156823d33999 | 1 | /* mbed Microcontroller Library |
<> | 149:156823d33999 | 2 | * Copyright (c) 2015 ARM Limited |
<> | 149:156823d33999 | 3 | * |
<> | 149:156823d33999 | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
<> | 149:156823d33999 | 5 | * you may not use this file except in compliance with the License. |
<> | 149:156823d33999 | 6 | * You may obtain a copy of the License at |
<> | 149:156823d33999 | 7 | * |
<> | 149:156823d33999 | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
<> | 149:156823d33999 | 9 | * |
<> | 149:156823d33999 | 10 | * Unless required by applicable law or agreed to in writing, software |
<> | 149:156823d33999 | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
<> | 149:156823d33999 | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
<> | 149:156823d33999 | 13 | * See the License for the specific language governing permissions and |
<> | 149:156823d33999 | 14 | * limitations under the License. |
<> | 149:156823d33999 | 15 | */ |
AnnaBridge | 167:e84263d55307 | 16 | #include <stdio.h> |
<> | 149:156823d33999 | 17 | #include <stddef.h> |
<> | 149:156823d33999 | 18 | #include "hal/ticker_api.h" |
<> | 160:d5399cc887bb | 19 | #include "platform/mbed_critical.h" |
Anna Bridge |
180:96ed750bd169 | 20 | #include "mbed_assert.h" |
<> | 149:156823d33999 | 21 | |
AnnaBridge | 167:e84263d55307 | 22 | static void schedule_interrupt(const ticker_data_t *const ticker); |
AnnaBridge | 167:e84263d55307 | 23 | static void update_present_time(const ticker_data_t *const ticker); |
AnnaBridge | 167:e84263d55307 | 24 | |
AnnaBridge | 167:e84263d55307 | 25 | /* |
AnnaBridge | 167:e84263d55307 | 26 | * Initialize a ticker instance. |
AnnaBridge | 167:e84263d55307 | 27 | */ |
AnnaBridge | 167:e84263d55307 | 28 | static void initialize(const ticker_data_t *ticker) |
AnnaBridge | 167:e84263d55307 | 29 | { |
AnnaBridge | 167:e84263d55307 | 30 | // return if the queue has already been initialized, in that case the |
AnnaBridge | 167:e84263d55307 | 31 | // interface used by the queue is already initialized. |
AnnaBridge | 167:e84263d55307 | 32 | if (ticker->queue->initialized) { |
AnnaBridge | 167:e84263d55307 | 33 | return; |
AnnaBridge | 167:e84263d55307 | 34 | } |
<> | 149:156823d33999 | 35 | |
AnnaBridge | 167:e84263d55307 | 36 | ticker->interface->init(); |
Anna Bridge |
180:96ed750bd169 | 37 | |
Anna Bridge |
180:96ed750bd169 | 38 | const ticker_info_t *info = ticker->interface->get_info(); |
Anna Bridge |
180:96ed750bd169 | 39 | uint32_t frequency = info->frequency; |
Anna Bridge |
180:96ed750bd169 | 40 | if (info->frequency == 0) { |
Anna Bridge |
180:96ed750bd169 | 41 | MBED_ASSERT(0); |
Anna Bridge |
180:96ed750bd169 | 42 | frequency = 1000000; |
Anna Bridge |
180:96ed750bd169 | 43 | } |
Anna Bridge |
180:96ed750bd169 | 44 | |
Anna Bridge |
186:707f6e361f3e | 45 | uint8_t frequency_shifts = 0; |
Anna Bridge |
186:707f6e361f3e | 46 | for (uint8_t i = 31; i > 0; --i) { |
Anna Bridge |
186:707f6e361f3e | 47 | if ((1 << i) == frequency) { |
Anna Bridge |
186:707f6e361f3e | 48 | frequency_shifts = i; |
Anna Bridge |
186:707f6e361f3e | 49 | break; |
Anna Bridge |
186:707f6e361f3e | 50 | } |
Anna Bridge |
186:707f6e361f3e | 51 | } |
Anna Bridge |
186:707f6e361f3e | 52 | |
Anna Bridge |
180:96ed750bd169 | 53 | uint32_t bits = info->bits; |
Anna Bridge |
180:96ed750bd169 | 54 | if ((info->bits > 32) || (info->bits < 4)) { |
Anna Bridge |
180:96ed750bd169 | 55 | MBED_ASSERT(0); |
Anna Bridge |
180:96ed750bd169 | 56 | bits = 32; |
Anna Bridge |
180:96ed750bd169 | 57 | } |
Anna Bridge |
180:96ed750bd169 | 58 | uint32_t max_delta = 0x7 << (bits - 4); // 7/16th |
Anna Bridge |
180:96ed750bd169 | 59 | uint64_t max_delta_us = |
Anna Bridge |
180:96ed750bd169 | 60 | ((uint64_t)max_delta * 1000000 + frequency - 1) / frequency; |
Anna Bridge |
180:96ed750bd169 | 61 | |
AnnaBridge | 167:e84263d55307 | 62 | ticker->queue->event_handler = NULL; |
AnnaBridge | 167:e84263d55307 | 63 | ticker->queue->head = NULL; |
Anna Bridge |
180:96ed750bd169 | 64 | ticker->queue->tick_last_read = ticker->interface->read(); |
Anna Bridge |
180:96ed750bd169 | 65 | ticker->queue->tick_remainder = 0; |
Anna Bridge |
180:96ed750bd169 | 66 | ticker->queue->frequency = frequency; |
Anna Bridge |
186:707f6e361f3e | 67 | ticker->queue->frequency_shifts = frequency_shifts; |
Anna Bridge |
180:96ed750bd169 | 68 | ticker->queue->bitmask = ((uint64_t)1 << bits) - 1; |
Anna Bridge |
180:96ed750bd169 | 69 | ticker->queue->max_delta = max_delta; |
Anna Bridge |
180:96ed750bd169 | 70 | ticker->queue->max_delta_us = max_delta_us; |
AnnaBridge | 167:e84263d55307 | 71 | ticker->queue->present_time = 0; |
AnnaBridge | 167:e84263d55307 | 72 | ticker->queue->initialized = true; |
AnnaBridge | 167:e84263d55307 | 73 | |
AnnaBridge | 167:e84263d55307 | 74 | update_present_time(ticker); |
AnnaBridge | 167:e84263d55307 | 75 | schedule_interrupt(ticker); |
AnnaBridge | 167:e84263d55307 | 76 | } |
AnnaBridge | 167:e84263d55307 | 77 | |
AnnaBridge | 167:e84263d55307 | 78 | /** |
AnnaBridge | 167:e84263d55307 | 79 | * Set the event handler function of a ticker instance. |
AnnaBridge | 167:e84263d55307 | 80 | */ |
AnnaBridge | 167:e84263d55307 | 81 | static void set_handler(const ticker_data_t *const ticker, ticker_event_handler handler) |
AnnaBridge | 167:e84263d55307 | 82 | { |
AnnaBridge | 167:e84263d55307 | 83 | ticker->queue->event_handler = handler; |
<> | 149:156823d33999 | 84 | } |
<> | 149:156823d33999 | 85 | |
AnnaBridge | 167:e84263d55307 | 86 | /* |
AnnaBridge | 167:e84263d55307 | 87 | * Convert a 32 bit timestamp into a 64 bit timestamp. |
AnnaBridge | 167:e84263d55307 | 88 | * |
AnnaBridge | 167:e84263d55307 | 89 | * A 64 bit timestamp is used as the point of time of reference while the |
AnnaBridge | 167:e84263d55307 | 90 | * timestamp to convert is relative to this point of time. |
AnnaBridge | 167:e84263d55307 | 91 | * |
AnnaBridge | 167:e84263d55307 | 92 | * The lower 32 bits of the timestamp returned will be equal to the timestamp to |
AnnaBridge | 167:e84263d55307 | 93 | * convert. |
AnnaBridge | 167:e84263d55307 | 94 | * |
AnnaBridge | 167:e84263d55307 | 95 | * If the timestamp to convert is less than the lower 32 bits of the time |
AnnaBridge | 167:e84263d55307 | 96 | * reference then the timestamp to convert is seen as an overflowed value and |
AnnaBridge | 167:e84263d55307 | 97 | * the upper 32 bit of the timestamp returned will be equal to the upper 32 bit |
AnnaBridge | 167:e84263d55307 | 98 | * of the reference point + 1. |
AnnaBridge | 167:e84263d55307 | 99 | * Otherwise, the upper 32 bit returned will be equal to the upper 32 bit of the |
AnnaBridge | 167:e84263d55307 | 100 | * reference point. |
AnnaBridge | 167:e84263d55307 | 101 | * |
AnnaBridge | 167:e84263d55307 | 102 | * @param ref: The 64 bit timestamp of reference. |
AnnaBridge | 167:e84263d55307 | 103 | * @param timestamp: The timestamp to convert. |
AnnaBridge | 167:e84263d55307 | 104 | */ |
AnnaBridge | 167:e84263d55307 | 105 | static us_timestamp_t convert_timestamp(us_timestamp_t ref, timestamp_t timestamp) |
AnnaBridge | 167:e84263d55307 | 106 | { |
AnnaBridge | 167:e84263d55307 | 107 | bool overflow = timestamp < ((timestamp_t) ref) ? true : false; |
AnnaBridge | 167:e84263d55307 | 108 | |
AnnaBridge | 167:e84263d55307 | 109 | us_timestamp_t result = (ref & ~((us_timestamp_t)UINT32_MAX)) | timestamp; |
AnnaBridge | 167:e84263d55307 | 110 | if (overflow) { |
AnnaBridge | 167:e84263d55307 | 111 | result += (1ULL<<32); |
AnnaBridge | 167:e84263d55307 | 112 | } |
AnnaBridge | 167:e84263d55307 | 113 | |
AnnaBridge | 167:e84263d55307 | 114 | return result; |
AnnaBridge | 167:e84263d55307 | 115 | } |
AnnaBridge | 167:e84263d55307 | 116 | |
AnnaBridge | 167:e84263d55307 | 117 | /** |
AnnaBridge | 167:e84263d55307 | 118 | * Update the present timestamp value of a ticker. |
AnnaBridge | 167:e84263d55307 | 119 | */ |
AnnaBridge | 167:e84263d55307 | 120 | static void update_present_time(const ticker_data_t *const ticker) |
Anna Bridge |
180:96ed750bd169 | 121 | { |
Anna Bridge |
180:96ed750bd169 | 122 | ticker_event_queue_t *queue = ticker->queue; |
Anna Bridge |
180:96ed750bd169 | 123 | uint32_t ticker_time = ticker->interface->read(); |
Anna Bridge |
180:96ed750bd169 | 124 | if (ticker_time == ticker->queue->tick_last_read) { |
Anna Bridge |
180:96ed750bd169 | 125 | // No work to do |
Anna Bridge |
180:96ed750bd169 | 126 | return; |
Anna Bridge |
180:96ed750bd169 | 127 | } |
Anna Bridge |
180:96ed750bd169 | 128 | |
Anna Bridge |
180:96ed750bd169 | 129 | uint64_t elapsed_ticks = (ticker_time - queue->tick_last_read) & queue->bitmask; |
Anna Bridge |
180:96ed750bd169 | 130 | queue->tick_last_read = ticker_time; |
Anna Bridge |
180:96ed750bd169 | 131 | |
Anna Bridge |
180:96ed750bd169 | 132 | uint64_t elapsed_us; |
Anna Bridge |
180:96ed750bd169 | 133 | if (1000000 == queue->frequency) { |
Anna Bridge |
180:96ed750bd169 | 134 | // Optimized for 1MHz |
Anna Bridge |
180:96ed750bd169 | 135 | |
Anna Bridge |
180:96ed750bd169 | 136 | elapsed_us = elapsed_ticks; |
Anna Bridge |
186:707f6e361f3e | 137 | } else if (0 != queue->frequency_shifts) { |
Anna Bridge |
186:707f6e361f3e | 138 | // Optimized for frequencies divisible by 2 |
Anna Bridge |
180:96ed750bd169 | 139 | uint64_t us_x_ticks = elapsed_ticks * 1000000; |
Anna Bridge |
186:707f6e361f3e | 140 | elapsed_us = us_x_ticks >> queue->frequency_shifts; |
Anna Bridge |
180:96ed750bd169 | 141 | |
Anna Bridge |
180:96ed750bd169 | 142 | // Update remainder |
Anna Bridge |
186:707f6e361f3e | 143 | queue->tick_remainder += us_x_ticks - (elapsed_us << queue->frequency_shifts); |
Anna Bridge |
180:96ed750bd169 | 144 | if (queue->tick_remainder >= queue->frequency) { |
Anna Bridge |
180:96ed750bd169 | 145 | elapsed_us += 1; |
Anna Bridge |
180:96ed750bd169 | 146 | queue->tick_remainder -= queue->frequency; |
Anna Bridge |
180:96ed750bd169 | 147 | } |
Anna Bridge |
180:96ed750bd169 | 148 | } else { |
Anna Bridge |
180:96ed750bd169 | 149 | // General case |
Anna Bridge |
180:96ed750bd169 | 150 | |
Anna Bridge |
180:96ed750bd169 | 151 | uint64_t us_x_ticks = elapsed_ticks * 1000000; |
Anna Bridge |
180:96ed750bd169 | 152 | elapsed_us = us_x_ticks / queue->frequency; |
Anna Bridge |
180:96ed750bd169 | 153 | |
Anna Bridge |
180:96ed750bd169 | 154 | // Update remainder |
Anna Bridge |
180:96ed750bd169 | 155 | queue->tick_remainder += us_x_ticks - elapsed_us * queue->frequency; |
Anna Bridge |
180:96ed750bd169 | 156 | if (queue->tick_remainder >= queue->frequency) { |
Anna Bridge |
180:96ed750bd169 | 157 | elapsed_us += 1; |
Anna Bridge |
180:96ed750bd169 | 158 | queue->tick_remainder -= queue->frequency; |
Anna Bridge |
180:96ed750bd169 | 159 | } |
Anna Bridge |
180:96ed750bd169 | 160 | } |
Anna Bridge |
180:96ed750bd169 | 161 | |
Anna Bridge |
180:96ed750bd169 | 162 | // Update current time |
Anna Bridge |
180:96ed750bd169 | 163 | queue->present_time += elapsed_us; |
Anna Bridge |
180:96ed750bd169 | 164 | } |
Anna Bridge |
180:96ed750bd169 | 165 | |
Anna Bridge |
180:96ed750bd169 | 166 | /** |
Anna Bridge |
180:96ed750bd169 | 167 | * Given the absolute timestamp compute the hal tick timestamp. |
Anna Bridge |
180:96ed750bd169 | 168 | */ |
Anna Bridge |
180:96ed750bd169 | 169 | static timestamp_t compute_tick(const ticker_data_t *const ticker, us_timestamp_t timestamp) |
Anna Bridge |
180:96ed750bd169 | 170 | { |
Anna Bridge |
180:96ed750bd169 | 171 | ticker_event_queue_t *queue = ticker->queue; |
Anna Bridge |
180:96ed750bd169 | 172 | us_timestamp_t delta_us = timestamp - queue->present_time; |
Anna Bridge |
180:96ed750bd169 | 173 | |
Anna Bridge |
180:96ed750bd169 | 174 | timestamp_t delta = ticker->queue->max_delta; |
Anna Bridge |
180:96ed750bd169 | 175 | if (delta_us <= ticker->queue->max_delta_us) { |
Anna Bridge |
180:96ed750bd169 | 176 | // Checking max_delta_us ensures the operation will not overflow |
Anna Bridge |
180:96ed750bd169 | 177 | |
Anna Bridge |
180:96ed750bd169 | 178 | if (1000000 == queue->frequency) { |
Anna Bridge |
180:96ed750bd169 | 179 | // Optimized for 1MHz |
Anna Bridge |
180:96ed750bd169 | 180 | |
Anna Bridge |
180:96ed750bd169 | 181 | delta = delta_us; |
Anna Bridge |
180:96ed750bd169 | 182 | if (delta > ticker->queue->max_delta) { |
Anna Bridge |
180:96ed750bd169 | 183 | delta = ticker->queue->max_delta; |
Anna Bridge |
180:96ed750bd169 | 184 | } |
Anna Bridge |
186:707f6e361f3e | 185 | } else if (0 != queue->frequency_shifts) { |
Anna Bridge |
186:707f6e361f3e | 186 | // Optimized frequencies divisible by 2 |
Anna Bridge |
180:96ed750bd169 | 187 | |
Anna Bridge |
186:707f6e361f3e | 188 | delta = (delta_us << ticker->queue->frequency_shifts) / 1000000; |
Anna Bridge |
180:96ed750bd169 | 189 | if (delta > ticker->queue->max_delta) { |
Anna Bridge |
180:96ed750bd169 | 190 | delta = ticker->queue->max_delta; |
Anna Bridge |
180:96ed750bd169 | 191 | } |
Anna Bridge |
180:96ed750bd169 | 192 | } else { |
Anna Bridge |
180:96ed750bd169 | 193 | // General case |
Anna Bridge |
180:96ed750bd169 | 194 | |
Anna Bridge |
180:96ed750bd169 | 195 | delta = delta_us * queue->frequency / 1000000; |
Anna Bridge |
180:96ed750bd169 | 196 | if (delta > ticker->queue->max_delta) { |
Anna Bridge |
180:96ed750bd169 | 197 | delta = ticker->queue->max_delta; |
Anna Bridge |
180:96ed750bd169 | 198 | } |
Anna Bridge |
180:96ed750bd169 | 199 | } |
Anna Bridge |
180:96ed750bd169 | 200 | } |
Anna Bridge |
180:96ed750bd169 | 201 | return (queue->tick_last_read + delta) & queue->bitmask; |
Anna Bridge |
180:96ed750bd169 | 202 | } |
Anna Bridge |
180:96ed750bd169 | 203 | |
Anna Bridge |
180:96ed750bd169 | 204 | /** |
Anna Bridge |
180:96ed750bd169 | 205 | * Return 1 if the tick has incremented to or past match_tick, otherwise 0. |
Anna Bridge |
180:96ed750bd169 | 206 | */ |
Anna Bridge |
180:96ed750bd169 | 207 | int _ticker_match_interval_passed(timestamp_t prev_tick, timestamp_t cur_tick, timestamp_t match_tick) |
Anna Bridge |
180:96ed750bd169 | 208 | { |
Anna Bridge |
180:96ed750bd169 | 209 | if (match_tick > prev_tick) { |
Anna Bridge |
180:96ed750bd169 | 210 | return (cur_tick >= match_tick) || (cur_tick < prev_tick); |
Anna Bridge |
180:96ed750bd169 | 211 | } else { |
Anna Bridge |
180:96ed750bd169 | 212 | return (cur_tick < prev_tick) && (cur_tick >= match_tick); |
Anna Bridge |
180:96ed750bd169 | 213 | } |
AnnaBridge | 167:e84263d55307 | 214 | } |
AnnaBridge | 167:e84263d55307 | 215 | |
AnnaBridge | 167:e84263d55307 | 216 | /** |
AnnaBridge | 167:e84263d55307 | 217 | * Compute the time when the interrupt has to be triggered and schedule it. |
AnnaBridge | 167:e84263d55307 | 218 | * |
AnnaBridge | 167:e84263d55307 | 219 | * If there is no event in the queue or the next event to execute is in more |
Anna Bridge |
180:96ed750bd169 | 220 | * than ticker.queue.max_delta ticks from now then the ticker irq will be |
Anna Bridge |
180:96ed750bd169 | 221 | * scheduled in ticker.queue.max_delta ticks. Otherwise the irq will be |
Anna Bridge |
180:96ed750bd169 | 222 | * scheduled to happen when the running counter reach the timestamp of the |
Anna Bridge |
180:96ed750bd169 | 223 | * first event in the queue. |
AnnaBridge | 167:e84263d55307 | 224 | * |
AnnaBridge | 167:e84263d55307 | 225 | * @note If there is no event in the queue then the interrupt is scheduled to |
Anna Bridge |
180:96ed750bd169 | 226 | * in ticker.queue.max_delta. This is necessary to keep track |
AnnaBridge | 167:e84263d55307 | 227 | * of the timer overflow. |
AnnaBridge | 167:e84263d55307 | 228 | */ |
AnnaBridge | 167:e84263d55307 | 229 | static void schedule_interrupt(const ticker_data_t *const ticker) |
AnnaBridge | 167:e84263d55307 | 230 | { |
Anna Bridge |
180:96ed750bd169 | 231 | ticker_event_queue_t *queue = ticker->queue; |
AnnaBridge | 167:e84263d55307 | 232 | update_present_time(ticker); |
AnnaBridge | 167:e84263d55307 | 233 | |
AnnaBridge | 167:e84263d55307 | 234 | if (ticker->queue->head) { |
AnnaBridge | 167:e84263d55307 | 235 | us_timestamp_t present = ticker->queue->present_time; |
Anna Bridge |
180:96ed750bd169 | 236 | us_timestamp_t match_time = ticker->queue->head->timestamp; |
AnnaBridge | 167:e84263d55307 | 237 | |
AnnaBridge | 167:e84263d55307 | 238 | // if the event at the head of the queue is in the past then schedule |
AnnaBridge | 167:e84263d55307 | 239 | // it immediately. |
Anna Bridge |
180:96ed750bd169 | 240 | if (match_time <= present) { |
AnnaBridge | 174:b96e65c34a4d | 241 | ticker->interface->fire_interrupt(); |
AnnaBridge | 174:b96e65c34a4d | 242 | return; |
AnnaBridge | 167:e84263d55307 | 243 | } |
Anna Bridge |
180:96ed750bd169 | 244 | |
Anna Bridge |
180:96ed750bd169 | 245 | timestamp_t match_tick = compute_tick(ticker, match_time); |
AnnaBridge | 182:a56a73fd2a6f | 246 | // The time has been checked to be future, but it could still round |
AnnaBridge | 182:a56a73fd2a6f | 247 | // to the last tick as a result of us to ticks conversion |
AnnaBridge | 182:a56a73fd2a6f | 248 | if (match_tick == queue->tick_last_read) { |
AnnaBridge | 182:a56a73fd2a6f | 249 | // Match time has already expired so fire immediately |
AnnaBridge | 182:a56a73fd2a6f | 250 | ticker->interface->fire_interrupt(); |
AnnaBridge | 182:a56a73fd2a6f | 251 | return; |
AnnaBridge | 182:a56a73fd2a6f | 252 | } |
AnnaBridge | 182:a56a73fd2a6f | 253 | |
Anna Bridge |
180:96ed750bd169 | 254 | ticker->interface->set_interrupt(match_tick); |
Anna Bridge |
180:96ed750bd169 | 255 | timestamp_t cur_tick = ticker->interface->read(); |
AnnaBridge | 167:e84263d55307 | 256 | |
Anna Bridge |
180:96ed750bd169 | 257 | if (_ticker_match_interval_passed(queue->tick_last_read, cur_tick, match_tick)) { |
Anna Bridge |
180:96ed750bd169 | 258 | ticker->interface->fire_interrupt(); |
Anna Bridge |
180:96ed750bd169 | 259 | } |
Anna Bridge |
180:96ed750bd169 | 260 | } else { |
Anna Bridge |
180:96ed750bd169 | 261 | uint32_t match_tick = |
Anna Bridge |
180:96ed750bd169 | 262 | (queue->tick_last_read + queue->max_delta) & queue->bitmask; |
Anna Bridge |
180:96ed750bd169 | 263 | ticker->interface->set_interrupt(match_tick); |
AnnaBridge | 174:b96e65c34a4d | 264 | } |
AnnaBridge | 167:e84263d55307 | 265 | } |
AnnaBridge | 167:e84263d55307 | 266 | |
AnnaBridge | 167:e84263d55307 | 267 | void ticker_set_handler(const ticker_data_t *const ticker, ticker_event_handler handler) |
AnnaBridge | 167:e84263d55307 | 268 | { |
AnnaBridge | 167:e84263d55307 | 269 | initialize(ticker); |
AnnaBridge | 181:57724642e740 | 270 | |
AnnaBridge | 181:57724642e740 | 271 | core_util_critical_section_enter(); |
AnnaBridge | 167:e84263d55307 | 272 | set_handler(ticker, handler); |
AnnaBridge | 181:57724642e740 | 273 | core_util_critical_section_exit(); |
AnnaBridge | 167:e84263d55307 | 274 | } |
AnnaBridge | 167:e84263d55307 | 275 | |
AnnaBridge | 167:e84263d55307 | 276 | void ticker_irq_handler(const ticker_data_t *const ticker) |
AnnaBridge | 167:e84263d55307 | 277 | { |
AnnaBridge | 181:57724642e740 | 278 | core_util_critical_section_enter(); |
AnnaBridge | 181:57724642e740 | 279 | |
AnnaBridge | 167:e84263d55307 | 280 | ticker->interface->clear_interrupt(); |
<> | 149:156823d33999 | 281 | |
<> | 149:156823d33999 | 282 | /* Go through all the pending TimerEvents */ |
<> | 149:156823d33999 | 283 | while (1) { |
AnnaBridge | 167:e84263d55307 | 284 | if (ticker->queue->head == NULL) { |
AnnaBridge | 167:e84263d55307 | 285 | break; |
<> | 149:156823d33999 | 286 | } |
<> | 149:156823d33999 | 287 | |
AnnaBridge | 167:e84263d55307 | 288 | // update the current timestamp used by the queue |
AnnaBridge | 167:e84263d55307 | 289 | update_present_time(ticker); |
AnnaBridge | 167:e84263d55307 | 290 | |
AnnaBridge | 167:e84263d55307 | 291 | if (ticker->queue->head->timestamp <= ticker->queue->present_time) { |
<> | 149:156823d33999 | 292 | // This event was in the past: |
<> | 149:156823d33999 | 293 | // point to the following one and execute its handler |
AnnaBridge | 167:e84263d55307 | 294 | ticker_event_t *p = ticker->queue->head; |
AnnaBridge | 167:e84263d55307 | 295 | ticker->queue->head = ticker->queue->head->next; |
AnnaBridge | 167:e84263d55307 | 296 | if (ticker->queue->event_handler != NULL) { |
AnnaBridge | 167:e84263d55307 | 297 | (*ticker->queue->event_handler)(p->id); // NOTE: the handler can set new events |
<> | 149:156823d33999 | 298 | } |
<> | 149:156823d33999 | 299 | /* Note: We continue back to examining the head because calling the |
<> | 149:156823d33999 | 300 | * event handler may have altered the chain of pending events. */ |
<> | 149:156823d33999 | 301 | } else { |
AnnaBridge | 167:e84263d55307 | 302 | break; |
AnnaBridge | 167:e84263d55307 | 303 | } |
<> | 149:156823d33999 | 304 | } |
AnnaBridge | 167:e84263d55307 | 305 | |
AnnaBridge | 167:e84263d55307 | 306 | schedule_interrupt(ticker); |
AnnaBridge | 181:57724642e740 | 307 | |
AnnaBridge | 181:57724642e740 | 308 | core_util_critical_section_exit(); |
<> | 149:156823d33999 | 309 | } |
<> | 149:156823d33999 | 310 | |
AnnaBridge | 167:e84263d55307 | 311 | void ticker_insert_event(const ticker_data_t *const ticker, ticker_event_t *obj, timestamp_t timestamp, uint32_t id) |
AnnaBridge | 167:e84263d55307 | 312 | { |
<> | 149:156823d33999 | 313 | core_util_critical_section_enter(); |
<> | 149:156823d33999 | 314 | |
AnnaBridge | 167:e84263d55307 | 315 | // update the current timestamp |
AnnaBridge | 167:e84263d55307 | 316 | update_present_time(ticker); |
AnnaBridge | 167:e84263d55307 | 317 | us_timestamp_t absolute_timestamp = convert_timestamp( |
AnnaBridge | 167:e84263d55307 | 318 | ticker->queue->present_time, |
AnnaBridge | 167:e84263d55307 | 319 | timestamp |
AnnaBridge | 167:e84263d55307 | 320 | ); |
AnnaBridge | 167:e84263d55307 | 321 | |
AnnaBridge | 167:e84263d55307 | 322 | // defer to ticker_insert_event_us |
AnnaBridge | 167:e84263d55307 | 323 | ticker_insert_event_us( |
AnnaBridge | 167:e84263d55307 | 324 | ticker, |
AnnaBridge | 167:e84263d55307 | 325 | obj, absolute_timestamp, id |
AnnaBridge | 167:e84263d55307 | 326 | ); |
AnnaBridge | 181:57724642e740 | 327 | |
AnnaBridge | 181:57724642e740 | 328 | core_util_critical_section_exit(); |
AnnaBridge | 167:e84263d55307 | 329 | } |
AnnaBridge | 167:e84263d55307 | 330 | |
AnnaBridge | 167:e84263d55307 | 331 | void ticker_insert_event_us(const ticker_data_t *const ticker, ticker_event_t *obj, us_timestamp_t timestamp, uint32_t id) |
AnnaBridge | 167:e84263d55307 | 332 | { |
AnnaBridge | 167:e84263d55307 | 333 | core_util_critical_section_enter(); |
AnnaBridge | 167:e84263d55307 | 334 | |
AnnaBridge | 167:e84263d55307 | 335 | // update the current timestamp |
AnnaBridge | 167:e84263d55307 | 336 | update_present_time(ticker); |
AnnaBridge | 167:e84263d55307 | 337 | |
<> | 149:156823d33999 | 338 | // initialise our data |
<> | 149:156823d33999 | 339 | obj->timestamp = timestamp; |
<> | 149:156823d33999 | 340 | obj->id = id; |
<> | 149:156823d33999 | 341 | |
<> | 149:156823d33999 | 342 | /* Go through the list until we either reach the end, or find |
<> | 149:156823d33999 | 343 | an element this should come before (which is possibly the |
<> | 149:156823d33999 | 344 | head). */ |
AnnaBridge | 167:e84263d55307 | 345 | ticker_event_t *prev = NULL, *p = ticker->queue->head; |
<> | 149:156823d33999 | 346 | while (p != NULL) { |
<> | 149:156823d33999 | 347 | /* check if we come before p */ |
AnnaBridge | 167:e84263d55307 | 348 | if (timestamp < p->timestamp) { |
<> | 149:156823d33999 | 349 | break; |
<> | 149:156823d33999 | 350 | } |
<> | 149:156823d33999 | 351 | /* go to the next element */ |
<> | 149:156823d33999 | 352 | prev = p; |
<> | 149:156823d33999 | 353 | p = p->next; |
<> | 149:156823d33999 | 354 | } |
<> | 162:e13f6fdb2ac4 | 355 | |
<> | 162:e13f6fdb2ac4 | 356 | /* if we're at the end p will be NULL, which is correct */ |
<> | 162:e13f6fdb2ac4 | 357 | obj->next = p; |
<> | 162:e13f6fdb2ac4 | 358 | |
<> | 149:156823d33999 | 359 | /* if prev is NULL we're at the head */ |
<> | 149:156823d33999 | 360 | if (prev == NULL) { |
AnnaBridge | 167:e84263d55307 | 361 | ticker->queue->head = obj; |
Anna Bridge |
186:707f6e361f3e | 362 | schedule_interrupt(ticker); |
<> | 149:156823d33999 | 363 | } else { |
<> | 149:156823d33999 | 364 | prev->next = obj; |
<> | 149:156823d33999 | 365 | } |
<> | 149:156823d33999 | 366 | |
<> | 149:156823d33999 | 367 | core_util_critical_section_exit(); |
<> | 149:156823d33999 | 368 | } |
<> | 149:156823d33999 | 369 | |
AnnaBridge | 167:e84263d55307 | 370 | void ticker_remove_event(const ticker_data_t *const ticker, ticker_event_t *obj) |
AnnaBridge | 167:e84263d55307 | 371 | { |
<> | 149:156823d33999 | 372 | core_util_critical_section_enter(); |
<> | 149:156823d33999 | 373 | |
<> | 149:156823d33999 | 374 | // remove this object from the list |
AnnaBridge | 167:e84263d55307 | 375 | if (ticker->queue->head == obj) { |
<> | 149:156823d33999 | 376 | // first in the list, so just drop me |
AnnaBridge | 167:e84263d55307 | 377 | ticker->queue->head = obj->next; |
AnnaBridge | 167:e84263d55307 | 378 | schedule_interrupt(ticker); |
<> | 149:156823d33999 | 379 | } else { |
<> | 149:156823d33999 | 380 | // find the object before me, then drop me |
AnnaBridge | 167:e84263d55307 | 381 | ticker_event_t* p = ticker->queue->head; |
<> | 149:156823d33999 | 382 | while (p != NULL) { |
<> | 149:156823d33999 | 383 | if (p->next == obj) { |
<> | 149:156823d33999 | 384 | p->next = obj->next; |
<> | 149:156823d33999 | 385 | break; |
<> | 149:156823d33999 | 386 | } |
<> | 149:156823d33999 | 387 | p = p->next; |
<> | 149:156823d33999 | 388 | } |
<> | 149:156823d33999 | 389 | } |
<> | 149:156823d33999 | 390 | |
<> | 149:156823d33999 | 391 | core_util_critical_section_exit(); |
<> | 149:156823d33999 | 392 | } |
<> | 149:156823d33999 | 393 | |
AnnaBridge | 167:e84263d55307 | 394 | timestamp_t ticker_read(const ticker_data_t *const ticker) |
<> | 149:156823d33999 | 395 | { |
AnnaBridge | 167:e84263d55307 | 396 | return ticker_read_us(ticker); |
AnnaBridge | 167:e84263d55307 | 397 | } |
AnnaBridge | 167:e84263d55307 | 398 | |
AnnaBridge | 167:e84263d55307 | 399 | us_timestamp_t ticker_read_us(const ticker_data_t *const ticker) |
AnnaBridge | 167:e84263d55307 | 400 | { |
AnnaBridge | 175:af195413fb11 | 401 | initialize(ticker); |
AnnaBridge | 181:57724642e740 | 402 | |
AnnaBridge | 181:57724642e740 | 403 | core_util_critical_section_enter(); |
AnnaBridge | 167:e84263d55307 | 404 | update_present_time(ticker); |
AnnaBridge | 181:57724642e740 | 405 | core_util_critical_section_exit(); |
AnnaBridge | 181:57724642e740 | 406 | |
AnnaBridge | 167:e84263d55307 | 407 | return ticker->queue->present_time; |
<> | 149:156823d33999 | 408 | } |
<> | 149:156823d33999 | 409 | |
<> | 149:156823d33999 | 410 | int ticker_get_next_timestamp(const ticker_data_t *const data, timestamp_t *timestamp) |
<> | 149:156823d33999 | 411 | { |
<> | 149:156823d33999 | 412 | int ret = 0; |
<> | 149:156823d33999 | 413 | |
<> | 149:156823d33999 | 414 | /* if head is NULL, there are no pending events */ |
<> | 149:156823d33999 | 415 | core_util_critical_section_enter(); |
<> | 149:156823d33999 | 416 | if (data->queue->head != NULL) { |
<> | 149:156823d33999 | 417 | *timestamp = data->queue->head->timestamp; |
<> | 149:156823d33999 | 418 | ret = 1; |
<> | 149:156823d33999 | 419 | } |
<> | 149:156823d33999 | 420 | core_util_critical_section_exit(); |
<> | 149:156823d33999 | 421 | |
<> | 149:156823d33999 | 422 | return ret; |
<> | 149:156823d33999 | 423 | } |