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Nucleo446_SSD1331
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mbed-os/hal/mbed_ticker_api.c@0:8fdf9a60065b, 2018-10-10 (annotated)
- Committer:
- kadonotakashi
- Date:
- Wed Oct 10 00:33:53 2018 +0000
- Revision:
- 0:8fdf9a60065b
how to make mbed librry
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| kadonotakashi | 0:8fdf9a60065b | 1 | /* mbed Microcontroller Library |
| kadonotakashi | 0:8fdf9a60065b | 2 | * Copyright (c) 2015 ARM Limited |
| kadonotakashi | 0:8fdf9a60065b | 3 | * |
| kadonotakashi | 0:8fdf9a60065b | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
| kadonotakashi | 0:8fdf9a60065b | 5 | * you may not use this file except in compliance with the License. |
| kadonotakashi | 0:8fdf9a60065b | 6 | * You may obtain a copy of the License at |
| kadonotakashi | 0:8fdf9a60065b | 7 | * |
| kadonotakashi | 0:8fdf9a60065b | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
| kadonotakashi | 0:8fdf9a60065b | 9 | * |
| kadonotakashi | 0:8fdf9a60065b | 10 | * Unless required by applicable law or agreed to in writing, software |
| kadonotakashi | 0:8fdf9a60065b | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
| kadonotakashi | 0:8fdf9a60065b | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| kadonotakashi | 0:8fdf9a60065b | 13 | * See the License for the specific language governing permissions and |
| kadonotakashi | 0:8fdf9a60065b | 14 | * limitations under the License. |
| kadonotakashi | 0:8fdf9a60065b | 15 | */ |
| kadonotakashi | 0:8fdf9a60065b | 16 | #include <stdio.h> |
| kadonotakashi | 0:8fdf9a60065b | 17 | #include <stddef.h> |
| kadonotakashi | 0:8fdf9a60065b | 18 | #include "hal/ticker_api.h" |
| kadonotakashi | 0:8fdf9a60065b | 19 | #include "platform/mbed_critical.h" |
| kadonotakashi | 0:8fdf9a60065b | 20 | #include "platform/mbed_assert.h" |
| kadonotakashi | 0:8fdf9a60065b | 21 | |
| kadonotakashi | 0:8fdf9a60065b | 22 | static void schedule_interrupt(const ticker_data_t *const ticker); |
| kadonotakashi | 0:8fdf9a60065b | 23 | static void update_present_time(const ticker_data_t *const ticker); |
| kadonotakashi | 0:8fdf9a60065b | 24 | |
| kadonotakashi | 0:8fdf9a60065b | 25 | /* |
| kadonotakashi | 0:8fdf9a60065b | 26 | * Initialize a ticker instance. |
| kadonotakashi | 0:8fdf9a60065b | 27 | */ |
| kadonotakashi | 0:8fdf9a60065b | 28 | static void initialize(const ticker_data_t *ticker) |
| kadonotakashi | 0:8fdf9a60065b | 29 | { |
| kadonotakashi | 0:8fdf9a60065b | 30 | // return if the queue has already been initialized, in that case the |
| kadonotakashi | 0:8fdf9a60065b | 31 | // interface used by the queue is already initialized. |
| kadonotakashi | 0:8fdf9a60065b | 32 | if (ticker->queue->initialized) { |
| kadonotakashi | 0:8fdf9a60065b | 33 | return; |
| kadonotakashi | 0:8fdf9a60065b | 34 | } |
| kadonotakashi | 0:8fdf9a60065b | 35 | if (ticker->queue->suspended) { |
| kadonotakashi | 0:8fdf9a60065b | 36 | return; |
| kadonotakashi | 0:8fdf9a60065b | 37 | } |
| kadonotakashi | 0:8fdf9a60065b | 38 | |
| kadonotakashi | 0:8fdf9a60065b | 39 | ticker->interface->init(); |
| kadonotakashi | 0:8fdf9a60065b | 40 | |
| kadonotakashi | 0:8fdf9a60065b | 41 | const ticker_info_t *info = ticker->interface->get_info(); |
| kadonotakashi | 0:8fdf9a60065b | 42 | uint32_t frequency = info->frequency; |
| kadonotakashi | 0:8fdf9a60065b | 43 | if (info->frequency == 0) { |
| kadonotakashi | 0:8fdf9a60065b | 44 | MBED_ASSERT(0); |
| kadonotakashi | 0:8fdf9a60065b | 45 | frequency = 1000000; |
| kadonotakashi | 0:8fdf9a60065b | 46 | } |
| kadonotakashi | 0:8fdf9a60065b | 47 | |
| kadonotakashi | 0:8fdf9a60065b | 48 | uint8_t frequency_shifts = 0; |
| kadonotakashi | 0:8fdf9a60065b | 49 | for (uint8_t i = 31; i > 0; --i) { |
| kadonotakashi | 0:8fdf9a60065b | 50 | if ((1U << i) == frequency) { |
| kadonotakashi | 0:8fdf9a60065b | 51 | frequency_shifts = i; |
| kadonotakashi | 0:8fdf9a60065b | 52 | break; |
| kadonotakashi | 0:8fdf9a60065b | 53 | } |
| kadonotakashi | 0:8fdf9a60065b | 54 | } |
| kadonotakashi | 0:8fdf9a60065b | 55 | |
| kadonotakashi | 0:8fdf9a60065b | 56 | uint32_t bits = info->bits; |
| kadonotakashi | 0:8fdf9a60065b | 57 | if ((info->bits > 32) || (info->bits < 4)) { |
| kadonotakashi | 0:8fdf9a60065b | 58 | MBED_ASSERT(0); |
| kadonotakashi | 0:8fdf9a60065b | 59 | bits = 32; |
| kadonotakashi | 0:8fdf9a60065b | 60 | } |
| kadonotakashi | 0:8fdf9a60065b | 61 | uint32_t max_delta = 0x7 << (bits - 4); // 7/16th |
| kadonotakashi | 0:8fdf9a60065b | 62 | uint64_t max_delta_us = |
| kadonotakashi | 0:8fdf9a60065b | 63 | ((uint64_t)max_delta * 1000000 + frequency - 1) / frequency; |
| kadonotakashi | 0:8fdf9a60065b | 64 | |
| kadonotakashi | 0:8fdf9a60065b | 65 | ticker->queue->event_handler = NULL; |
| kadonotakashi | 0:8fdf9a60065b | 66 | ticker->queue->head = NULL; |
| kadonotakashi | 0:8fdf9a60065b | 67 | ticker->queue->tick_last_read = ticker->interface->read(); |
| kadonotakashi | 0:8fdf9a60065b | 68 | ticker->queue->tick_remainder = 0; |
| kadonotakashi | 0:8fdf9a60065b | 69 | ticker->queue->frequency = frequency; |
| kadonotakashi | 0:8fdf9a60065b | 70 | ticker->queue->frequency_shifts = frequency_shifts; |
| kadonotakashi | 0:8fdf9a60065b | 71 | ticker->queue->bitmask = ((uint64_t)1 << bits) - 1; |
| kadonotakashi | 0:8fdf9a60065b | 72 | ticker->queue->max_delta = max_delta; |
| kadonotakashi | 0:8fdf9a60065b | 73 | ticker->queue->max_delta_us = max_delta_us; |
| kadonotakashi | 0:8fdf9a60065b | 74 | ticker->queue->present_time = 0; |
| kadonotakashi | 0:8fdf9a60065b | 75 | ticker->queue->dispatching = false; |
| kadonotakashi | 0:8fdf9a60065b | 76 | ticker->queue->suspended = false; |
| kadonotakashi | 0:8fdf9a60065b | 77 | ticker->queue->initialized = true; |
| kadonotakashi | 0:8fdf9a60065b | 78 | |
| kadonotakashi | 0:8fdf9a60065b | 79 | update_present_time(ticker); |
| kadonotakashi | 0:8fdf9a60065b | 80 | schedule_interrupt(ticker); |
| kadonotakashi | 0:8fdf9a60065b | 81 | } |
| kadonotakashi | 0:8fdf9a60065b | 82 | |
| kadonotakashi | 0:8fdf9a60065b | 83 | /** |
| kadonotakashi | 0:8fdf9a60065b | 84 | * Set the event handler function of a ticker instance. |
| kadonotakashi | 0:8fdf9a60065b | 85 | */ |
| kadonotakashi | 0:8fdf9a60065b | 86 | static void set_handler(const ticker_data_t *const ticker, ticker_event_handler handler) |
| kadonotakashi | 0:8fdf9a60065b | 87 | { |
| kadonotakashi | 0:8fdf9a60065b | 88 | ticker->queue->event_handler = handler; |
| kadonotakashi | 0:8fdf9a60065b | 89 | } |
| kadonotakashi | 0:8fdf9a60065b | 90 | |
| kadonotakashi | 0:8fdf9a60065b | 91 | /* |
| kadonotakashi | 0:8fdf9a60065b | 92 | * Convert a 32 bit timestamp into a 64 bit timestamp. |
| kadonotakashi | 0:8fdf9a60065b | 93 | * |
| kadonotakashi | 0:8fdf9a60065b | 94 | * A 64 bit timestamp is used as the point of time of reference while the |
| kadonotakashi | 0:8fdf9a60065b | 95 | * timestamp to convert is relative to this point of time. |
| kadonotakashi | 0:8fdf9a60065b | 96 | * |
| kadonotakashi | 0:8fdf9a60065b | 97 | * The lower 32 bits of the timestamp returned will be equal to the timestamp to |
| kadonotakashi | 0:8fdf9a60065b | 98 | * convert. |
| kadonotakashi | 0:8fdf9a60065b | 99 | * |
| kadonotakashi | 0:8fdf9a60065b | 100 | * If the timestamp to convert is less than the lower 32 bits of the time |
| kadonotakashi | 0:8fdf9a60065b | 101 | * reference then the timestamp to convert is seen as an overflowed value and |
| kadonotakashi | 0:8fdf9a60065b | 102 | * the upper 32 bit of the timestamp returned will be equal to the upper 32 bit |
| kadonotakashi | 0:8fdf9a60065b | 103 | * of the reference point + 1. |
| kadonotakashi | 0:8fdf9a60065b | 104 | * Otherwise, the upper 32 bit returned will be equal to the upper 32 bit of the |
| kadonotakashi | 0:8fdf9a60065b | 105 | * reference point. |
| kadonotakashi | 0:8fdf9a60065b | 106 | * |
| kadonotakashi | 0:8fdf9a60065b | 107 | * @param ref: The 64 bit timestamp of reference. |
| kadonotakashi | 0:8fdf9a60065b | 108 | * @param timestamp: The timestamp to convert. |
| kadonotakashi | 0:8fdf9a60065b | 109 | */ |
| kadonotakashi | 0:8fdf9a60065b | 110 | static us_timestamp_t convert_timestamp(us_timestamp_t ref, timestamp_t timestamp) |
| kadonotakashi | 0:8fdf9a60065b | 111 | { |
| kadonotakashi | 0:8fdf9a60065b | 112 | bool overflow = timestamp < ((timestamp_t) ref) ? true : false; |
| kadonotakashi | 0:8fdf9a60065b | 113 | |
| kadonotakashi | 0:8fdf9a60065b | 114 | us_timestamp_t result = (ref & ~((us_timestamp_t)UINT32_MAX)) | timestamp; |
| kadonotakashi | 0:8fdf9a60065b | 115 | if (overflow) { |
| kadonotakashi | 0:8fdf9a60065b | 116 | result += (1ULL << 32); |
| kadonotakashi | 0:8fdf9a60065b | 117 | } |
| kadonotakashi | 0:8fdf9a60065b | 118 | |
| kadonotakashi | 0:8fdf9a60065b | 119 | return result; |
| kadonotakashi | 0:8fdf9a60065b | 120 | } |
| kadonotakashi | 0:8fdf9a60065b | 121 | |
| kadonotakashi | 0:8fdf9a60065b | 122 | /** |
| kadonotakashi | 0:8fdf9a60065b | 123 | * Update the present timestamp value of a ticker. |
| kadonotakashi | 0:8fdf9a60065b | 124 | */ |
| kadonotakashi | 0:8fdf9a60065b | 125 | static void update_present_time(const ticker_data_t *const ticker) |
| kadonotakashi | 0:8fdf9a60065b | 126 | { |
| kadonotakashi | 0:8fdf9a60065b | 127 | ticker_event_queue_t *queue = ticker->queue; |
| kadonotakashi | 0:8fdf9a60065b | 128 | if (queue->suspended) { |
| kadonotakashi | 0:8fdf9a60065b | 129 | return; |
| kadonotakashi | 0:8fdf9a60065b | 130 | } |
| kadonotakashi | 0:8fdf9a60065b | 131 | uint32_t ticker_time = ticker->interface->read(); |
| kadonotakashi | 0:8fdf9a60065b | 132 | if (ticker_time == ticker->queue->tick_last_read) { |
| kadonotakashi | 0:8fdf9a60065b | 133 | // No work to do |
| kadonotakashi | 0:8fdf9a60065b | 134 | return; |
| kadonotakashi | 0:8fdf9a60065b | 135 | } |
| kadonotakashi | 0:8fdf9a60065b | 136 | |
| kadonotakashi | 0:8fdf9a60065b | 137 | uint64_t elapsed_ticks = (ticker_time - queue->tick_last_read) & queue->bitmask; |
| kadonotakashi | 0:8fdf9a60065b | 138 | queue->tick_last_read = ticker_time; |
| kadonotakashi | 0:8fdf9a60065b | 139 | |
| kadonotakashi | 0:8fdf9a60065b | 140 | uint64_t elapsed_us; |
| kadonotakashi | 0:8fdf9a60065b | 141 | if (1000000 == queue->frequency) { |
| kadonotakashi | 0:8fdf9a60065b | 142 | // Optimized for 1MHz |
| kadonotakashi | 0:8fdf9a60065b | 143 | |
| kadonotakashi | 0:8fdf9a60065b | 144 | elapsed_us = elapsed_ticks; |
| kadonotakashi | 0:8fdf9a60065b | 145 | } else if (0 != queue->frequency_shifts) { |
| kadonotakashi | 0:8fdf9a60065b | 146 | // Optimized for frequencies divisible by 2 |
| kadonotakashi | 0:8fdf9a60065b | 147 | uint64_t us_x_ticks = elapsed_ticks * 1000000; |
| kadonotakashi | 0:8fdf9a60065b | 148 | elapsed_us = us_x_ticks >> queue->frequency_shifts; |
| kadonotakashi | 0:8fdf9a60065b | 149 | |
| kadonotakashi | 0:8fdf9a60065b | 150 | // Update remainder |
| kadonotakashi | 0:8fdf9a60065b | 151 | queue->tick_remainder += us_x_ticks - (elapsed_us << queue->frequency_shifts); |
| kadonotakashi | 0:8fdf9a60065b | 152 | if (queue->tick_remainder >= queue->frequency) { |
| kadonotakashi | 0:8fdf9a60065b | 153 | elapsed_us += 1; |
| kadonotakashi | 0:8fdf9a60065b | 154 | queue->tick_remainder -= queue->frequency; |
| kadonotakashi | 0:8fdf9a60065b | 155 | } |
| kadonotakashi | 0:8fdf9a60065b | 156 | } else { |
| kadonotakashi | 0:8fdf9a60065b | 157 | // General case |
| kadonotakashi | 0:8fdf9a60065b | 158 | |
| kadonotakashi | 0:8fdf9a60065b | 159 | uint64_t us_x_ticks = elapsed_ticks * 1000000; |
| kadonotakashi | 0:8fdf9a60065b | 160 | elapsed_us = us_x_ticks / queue->frequency; |
| kadonotakashi | 0:8fdf9a60065b | 161 | |
| kadonotakashi | 0:8fdf9a60065b | 162 | // Update remainder |
| kadonotakashi | 0:8fdf9a60065b | 163 | queue->tick_remainder += us_x_ticks - elapsed_us * queue->frequency; |
| kadonotakashi | 0:8fdf9a60065b | 164 | if (queue->tick_remainder >= queue->frequency) { |
| kadonotakashi | 0:8fdf9a60065b | 165 | elapsed_us += 1; |
| kadonotakashi | 0:8fdf9a60065b | 166 | queue->tick_remainder -= queue->frequency; |
| kadonotakashi | 0:8fdf9a60065b | 167 | } |
| kadonotakashi | 0:8fdf9a60065b | 168 | } |
| kadonotakashi | 0:8fdf9a60065b | 169 | |
| kadonotakashi | 0:8fdf9a60065b | 170 | // Update current time |
| kadonotakashi | 0:8fdf9a60065b | 171 | queue->present_time += elapsed_us; |
| kadonotakashi | 0:8fdf9a60065b | 172 | } |
| kadonotakashi | 0:8fdf9a60065b | 173 | |
| kadonotakashi | 0:8fdf9a60065b | 174 | /** |
| kadonotakashi | 0:8fdf9a60065b | 175 | * Given the absolute timestamp compute the hal tick timestamp rounded up. |
| kadonotakashi | 0:8fdf9a60065b | 176 | */ |
| kadonotakashi | 0:8fdf9a60065b | 177 | static timestamp_t compute_tick_round_up(const ticker_data_t *const ticker, us_timestamp_t timestamp) |
| kadonotakashi | 0:8fdf9a60065b | 178 | { |
| kadonotakashi | 0:8fdf9a60065b | 179 | ticker_event_queue_t *queue = ticker->queue; |
| kadonotakashi | 0:8fdf9a60065b | 180 | us_timestamp_t delta_us = timestamp - queue->present_time; |
| kadonotakashi | 0:8fdf9a60065b | 181 | |
| kadonotakashi | 0:8fdf9a60065b | 182 | timestamp_t delta = ticker->queue->max_delta; |
| kadonotakashi | 0:8fdf9a60065b | 183 | if (delta_us <= ticker->queue->max_delta_us) { |
| kadonotakashi | 0:8fdf9a60065b | 184 | // Checking max_delta_us ensures the operation will not overflow |
| kadonotakashi | 0:8fdf9a60065b | 185 | |
| kadonotakashi | 0:8fdf9a60065b | 186 | if (1000000 == queue->frequency) { |
| kadonotakashi | 0:8fdf9a60065b | 187 | // Optimized for 1MHz |
| kadonotakashi | 0:8fdf9a60065b | 188 | |
| kadonotakashi | 0:8fdf9a60065b | 189 | delta = delta_us; |
| kadonotakashi | 0:8fdf9a60065b | 190 | if (delta > ticker->queue->max_delta) { |
| kadonotakashi | 0:8fdf9a60065b | 191 | delta = ticker->queue->max_delta; |
| kadonotakashi | 0:8fdf9a60065b | 192 | } |
| kadonotakashi | 0:8fdf9a60065b | 193 | } else if (0 != queue->frequency_shifts) { |
| kadonotakashi | 0:8fdf9a60065b | 194 | // Optimized frequencies divisible by 2 |
| kadonotakashi | 0:8fdf9a60065b | 195 | |
| kadonotakashi | 0:8fdf9a60065b | 196 | delta = ((delta_us << ticker->queue->frequency_shifts) + 1000000 - 1) / 1000000; |
| kadonotakashi | 0:8fdf9a60065b | 197 | if (delta > ticker->queue->max_delta) { |
| kadonotakashi | 0:8fdf9a60065b | 198 | delta = ticker->queue->max_delta; |
| kadonotakashi | 0:8fdf9a60065b | 199 | } |
| kadonotakashi | 0:8fdf9a60065b | 200 | } else { |
| kadonotakashi | 0:8fdf9a60065b | 201 | // General case |
| kadonotakashi | 0:8fdf9a60065b | 202 | |
| kadonotakashi | 0:8fdf9a60065b | 203 | delta = (delta_us * queue->frequency + 1000000 - 1) / 1000000; |
| kadonotakashi | 0:8fdf9a60065b | 204 | if (delta > ticker->queue->max_delta) { |
| kadonotakashi | 0:8fdf9a60065b | 205 | delta = ticker->queue->max_delta; |
| kadonotakashi | 0:8fdf9a60065b | 206 | } |
| kadonotakashi | 0:8fdf9a60065b | 207 | } |
| kadonotakashi | 0:8fdf9a60065b | 208 | } |
| kadonotakashi | 0:8fdf9a60065b | 209 | return (queue->tick_last_read + delta) & queue->bitmask; |
| kadonotakashi | 0:8fdf9a60065b | 210 | } |
| kadonotakashi | 0:8fdf9a60065b | 211 | |
| kadonotakashi | 0:8fdf9a60065b | 212 | /** |
| kadonotakashi | 0:8fdf9a60065b | 213 | * Return 1 if the tick has incremented to or past match_tick, otherwise 0. |
| kadonotakashi | 0:8fdf9a60065b | 214 | */ |
| kadonotakashi | 0:8fdf9a60065b | 215 | int _ticker_match_interval_passed(timestamp_t prev_tick, timestamp_t cur_tick, timestamp_t match_tick) |
| kadonotakashi | 0:8fdf9a60065b | 216 | { |
| kadonotakashi | 0:8fdf9a60065b | 217 | if (match_tick > prev_tick) { |
| kadonotakashi | 0:8fdf9a60065b | 218 | return (cur_tick >= match_tick) || (cur_tick < prev_tick); |
| kadonotakashi | 0:8fdf9a60065b | 219 | } else { |
| kadonotakashi | 0:8fdf9a60065b | 220 | return (cur_tick < prev_tick) && (cur_tick >= match_tick); |
| kadonotakashi | 0:8fdf9a60065b | 221 | } |
| kadonotakashi | 0:8fdf9a60065b | 222 | } |
| kadonotakashi | 0:8fdf9a60065b | 223 | |
| kadonotakashi | 0:8fdf9a60065b | 224 | /** |
| kadonotakashi | 0:8fdf9a60065b | 225 | * Compute the time when the interrupt has to be triggered and schedule it. |
| kadonotakashi | 0:8fdf9a60065b | 226 | * |
| kadonotakashi | 0:8fdf9a60065b | 227 | * If there is no event in the queue or the next event to execute is in more |
| kadonotakashi | 0:8fdf9a60065b | 228 | * than ticker.queue.max_delta ticks from now then the ticker irq will be |
| kadonotakashi | 0:8fdf9a60065b | 229 | * scheduled in ticker.queue.max_delta ticks. Otherwise the irq will be |
| kadonotakashi | 0:8fdf9a60065b | 230 | * scheduled to happen when the running counter reach the timestamp of the |
| kadonotakashi | 0:8fdf9a60065b | 231 | * first event in the queue. |
| kadonotakashi | 0:8fdf9a60065b | 232 | * |
| kadonotakashi | 0:8fdf9a60065b | 233 | * @note If there is no event in the queue then the interrupt is scheduled to |
| kadonotakashi | 0:8fdf9a60065b | 234 | * in ticker.queue.max_delta. This is necessary to keep track |
| kadonotakashi | 0:8fdf9a60065b | 235 | * of the timer overflow. |
| kadonotakashi | 0:8fdf9a60065b | 236 | */ |
| kadonotakashi | 0:8fdf9a60065b | 237 | static void schedule_interrupt(const ticker_data_t *const ticker) |
| kadonotakashi | 0:8fdf9a60065b | 238 | { |
| kadonotakashi | 0:8fdf9a60065b | 239 | ticker_event_queue_t *queue = ticker->queue; |
| kadonotakashi | 0:8fdf9a60065b | 240 | if (queue->suspended || ticker->queue->dispatching) { |
| kadonotakashi | 0:8fdf9a60065b | 241 | // Don't schedule the next interrupt until dispatching is |
| kadonotakashi | 0:8fdf9a60065b | 242 | // finished. This prevents repeated calls to interface->set_interrupt |
| kadonotakashi | 0:8fdf9a60065b | 243 | return; |
| kadonotakashi | 0:8fdf9a60065b | 244 | } |
| kadonotakashi | 0:8fdf9a60065b | 245 | |
| kadonotakashi | 0:8fdf9a60065b | 246 | update_present_time(ticker); |
| kadonotakashi | 0:8fdf9a60065b | 247 | |
| kadonotakashi | 0:8fdf9a60065b | 248 | if (ticker->queue->head) { |
| kadonotakashi | 0:8fdf9a60065b | 249 | us_timestamp_t present = ticker->queue->present_time; |
| kadonotakashi | 0:8fdf9a60065b | 250 | us_timestamp_t match_time = ticker->queue->head->timestamp; |
| kadonotakashi | 0:8fdf9a60065b | 251 | |
| kadonotakashi | 0:8fdf9a60065b | 252 | // if the event at the head of the queue is in the past then schedule |
| kadonotakashi | 0:8fdf9a60065b | 253 | // it immediately. |
| kadonotakashi | 0:8fdf9a60065b | 254 | if (match_time <= present) { |
| kadonotakashi | 0:8fdf9a60065b | 255 | ticker->interface->fire_interrupt(); |
| kadonotakashi | 0:8fdf9a60065b | 256 | return; |
| kadonotakashi | 0:8fdf9a60065b | 257 | } |
| kadonotakashi | 0:8fdf9a60065b | 258 | |
| kadonotakashi | 0:8fdf9a60065b | 259 | timestamp_t match_tick = compute_tick_round_up(ticker, match_time); |
| kadonotakashi | 0:8fdf9a60065b | 260 | |
| kadonotakashi | 0:8fdf9a60065b | 261 | // The same tick should never occur since match_tick is rounded up. |
| kadonotakashi | 0:8fdf9a60065b | 262 | // If the same tick is returned scheduling will not work correctly. |
| kadonotakashi | 0:8fdf9a60065b | 263 | MBED_ASSERT(match_tick != queue->tick_last_read); |
| kadonotakashi | 0:8fdf9a60065b | 264 | |
| kadonotakashi | 0:8fdf9a60065b | 265 | ticker->interface->set_interrupt(match_tick); |
| kadonotakashi | 0:8fdf9a60065b | 266 | timestamp_t cur_tick = ticker->interface->read(); |
| kadonotakashi | 0:8fdf9a60065b | 267 | |
| kadonotakashi | 0:8fdf9a60065b | 268 | if (_ticker_match_interval_passed(queue->tick_last_read, cur_tick, match_tick)) { |
| kadonotakashi | 0:8fdf9a60065b | 269 | ticker->interface->fire_interrupt(); |
| kadonotakashi | 0:8fdf9a60065b | 270 | } |
| kadonotakashi | 0:8fdf9a60065b | 271 | } else { |
| kadonotakashi | 0:8fdf9a60065b | 272 | uint32_t match_tick = |
| kadonotakashi | 0:8fdf9a60065b | 273 | (queue->tick_last_read + queue->max_delta) & queue->bitmask; |
| kadonotakashi | 0:8fdf9a60065b | 274 | ticker->interface->set_interrupt(match_tick); |
| kadonotakashi | 0:8fdf9a60065b | 275 | } |
| kadonotakashi | 0:8fdf9a60065b | 276 | } |
| kadonotakashi | 0:8fdf9a60065b | 277 | |
| kadonotakashi | 0:8fdf9a60065b | 278 | void ticker_set_handler(const ticker_data_t *const ticker, ticker_event_handler handler) |
| kadonotakashi | 0:8fdf9a60065b | 279 | { |
| kadonotakashi | 0:8fdf9a60065b | 280 | initialize(ticker); |
| kadonotakashi | 0:8fdf9a60065b | 281 | |
| kadonotakashi | 0:8fdf9a60065b | 282 | core_util_critical_section_enter(); |
| kadonotakashi | 0:8fdf9a60065b | 283 | set_handler(ticker, handler); |
| kadonotakashi | 0:8fdf9a60065b | 284 | core_util_critical_section_exit(); |
| kadonotakashi | 0:8fdf9a60065b | 285 | } |
| kadonotakashi | 0:8fdf9a60065b | 286 | |
| kadonotakashi | 0:8fdf9a60065b | 287 | void ticker_irq_handler(const ticker_data_t *const ticker) |
| kadonotakashi | 0:8fdf9a60065b | 288 | { |
| kadonotakashi | 0:8fdf9a60065b | 289 | core_util_critical_section_enter(); |
| kadonotakashi | 0:8fdf9a60065b | 290 | |
| kadonotakashi | 0:8fdf9a60065b | 291 | ticker->interface->clear_interrupt(); |
| kadonotakashi | 0:8fdf9a60065b | 292 | if (ticker->queue->suspended) { |
| kadonotakashi | 0:8fdf9a60065b | 293 | core_util_critical_section_exit(); |
| kadonotakashi | 0:8fdf9a60065b | 294 | return; |
| kadonotakashi | 0:8fdf9a60065b | 295 | } |
| kadonotakashi | 0:8fdf9a60065b | 296 | |
| kadonotakashi | 0:8fdf9a60065b | 297 | /* Go through all the pending TimerEvents */ |
| kadonotakashi | 0:8fdf9a60065b | 298 | ticker->queue->dispatching = true; |
| kadonotakashi | 0:8fdf9a60065b | 299 | while (1) { |
| kadonotakashi | 0:8fdf9a60065b | 300 | if (ticker->queue->head == NULL) { |
| kadonotakashi | 0:8fdf9a60065b | 301 | break; |
| kadonotakashi | 0:8fdf9a60065b | 302 | } |
| kadonotakashi | 0:8fdf9a60065b | 303 | |
| kadonotakashi | 0:8fdf9a60065b | 304 | // update the current timestamp used by the queue |
| kadonotakashi | 0:8fdf9a60065b | 305 | update_present_time(ticker); |
| kadonotakashi | 0:8fdf9a60065b | 306 | |
| kadonotakashi | 0:8fdf9a60065b | 307 | if (ticker->queue->head->timestamp <= ticker->queue->present_time) { |
| kadonotakashi | 0:8fdf9a60065b | 308 | // This event was in the past: |
| kadonotakashi | 0:8fdf9a60065b | 309 | // point to the following one and execute its handler |
| kadonotakashi | 0:8fdf9a60065b | 310 | ticker_event_t *p = ticker->queue->head; |
| kadonotakashi | 0:8fdf9a60065b | 311 | ticker->queue->head = ticker->queue->head->next; |
| kadonotakashi | 0:8fdf9a60065b | 312 | if (ticker->queue->event_handler != NULL) { |
| kadonotakashi | 0:8fdf9a60065b | 313 | (*ticker->queue->event_handler)(p->id); // NOTE: the handler can set new events |
| kadonotakashi | 0:8fdf9a60065b | 314 | } |
| kadonotakashi | 0:8fdf9a60065b | 315 | /* Note: We continue back to examining the head because calling the |
| kadonotakashi | 0:8fdf9a60065b | 316 | * event handler may have altered the chain of pending events. */ |
| kadonotakashi | 0:8fdf9a60065b | 317 | } else { |
| kadonotakashi | 0:8fdf9a60065b | 318 | break; |
| kadonotakashi | 0:8fdf9a60065b | 319 | } |
| kadonotakashi | 0:8fdf9a60065b | 320 | } |
| kadonotakashi | 0:8fdf9a60065b | 321 | ticker->queue->dispatching = false; |
| kadonotakashi | 0:8fdf9a60065b | 322 | |
| kadonotakashi | 0:8fdf9a60065b | 323 | schedule_interrupt(ticker); |
| kadonotakashi | 0:8fdf9a60065b | 324 | |
| kadonotakashi | 0:8fdf9a60065b | 325 | core_util_critical_section_exit(); |
| kadonotakashi | 0:8fdf9a60065b | 326 | } |
| kadonotakashi | 0:8fdf9a60065b | 327 | |
| kadonotakashi | 0:8fdf9a60065b | 328 | void ticker_insert_event(const ticker_data_t *const ticker, ticker_event_t *obj, timestamp_t timestamp, uint32_t id) |
| kadonotakashi | 0:8fdf9a60065b | 329 | { |
| kadonotakashi | 0:8fdf9a60065b | 330 | core_util_critical_section_enter(); |
| kadonotakashi | 0:8fdf9a60065b | 331 | |
| kadonotakashi | 0:8fdf9a60065b | 332 | // update the current timestamp |
| kadonotakashi | 0:8fdf9a60065b | 333 | update_present_time(ticker); |
| kadonotakashi | 0:8fdf9a60065b | 334 | us_timestamp_t absolute_timestamp = convert_timestamp( |
| kadonotakashi | 0:8fdf9a60065b | 335 | ticker->queue->present_time, |
| kadonotakashi | 0:8fdf9a60065b | 336 | timestamp |
| kadonotakashi | 0:8fdf9a60065b | 337 | ); |
| kadonotakashi | 0:8fdf9a60065b | 338 | |
| kadonotakashi | 0:8fdf9a60065b | 339 | // defer to ticker_insert_event_us |
| kadonotakashi | 0:8fdf9a60065b | 340 | ticker_insert_event_us( |
| kadonotakashi | 0:8fdf9a60065b | 341 | ticker, |
| kadonotakashi | 0:8fdf9a60065b | 342 | obj, absolute_timestamp, id |
| kadonotakashi | 0:8fdf9a60065b | 343 | ); |
| kadonotakashi | 0:8fdf9a60065b | 344 | |
| kadonotakashi | 0:8fdf9a60065b | 345 | core_util_critical_section_exit(); |
| kadonotakashi | 0:8fdf9a60065b | 346 | } |
| kadonotakashi | 0:8fdf9a60065b | 347 | |
| kadonotakashi | 0:8fdf9a60065b | 348 | void ticker_insert_event_us(const ticker_data_t *const ticker, ticker_event_t *obj, us_timestamp_t timestamp, uint32_t id) |
| kadonotakashi | 0:8fdf9a60065b | 349 | { |
| kadonotakashi | 0:8fdf9a60065b | 350 | core_util_critical_section_enter(); |
| kadonotakashi | 0:8fdf9a60065b | 351 | |
| kadonotakashi | 0:8fdf9a60065b | 352 | // update the current timestamp |
| kadonotakashi | 0:8fdf9a60065b | 353 | update_present_time(ticker); |
| kadonotakashi | 0:8fdf9a60065b | 354 | |
| kadonotakashi | 0:8fdf9a60065b | 355 | // initialise our data |
| kadonotakashi | 0:8fdf9a60065b | 356 | obj->timestamp = timestamp; |
| kadonotakashi | 0:8fdf9a60065b | 357 | obj->id = id; |
| kadonotakashi | 0:8fdf9a60065b | 358 | |
| kadonotakashi | 0:8fdf9a60065b | 359 | /* Go through the list until we either reach the end, or find |
| kadonotakashi | 0:8fdf9a60065b | 360 | an element this should come before (which is possibly the |
| kadonotakashi | 0:8fdf9a60065b | 361 | head). */ |
| kadonotakashi | 0:8fdf9a60065b | 362 | ticker_event_t *prev = NULL, *p = ticker->queue->head; |
| kadonotakashi | 0:8fdf9a60065b | 363 | while (p != NULL) { |
| kadonotakashi | 0:8fdf9a60065b | 364 | /* check if we come before p */ |
| kadonotakashi | 0:8fdf9a60065b | 365 | if (timestamp < p->timestamp) { |
| kadonotakashi | 0:8fdf9a60065b | 366 | break; |
| kadonotakashi | 0:8fdf9a60065b | 367 | } |
| kadonotakashi | 0:8fdf9a60065b | 368 | /* go to the next element */ |
| kadonotakashi | 0:8fdf9a60065b | 369 | prev = p; |
| kadonotakashi | 0:8fdf9a60065b | 370 | p = p->next; |
| kadonotakashi | 0:8fdf9a60065b | 371 | } |
| kadonotakashi | 0:8fdf9a60065b | 372 | |
| kadonotakashi | 0:8fdf9a60065b | 373 | /* if we're at the end p will be NULL, which is correct */ |
| kadonotakashi | 0:8fdf9a60065b | 374 | obj->next = p; |
| kadonotakashi | 0:8fdf9a60065b | 375 | |
| kadonotakashi | 0:8fdf9a60065b | 376 | /* if prev is NULL we're at the head */ |
| kadonotakashi | 0:8fdf9a60065b | 377 | if (prev == NULL) { |
| kadonotakashi | 0:8fdf9a60065b | 378 | ticker->queue->head = obj; |
| kadonotakashi | 0:8fdf9a60065b | 379 | schedule_interrupt(ticker); |
| kadonotakashi | 0:8fdf9a60065b | 380 | } else { |
| kadonotakashi | 0:8fdf9a60065b | 381 | prev->next = obj; |
| kadonotakashi | 0:8fdf9a60065b | 382 | } |
| kadonotakashi | 0:8fdf9a60065b | 383 | |
| kadonotakashi | 0:8fdf9a60065b | 384 | core_util_critical_section_exit(); |
| kadonotakashi | 0:8fdf9a60065b | 385 | } |
| kadonotakashi | 0:8fdf9a60065b | 386 | |
| kadonotakashi | 0:8fdf9a60065b | 387 | void ticker_remove_event(const ticker_data_t *const ticker, ticker_event_t *obj) |
| kadonotakashi | 0:8fdf9a60065b | 388 | { |
| kadonotakashi | 0:8fdf9a60065b | 389 | core_util_critical_section_enter(); |
| kadonotakashi | 0:8fdf9a60065b | 390 | |
| kadonotakashi | 0:8fdf9a60065b | 391 | // remove this object from the list |
| kadonotakashi | 0:8fdf9a60065b | 392 | if (ticker->queue->head == obj) { |
| kadonotakashi | 0:8fdf9a60065b | 393 | // first in the list, so just drop me |
| kadonotakashi | 0:8fdf9a60065b | 394 | ticker->queue->head = obj->next; |
| kadonotakashi | 0:8fdf9a60065b | 395 | schedule_interrupt(ticker); |
| kadonotakashi | 0:8fdf9a60065b | 396 | } else { |
| kadonotakashi | 0:8fdf9a60065b | 397 | // find the object before me, then drop me |
| kadonotakashi | 0:8fdf9a60065b | 398 | ticker_event_t *p = ticker->queue->head; |
| kadonotakashi | 0:8fdf9a60065b | 399 | while (p != NULL) { |
| kadonotakashi | 0:8fdf9a60065b | 400 | if (p->next == obj) { |
| kadonotakashi | 0:8fdf9a60065b | 401 | p->next = obj->next; |
| kadonotakashi | 0:8fdf9a60065b | 402 | break; |
| kadonotakashi | 0:8fdf9a60065b | 403 | } |
| kadonotakashi | 0:8fdf9a60065b | 404 | p = p->next; |
| kadonotakashi | 0:8fdf9a60065b | 405 | } |
| kadonotakashi | 0:8fdf9a60065b | 406 | } |
| kadonotakashi | 0:8fdf9a60065b | 407 | |
| kadonotakashi | 0:8fdf9a60065b | 408 | core_util_critical_section_exit(); |
| kadonotakashi | 0:8fdf9a60065b | 409 | } |
| kadonotakashi | 0:8fdf9a60065b | 410 | |
| kadonotakashi | 0:8fdf9a60065b | 411 | timestamp_t ticker_read(const ticker_data_t *const ticker) |
| kadonotakashi | 0:8fdf9a60065b | 412 | { |
| kadonotakashi | 0:8fdf9a60065b | 413 | return ticker_read_us(ticker); |
| kadonotakashi | 0:8fdf9a60065b | 414 | } |
| kadonotakashi | 0:8fdf9a60065b | 415 | |
| kadonotakashi | 0:8fdf9a60065b | 416 | us_timestamp_t ticker_read_us(const ticker_data_t *const ticker) |
| kadonotakashi | 0:8fdf9a60065b | 417 | { |
| kadonotakashi | 0:8fdf9a60065b | 418 | initialize(ticker); |
| kadonotakashi | 0:8fdf9a60065b | 419 | |
| kadonotakashi | 0:8fdf9a60065b | 420 | core_util_critical_section_enter(); |
| kadonotakashi | 0:8fdf9a60065b | 421 | update_present_time(ticker); |
| kadonotakashi | 0:8fdf9a60065b | 422 | core_util_critical_section_exit(); |
| kadonotakashi | 0:8fdf9a60065b | 423 | |
| kadonotakashi | 0:8fdf9a60065b | 424 | return ticker->queue->present_time; |
| kadonotakashi | 0:8fdf9a60065b | 425 | } |
| kadonotakashi | 0:8fdf9a60065b | 426 | |
| kadonotakashi | 0:8fdf9a60065b | 427 | int ticker_get_next_timestamp(const ticker_data_t *const data, timestamp_t *timestamp) |
| kadonotakashi | 0:8fdf9a60065b | 428 | { |
| kadonotakashi | 0:8fdf9a60065b | 429 | int ret = 0; |
| kadonotakashi | 0:8fdf9a60065b | 430 | |
| kadonotakashi | 0:8fdf9a60065b | 431 | /* if head is NULL, there are no pending events */ |
| kadonotakashi | 0:8fdf9a60065b | 432 | core_util_critical_section_enter(); |
| kadonotakashi | 0:8fdf9a60065b | 433 | if (data->queue->head != NULL) { |
| kadonotakashi | 0:8fdf9a60065b | 434 | *timestamp = data->queue->head->timestamp; |
| kadonotakashi | 0:8fdf9a60065b | 435 | ret = 1; |
| kadonotakashi | 0:8fdf9a60065b | 436 | } |
| kadonotakashi | 0:8fdf9a60065b | 437 | core_util_critical_section_exit(); |
| kadonotakashi | 0:8fdf9a60065b | 438 | |
| kadonotakashi | 0:8fdf9a60065b | 439 | return ret; |
| kadonotakashi | 0:8fdf9a60065b | 440 | } |
| kadonotakashi | 0:8fdf9a60065b | 441 | |
| kadonotakashi | 0:8fdf9a60065b | 442 | void ticker_suspend(const ticker_data_t *const ticker) |
| kadonotakashi | 0:8fdf9a60065b | 443 | { |
| kadonotakashi | 0:8fdf9a60065b | 444 | core_util_critical_section_enter(); |
| kadonotakashi | 0:8fdf9a60065b | 445 | |
| kadonotakashi | 0:8fdf9a60065b | 446 | ticker->queue->suspended = true; |
| kadonotakashi | 0:8fdf9a60065b | 447 | |
| kadonotakashi | 0:8fdf9a60065b | 448 | core_util_critical_section_exit(); |
| kadonotakashi | 0:8fdf9a60065b | 449 | } |
| kadonotakashi | 0:8fdf9a60065b | 450 | |
| kadonotakashi | 0:8fdf9a60065b | 451 | void ticker_resume(const ticker_data_t *const ticker) |
| kadonotakashi | 0:8fdf9a60065b | 452 | { |
| kadonotakashi | 0:8fdf9a60065b | 453 | core_util_critical_section_enter(); |
| kadonotakashi | 0:8fdf9a60065b | 454 | |
| kadonotakashi | 0:8fdf9a60065b | 455 | ticker->queue->suspended = false; |
| kadonotakashi | 0:8fdf9a60065b | 456 | if (ticker->queue->initialized) { |
| kadonotakashi | 0:8fdf9a60065b | 457 | ticker->queue->tick_last_read = ticker->interface->read(); |
| kadonotakashi | 0:8fdf9a60065b | 458 | |
| kadonotakashi | 0:8fdf9a60065b | 459 | update_present_time(ticker); |
| kadonotakashi | 0:8fdf9a60065b | 460 | schedule_interrupt(ticker); |
| kadonotakashi | 0:8fdf9a60065b | 461 | } else { |
| kadonotakashi | 0:8fdf9a60065b | 462 | initialize(ticker); |
| kadonotakashi | 0:8fdf9a60065b | 463 | } |
| kadonotakashi | 0:8fdf9a60065b | 464 | |
| kadonotakashi | 0:8fdf9a60065b | 465 | core_util_critical_section_exit(); |
| kadonotakashi | 0:8fdf9a60065b | 466 | } |