mbed-os5 only for TYBLE16
Dependents: TYBLE16_simple_data_logger TYBLE16_MP3_Air
hal/mbed_ticker_api.c@0:5b88d5760320, 2019-12-17 (annotated)
- Committer:
- kenjiArai
- Date:
- Tue Dec 17 23:23:45 2019 +0000
- Revision:
- 0:5b88d5760320
- Child:
- 1:9db0e321a9f4
mbed-os5 only for TYBLE16
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kenjiArai | 0:5b88d5760320 | 1 | /* mbed Microcontroller Library |
kenjiArai | 0:5b88d5760320 | 2 | * Copyright (c) 2015 ARM Limited |
kenjiArai | 0:5b88d5760320 | 3 | * SPDX-License-Identifier: Apache-2.0 |
kenjiArai | 0:5b88d5760320 | 4 | * |
kenjiArai | 0:5b88d5760320 | 5 | * Licensed under the Apache License, Version 2.0 (the "License"); |
kenjiArai | 0:5b88d5760320 | 6 | * you may not use this file except in compliance with the License. |
kenjiArai | 0:5b88d5760320 | 7 | * You may obtain a copy of the License at |
kenjiArai | 0:5b88d5760320 | 8 | * |
kenjiArai | 0:5b88d5760320 | 9 | * http://www.apache.org/licenses/LICENSE-2.0 |
kenjiArai | 0:5b88d5760320 | 10 | * |
kenjiArai | 0:5b88d5760320 | 11 | * Unless required by applicable law or agreed to in writing, software |
kenjiArai | 0:5b88d5760320 | 12 | * distributed under the License is distributed on an "AS IS" BASIS, |
kenjiArai | 0:5b88d5760320 | 13 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
kenjiArai | 0:5b88d5760320 | 14 | * See the License for the specific language governing permissions and |
kenjiArai | 0:5b88d5760320 | 15 | * limitations under the License. |
kenjiArai | 0:5b88d5760320 | 16 | */ |
kenjiArai | 0:5b88d5760320 | 17 | #include <stdio.h> |
kenjiArai | 0:5b88d5760320 | 18 | #include <stddef.h> |
kenjiArai | 0:5b88d5760320 | 19 | #include "hal/ticker_api.h" |
kenjiArai | 0:5b88d5760320 | 20 | #include "platform/mbed_critical.h" |
kenjiArai | 0:5b88d5760320 | 21 | #include "platform/mbed_assert.h" |
kenjiArai | 0:5b88d5760320 | 22 | |
kenjiArai | 0:5b88d5760320 | 23 | static void schedule_interrupt(const ticker_data_t *const ticker); |
kenjiArai | 0:5b88d5760320 | 24 | static void update_present_time(const ticker_data_t *const ticker); |
kenjiArai | 0:5b88d5760320 | 25 | |
kenjiArai | 0:5b88d5760320 | 26 | /* |
kenjiArai | 0:5b88d5760320 | 27 | * Initialize a ticker instance. |
kenjiArai | 0:5b88d5760320 | 28 | */ |
kenjiArai | 0:5b88d5760320 | 29 | static void initialize(const ticker_data_t *ticker) |
kenjiArai | 0:5b88d5760320 | 30 | { |
kenjiArai | 0:5b88d5760320 | 31 | // return if the queue has already been initialized, in that case the |
kenjiArai | 0:5b88d5760320 | 32 | // interface used by the queue is already initialized. |
kenjiArai | 0:5b88d5760320 | 33 | if (ticker->queue->initialized) { |
kenjiArai | 0:5b88d5760320 | 34 | return; |
kenjiArai | 0:5b88d5760320 | 35 | } |
kenjiArai | 0:5b88d5760320 | 36 | if (ticker->queue->suspended) { |
kenjiArai | 0:5b88d5760320 | 37 | return; |
kenjiArai | 0:5b88d5760320 | 38 | } |
kenjiArai | 0:5b88d5760320 | 39 | |
kenjiArai | 0:5b88d5760320 | 40 | ticker->interface->init(); |
kenjiArai | 0:5b88d5760320 | 41 | |
kenjiArai | 0:5b88d5760320 | 42 | const ticker_info_t *info = ticker->interface->get_info(); |
kenjiArai | 0:5b88d5760320 | 43 | uint32_t frequency = info->frequency; |
kenjiArai | 0:5b88d5760320 | 44 | if (info->frequency == 0) { |
kenjiArai | 0:5b88d5760320 | 45 | MBED_ASSERT(0); |
kenjiArai | 0:5b88d5760320 | 46 | frequency = 1000000; |
kenjiArai | 0:5b88d5760320 | 47 | } |
kenjiArai | 0:5b88d5760320 | 48 | |
kenjiArai | 0:5b88d5760320 | 49 | uint8_t frequency_shifts = 0; |
kenjiArai | 0:5b88d5760320 | 50 | for (uint8_t i = 31; i > 0; --i) { |
kenjiArai | 0:5b88d5760320 | 51 | if ((1U << i) == frequency) { |
kenjiArai | 0:5b88d5760320 | 52 | frequency_shifts = i; |
kenjiArai | 0:5b88d5760320 | 53 | break; |
kenjiArai | 0:5b88d5760320 | 54 | } |
kenjiArai | 0:5b88d5760320 | 55 | } |
kenjiArai | 0:5b88d5760320 | 56 | |
kenjiArai | 0:5b88d5760320 | 57 | uint32_t bits = info->bits; |
kenjiArai | 0:5b88d5760320 | 58 | if ((info->bits > 32) || (info->bits < 4)) { |
kenjiArai | 0:5b88d5760320 | 59 | MBED_ASSERT(0); |
kenjiArai | 0:5b88d5760320 | 60 | bits = 32; |
kenjiArai | 0:5b88d5760320 | 61 | } |
kenjiArai | 0:5b88d5760320 | 62 | uint32_t max_delta = 0x7 << (bits - 4); // 7/16th |
kenjiArai | 0:5b88d5760320 | 63 | uint64_t max_delta_us = |
kenjiArai | 0:5b88d5760320 | 64 | ((uint64_t)max_delta * 1000000 + frequency - 1) / frequency; |
kenjiArai | 0:5b88d5760320 | 65 | |
kenjiArai | 0:5b88d5760320 | 66 | ticker->queue->event_handler = NULL; |
kenjiArai | 0:5b88d5760320 | 67 | ticker->queue->head = NULL; |
kenjiArai | 0:5b88d5760320 | 68 | ticker->queue->tick_last_read = ticker->interface->read(); |
kenjiArai | 0:5b88d5760320 | 69 | ticker->queue->tick_remainder = 0; |
kenjiArai | 0:5b88d5760320 | 70 | ticker->queue->frequency = frequency; |
kenjiArai | 0:5b88d5760320 | 71 | ticker->queue->frequency_shifts = frequency_shifts; |
kenjiArai | 0:5b88d5760320 | 72 | ticker->queue->bitmask = ((uint64_t)1 << bits) - 1; |
kenjiArai | 0:5b88d5760320 | 73 | ticker->queue->max_delta = max_delta; |
kenjiArai | 0:5b88d5760320 | 74 | ticker->queue->max_delta_us = max_delta_us; |
kenjiArai | 0:5b88d5760320 | 75 | ticker->queue->present_time = 0; |
kenjiArai | 0:5b88d5760320 | 76 | ticker->queue->dispatching = false; |
kenjiArai | 0:5b88d5760320 | 77 | ticker->queue->suspended = false; |
kenjiArai | 0:5b88d5760320 | 78 | ticker->queue->initialized = true; |
kenjiArai | 0:5b88d5760320 | 79 | |
kenjiArai | 0:5b88d5760320 | 80 | update_present_time(ticker); |
kenjiArai | 0:5b88d5760320 | 81 | schedule_interrupt(ticker); |
kenjiArai | 0:5b88d5760320 | 82 | } |
kenjiArai | 0:5b88d5760320 | 83 | |
kenjiArai | 0:5b88d5760320 | 84 | /** |
kenjiArai | 0:5b88d5760320 | 85 | * Set the event handler function of a ticker instance. |
kenjiArai | 0:5b88d5760320 | 86 | */ |
kenjiArai | 0:5b88d5760320 | 87 | static void set_handler(const ticker_data_t *const ticker, ticker_event_handler handler) |
kenjiArai | 0:5b88d5760320 | 88 | { |
kenjiArai | 0:5b88d5760320 | 89 | ticker->queue->event_handler = handler; |
kenjiArai | 0:5b88d5760320 | 90 | } |
kenjiArai | 0:5b88d5760320 | 91 | |
kenjiArai | 0:5b88d5760320 | 92 | /* |
kenjiArai | 0:5b88d5760320 | 93 | * Convert a 32 bit timestamp into a 64 bit timestamp. |
kenjiArai | 0:5b88d5760320 | 94 | * |
kenjiArai | 0:5b88d5760320 | 95 | * A 64 bit timestamp is used as the point of time of reference while the |
kenjiArai | 0:5b88d5760320 | 96 | * timestamp to convert is relative to this point of time. |
kenjiArai | 0:5b88d5760320 | 97 | * |
kenjiArai | 0:5b88d5760320 | 98 | * The lower 32 bits of the timestamp returned will be equal to the timestamp to |
kenjiArai | 0:5b88d5760320 | 99 | * convert. |
kenjiArai | 0:5b88d5760320 | 100 | * |
kenjiArai | 0:5b88d5760320 | 101 | * If the timestamp to convert is less than the lower 32 bits of the time |
kenjiArai | 0:5b88d5760320 | 102 | * reference then the timestamp to convert is seen as an overflowed value and |
kenjiArai | 0:5b88d5760320 | 103 | * the upper 32 bit of the timestamp returned will be equal to the upper 32 bit |
kenjiArai | 0:5b88d5760320 | 104 | * of the reference point + 1. |
kenjiArai | 0:5b88d5760320 | 105 | * Otherwise, the upper 32 bit returned will be equal to the upper 32 bit of the |
kenjiArai | 0:5b88d5760320 | 106 | * reference point. |
kenjiArai | 0:5b88d5760320 | 107 | * |
kenjiArai | 0:5b88d5760320 | 108 | * @param ref: The 64 bit timestamp of reference. |
kenjiArai | 0:5b88d5760320 | 109 | * @param timestamp: The timestamp to convert. |
kenjiArai | 0:5b88d5760320 | 110 | */ |
kenjiArai | 0:5b88d5760320 | 111 | static us_timestamp_t convert_timestamp(us_timestamp_t ref, timestamp_t timestamp) |
kenjiArai | 0:5b88d5760320 | 112 | { |
kenjiArai | 0:5b88d5760320 | 113 | bool overflow = timestamp < ((timestamp_t) ref) ? true : false; |
kenjiArai | 0:5b88d5760320 | 114 | |
kenjiArai | 0:5b88d5760320 | 115 | us_timestamp_t result = (ref & ~((us_timestamp_t)UINT32_MAX)) | timestamp; |
kenjiArai | 0:5b88d5760320 | 116 | if (overflow) { |
kenjiArai | 0:5b88d5760320 | 117 | result += (1ULL << 32); |
kenjiArai | 0:5b88d5760320 | 118 | } |
kenjiArai | 0:5b88d5760320 | 119 | |
kenjiArai | 0:5b88d5760320 | 120 | return result; |
kenjiArai | 0:5b88d5760320 | 121 | } |
kenjiArai | 0:5b88d5760320 | 122 | |
kenjiArai | 0:5b88d5760320 | 123 | /** |
kenjiArai | 0:5b88d5760320 | 124 | * Update the present timestamp value of a ticker. |
kenjiArai | 0:5b88d5760320 | 125 | */ |
kenjiArai | 0:5b88d5760320 | 126 | static void update_present_time(const ticker_data_t *const ticker) |
kenjiArai | 0:5b88d5760320 | 127 | { |
kenjiArai | 0:5b88d5760320 | 128 | ticker_event_queue_t *queue = ticker->queue; |
kenjiArai | 0:5b88d5760320 | 129 | if (queue->suspended) { |
kenjiArai | 0:5b88d5760320 | 130 | return; |
kenjiArai | 0:5b88d5760320 | 131 | } |
kenjiArai | 0:5b88d5760320 | 132 | uint32_t ticker_time = ticker->interface->read(); |
kenjiArai | 0:5b88d5760320 | 133 | if (ticker_time == ticker->queue->tick_last_read) { |
kenjiArai | 0:5b88d5760320 | 134 | // No work to do |
kenjiArai | 0:5b88d5760320 | 135 | return; |
kenjiArai | 0:5b88d5760320 | 136 | } |
kenjiArai | 0:5b88d5760320 | 137 | |
kenjiArai | 0:5b88d5760320 | 138 | uint64_t elapsed_ticks = (ticker_time - queue->tick_last_read) & queue->bitmask; |
kenjiArai | 0:5b88d5760320 | 139 | queue->tick_last_read = ticker_time; |
kenjiArai | 0:5b88d5760320 | 140 | |
kenjiArai | 0:5b88d5760320 | 141 | uint64_t elapsed_us; |
kenjiArai | 0:5b88d5760320 | 142 | if (1000000 == queue->frequency) { |
kenjiArai | 0:5b88d5760320 | 143 | // Optimized for 1MHz |
kenjiArai | 0:5b88d5760320 | 144 | |
kenjiArai | 0:5b88d5760320 | 145 | elapsed_us = elapsed_ticks; |
kenjiArai | 0:5b88d5760320 | 146 | } else if (0 != queue->frequency_shifts) { |
kenjiArai | 0:5b88d5760320 | 147 | // Optimized for frequencies divisible by 2 |
kenjiArai | 0:5b88d5760320 | 148 | uint64_t us_x_ticks = elapsed_ticks * 1000000; |
kenjiArai | 0:5b88d5760320 | 149 | elapsed_us = us_x_ticks >> queue->frequency_shifts; |
kenjiArai | 0:5b88d5760320 | 150 | |
kenjiArai | 0:5b88d5760320 | 151 | // Update remainder |
kenjiArai | 0:5b88d5760320 | 152 | queue->tick_remainder += us_x_ticks - (elapsed_us << queue->frequency_shifts); |
kenjiArai | 0:5b88d5760320 | 153 | if (queue->tick_remainder >= queue->frequency) { |
kenjiArai | 0:5b88d5760320 | 154 | elapsed_us += 1; |
kenjiArai | 0:5b88d5760320 | 155 | queue->tick_remainder -= queue->frequency; |
kenjiArai | 0:5b88d5760320 | 156 | } |
kenjiArai | 0:5b88d5760320 | 157 | } else { |
kenjiArai | 0:5b88d5760320 | 158 | // General case |
kenjiArai | 0:5b88d5760320 | 159 | |
kenjiArai | 0:5b88d5760320 | 160 | uint64_t us_x_ticks = elapsed_ticks * 1000000; |
kenjiArai | 0:5b88d5760320 | 161 | elapsed_us = us_x_ticks / queue->frequency; |
kenjiArai | 0:5b88d5760320 | 162 | |
kenjiArai | 0:5b88d5760320 | 163 | // Update remainder |
kenjiArai | 0:5b88d5760320 | 164 | queue->tick_remainder += us_x_ticks - elapsed_us * queue->frequency; |
kenjiArai | 0:5b88d5760320 | 165 | if (queue->tick_remainder >= queue->frequency) { |
kenjiArai | 0:5b88d5760320 | 166 | elapsed_us += 1; |
kenjiArai | 0:5b88d5760320 | 167 | queue->tick_remainder -= queue->frequency; |
kenjiArai | 0:5b88d5760320 | 168 | } |
kenjiArai | 0:5b88d5760320 | 169 | } |
kenjiArai | 0:5b88d5760320 | 170 | |
kenjiArai | 0:5b88d5760320 | 171 | // Update current time |
kenjiArai | 0:5b88d5760320 | 172 | queue->present_time += elapsed_us; |
kenjiArai | 0:5b88d5760320 | 173 | } |
kenjiArai | 0:5b88d5760320 | 174 | |
kenjiArai | 0:5b88d5760320 | 175 | /** |
kenjiArai | 0:5b88d5760320 | 176 | * Given the absolute timestamp compute the hal tick timestamp rounded up. |
kenjiArai | 0:5b88d5760320 | 177 | */ |
kenjiArai | 0:5b88d5760320 | 178 | static timestamp_t compute_tick_round_up(const ticker_data_t *const ticker, us_timestamp_t timestamp) |
kenjiArai | 0:5b88d5760320 | 179 | { |
kenjiArai | 0:5b88d5760320 | 180 | ticker_event_queue_t *queue = ticker->queue; |
kenjiArai | 0:5b88d5760320 | 181 | us_timestamp_t delta_us = timestamp - queue->present_time; |
kenjiArai | 0:5b88d5760320 | 182 | |
kenjiArai | 0:5b88d5760320 | 183 | timestamp_t delta = ticker->queue->max_delta; |
kenjiArai | 0:5b88d5760320 | 184 | if (delta_us <= ticker->queue->max_delta_us) { |
kenjiArai | 0:5b88d5760320 | 185 | // Checking max_delta_us ensures the operation will not overflow |
kenjiArai | 0:5b88d5760320 | 186 | |
kenjiArai | 0:5b88d5760320 | 187 | if (1000000 == queue->frequency) { |
kenjiArai | 0:5b88d5760320 | 188 | // Optimized for 1MHz |
kenjiArai | 0:5b88d5760320 | 189 | |
kenjiArai | 0:5b88d5760320 | 190 | delta = delta_us; |
kenjiArai | 0:5b88d5760320 | 191 | if (delta > ticker->queue->max_delta) { |
kenjiArai | 0:5b88d5760320 | 192 | delta = ticker->queue->max_delta; |
kenjiArai | 0:5b88d5760320 | 193 | } |
kenjiArai | 0:5b88d5760320 | 194 | } else if (0 != queue->frequency_shifts) { |
kenjiArai | 0:5b88d5760320 | 195 | // Optimized frequencies divisible by 2 |
kenjiArai | 0:5b88d5760320 | 196 | |
kenjiArai | 0:5b88d5760320 | 197 | delta = ((delta_us << ticker->queue->frequency_shifts) + 1000000 - 1) / 1000000; |
kenjiArai | 0:5b88d5760320 | 198 | if (delta > ticker->queue->max_delta) { |
kenjiArai | 0:5b88d5760320 | 199 | delta = ticker->queue->max_delta; |
kenjiArai | 0:5b88d5760320 | 200 | } |
kenjiArai | 0:5b88d5760320 | 201 | } else { |
kenjiArai | 0:5b88d5760320 | 202 | // General case |
kenjiArai | 0:5b88d5760320 | 203 | |
kenjiArai | 0:5b88d5760320 | 204 | delta = (delta_us * queue->frequency + 1000000 - 1) / 1000000; |
kenjiArai | 0:5b88d5760320 | 205 | if (delta > ticker->queue->max_delta) { |
kenjiArai | 0:5b88d5760320 | 206 | delta = ticker->queue->max_delta; |
kenjiArai | 0:5b88d5760320 | 207 | } |
kenjiArai | 0:5b88d5760320 | 208 | } |
kenjiArai | 0:5b88d5760320 | 209 | } |
kenjiArai | 0:5b88d5760320 | 210 | return (queue->tick_last_read + delta) & queue->bitmask; |
kenjiArai | 0:5b88d5760320 | 211 | } |
kenjiArai | 0:5b88d5760320 | 212 | |
kenjiArai | 0:5b88d5760320 | 213 | /** |
kenjiArai | 0:5b88d5760320 | 214 | * Return 1 if the tick has incremented to or past match_tick, otherwise 0. |
kenjiArai | 0:5b88d5760320 | 215 | */ |
kenjiArai | 0:5b88d5760320 | 216 | int _ticker_match_interval_passed(timestamp_t prev_tick, timestamp_t cur_tick, timestamp_t match_tick) |
kenjiArai | 0:5b88d5760320 | 217 | { |
kenjiArai | 0:5b88d5760320 | 218 | if (match_tick > prev_tick) { |
kenjiArai | 0:5b88d5760320 | 219 | return (cur_tick >= match_tick) || (cur_tick < prev_tick); |
kenjiArai | 0:5b88d5760320 | 220 | } else { |
kenjiArai | 0:5b88d5760320 | 221 | return (cur_tick < prev_tick) && (cur_tick >= match_tick); |
kenjiArai | 0:5b88d5760320 | 222 | } |
kenjiArai | 0:5b88d5760320 | 223 | } |
kenjiArai | 0:5b88d5760320 | 224 | |
kenjiArai | 0:5b88d5760320 | 225 | /** |
kenjiArai | 0:5b88d5760320 | 226 | * Compute the time when the interrupt has to be triggered and schedule it. |
kenjiArai | 0:5b88d5760320 | 227 | * |
kenjiArai | 0:5b88d5760320 | 228 | * If there is no event in the queue or the next event to execute is in more |
kenjiArai | 0:5b88d5760320 | 229 | * than ticker.queue.max_delta ticks from now then the ticker irq will be |
kenjiArai | 0:5b88d5760320 | 230 | * scheduled in ticker.queue.max_delta ticks. Otherwise the irq will be |
kenjiArai | 0:5b88d5760320 | 231 | * scheduled to happen when the running counter reach the timestamp of the |
kenjiArai | 0:5b88d5760320 | 232 | * first event in the queue. |
kenjiArai | 0:5b88d5760320 | 233 | * |
kenjiArai | 0:5b88d5760320 | 234 | * @note If there is no event in the queue then the interrupt is scheduled to |
kenjiArai | 0:5b88d5760320 | 235 | * in ticker.queue.max_delta. This is necessary to keep track |
kenjiArai | 0:5b88d5760320 | 236 | * of the timer overflow. |
kenjiArai | 0:5b88d5760320 | 237 | */ |
kenjiArai | 0:5b88d5760320 | 238 | static void schedule_interrupt(const ticker_data_t *const ticker) |
kenjiArai | 0:5b88d5760320 | 239 | { |
kenjiArai | 0:5b88d5760320 | 240 | ticker_event_queue_t *queue = ticker->queue; |
kenjiArai | 0:5b88d5760320 | 241 | if (queue->suspended || ticker->queue->dispatching) { |
kenjiArai | 0:5b88d5760320 | 242 | // Don't schedule the next interrupt until dispatching is |
kenjiArai | 0:5b88d5760320 | 243 | // finished. This prevents repeated calls to interface->set_interrupt |
kenjiArai | 0:5b88d5760320 | 244 | return; |
kenjiArai | 0:5b88d5760320 | 245 | } |
kenjiArai | 0:5b88d5760320 | 246 | |
kenjiArai | 0:5b88d5760320 | 247 | update_present_time(ticker); |
kenjiArai | 0:5b88d5760320 | 248 | |
kenjiArai | 0:5b88d5760320 | 249 | if (ticker->queue->head) { |
kenjiArai | 0:5b88d5760320 | 250 | us_timestamp_t present = ticker->queue->present_time; |
kenjiArai | 0:5b88d5760320 | 251 | us_timestamp_t match_time = ticker->queue->head->timestamp; |
kenjiArai | 0:5b88d5760320 | 252 | |
kenjiArai | 0:5b88d5760320 | 253 | // if the event at the head of the queue is in the past then schedule |
kenjiArai | 0:5b88d5760320 | 254 | // it immediately. |
kenjiArai | 0:5b88d5760320 | 255 | if (match_time <= present) { |
kenjiArai | 0:5b88d5760320 | 256 | ticker->interface->fire_interrupt(); |
kenjiArai | 0:5b88d5760320 | 257 | return; |
kenjiArai | 0:5b88d5760320 | 258 | } |
kenjiArai | 0:5b88d5760320 | 259 | |
kenjiArai | 0:5b88d5760320 | 260 | timestamp_t match_tick = compute_tick_round_up(ticker, match_time); |
kenjiArai | 0:5b88d5760320 | 261 | |
kenjiArai | 0:5b88d5760320 | 262 | // The same tick should never occur since match_tick is rounded up. |
kenjiArai | 0:5b88d5760320 | 263 | // If the same tick is returned scheduling will not work correctly. |
kenjiArai | 0:5b88d5760320 | 264 | MBED_ASSERT(match_tick != queue->tick_last_read); |
kenjiArai | 0:5b88d5760320 | 265 | |
kenjiArai | 0:5b88d5760320 | 266 | ticker->interface->set_interrupt(match_tick); |
kenjiArai | 0:5b88d5760320 | 267 | timestamp_t cur_tick = ticker->interface->read(); |
kenjiArai | 0:5b88d5760320 | 268 | |
kenjiArai | 0:5b88d5760320 | 269 | if (_ticker_match_interval_passed(queue->tick_last_read, cur_tick, match_tick)) { |
kenjiArai | 0:5b88d5760320 | 270 | ticker->interface->fire_interrupt(); |
kenjiArai | 0:5b88d5760320 | 271 | } |
kenjiArai | 0:5b88d5760320 | 272 | } else { |
kenjiArai | 0:5b88d5760320 | 273 | uint32_t match_tick = |
kenjiArai | 0:5b88d5760320 | 274 | (queue->tick_last_read + queue->max_delta) & queue->bitmask; |
kenjiArai | 0:5b88d5760320 | 275 | ticker->interface->set_interrupt(match_tick); |
kenjiArai | 0:5b88d5760320 | 276 | } |
kenjiArai | 0:5b88d5760320 | 277 | } |
kenjiArai | 0:5b88d5760320 | 278 | |
kenjiArai | 0:5b88d5760320 | 279 | void ticker_set_handler(const ticker_data_t *const ticker, ticker_event_handler handler) |
kenjiArai | 0:5b88d5760320 | 280 | { |
kenjiArai | 0:5b88d5760320 | 281 | initialize(ticker); |
kenjiArai | 0:5b88d5760320 | 282 | |
kenjiArai | 0:5b88d5760320 | 283 | core_util_critical_section_enter(); |
kenjiArai | 0:5b88d5760320 | 284 | set_handler(ticker, handler); |
kenjiArai | 0:5b88d5760320 | 285 | core_util_critical_section_exit(); |
kenjiArai | 0:5b88d5760320 | 286 | } |
kenjiArai | 0:5b88d5760320 | 287 | |
kenjiArai | 0:5b88d5760320 | 288 | void ticker_irq_handler(const ticker_data_t *const ticker) |
kenjiArai | 0:5b88d5760320 | 289 | { |
kenjiArai | 0:5b88d5760320 | 290 | core_util_critical_section_enter(); |
kenjiArai | 0:5b88d5760320 | 291 | |
kenjiArai | 0:5b88d5760320 | 292 | ticker->interface->clear_interrupt(); |
kenjiArai | 0:5b88d5760320 | 293 | if (ticker->queue->suspended) { |
kenjiArai | 0:5b88d5760320 | 294 | core_util_critical_section_exit(); |
kenjiArai | 0:5b88d5760320 | 295 | return; |
kenjiArai | 0:5b88d5760320 | 296 | } |
kenjiArai | 0:5b88d5760320 | 297 | |
kenjiArai | 0:5b88d5760320 | 298 | /* Go through all the pending TimerEvents */ |
kenjiArai | 0:5b88d5760320 | 299 | ticker->queue->dispatching = true; |
kenjiArai | 0:5b88d5760320 | 300 | while (1) { |
kenjiArai | 0:5b88d5760320 | 301 | if (ticker->queue->head == NULL) { |
kenjiArai | 0:5b88d5760320 | 302 | break; |
kenjiArai | 0:5b88d5760320 | 303 | } |
kenjiArai | 0:5b88d5760320 | 304 | |
kenjiArai | 0:5b88d5760320 | 305 | // update the current timestamp used by the queue |
kenjiArai | 0:5b88d5760320 | 306 | update_present_time(ticker); |
kenjiArai | 0:5b88d5760320 | 307 | |
kenjiArai | 0:5b88d5760320 | 308 | if (ticker->queue->head->timestamp <= ticker->queue->present_time) { |
kenjiArai | 0:5b88d5760320 | 309 | // This event was in the past: |
kenjiArai | 0:5b88d5760320 | 310 | // point to the following one and execute its handler |
kenjiArai | 0:5b88d5760320 | 311 | ticker_event_t *p = ticker->queue->head; |
kenjiArai | 0:5b88d5760320 | 312 | ticker->queue->head = ticker->queue->head->next; |
kenjiArai | 0:5b88d5760320 | 313 | if (ticker->queue->event_handler != NULL) { |
kenjiArai | 0:5b88d5760320 | 314 | (*ticker->queue->event_handler)(p->id); // NOTE: the handler can set new events |
kenjiArai | 0:5b88d5760320 | 315 | } |
kenjiArai | 0:5b88d5760320 | 316 | /* Note: We continue back to examining the head because calling the |
kenjiArai | 0:5b88d5760320 | 317 | * event handler may have altered the chain of pending events. */ |
kenjiArai | 0:5b88d5760320 | 318 | } else { |
kenjiArai | 0:5b88d5760320 | 319 | break; |
kenjiArai | 0:5b88d5760320 | 320 | } |
kenjiArai | 0:5b88d5760320 | 321 | } |
kenjiArai | 0:5b88d5760320 | 322 | ticker->queue->dispatching = false; |
kenjiArai | 0:5b88d5760320 | 323 | |
kenjiArai | 0:5b88d5760320 | 324 | schedule_interrupt(ticker); |
kenjiArai | 0:5b88d5760320 | 325 | |
kenjiArai | 0:5b88d5760320 | 326 | core_util_critical_section_exit(); |
kenjiArai | 0:5b88d5760320 | 327 | } |
kenjiArai | 0:5b88d5760320 | 328 | |
kenjiArai | 0:5b88d5760320 | 329 | void ticker_insert_event(const ticker_data_t *const ticker, ticker_event_t *obj, timestamp_t timestamp, uint32_t id) |
kenjiArai | 0:5b88d5760320 | 330 | { |
kenjiArai | 0:5b88d5760320 | 331 | core_util_critical_section_enter(); |
kenjiArai | 0:5b88d5760320 | 332 | |
kenjiArai | 0:5b88d5760320 | 333 | // update the current timestamp |
kenjiArai | 0:5b88d5760320 | 334 | update_present_time(ticker); |
kenjiArai | 0:5b88d5760320 | 335 | us_timestamp_t absolute_timestamp = convert_timestamp( |
kenjiArai | 0:5b88d5760320 | 336 | ticker->queue->present_time, |
kenjiArai | 0:5b88d5760320 | 337 | timestamp |
kenjiArai | 0:5b88d5760320 | 338 | ); |
kenjiArai | 0:5b88d5760320 | 339 | |
kenjiArai | 0:5b88d5760320 | 340 | // defer to ticker_insert_event_us |
kenjiArai | 0:5b88d5760320 | 341 | ticker_insert_event_us( |
kenjiArai | 0:5b88d5760320 | 342 | ticker, |
kenjiArai | 0:5b88d5760320 | 343 | obj, absolute_timestamp, id |
kenjiArai | 0:5b88d5760320 | 344 | ); |
kenjiArai | 0:5b88d5760320 | 345 | |
kenjiArai | 0:5b88d5760320 | 346 | core_util_critical_section_exit(); |
kenjiArai | 0:5b88d5760320 | 347 | } |
kenjiArai | 0:5b88d5760320 | 348 | |
kenjiArai | 0:5b88d5760320 | 349 | void ticker_insert_event_us(const ticker_data_t *const ticker, ticker_event_t *obj, us_timestamp_t timestamp, uint32_t id) |
kenjiArai | 0:5b88d5760320 | 350 | { |
kenjiArai | 0:5b88d5760320 | 351 | core_util_critical_section_enter(); |
kenjiArai | 0:5b88d5760320 | 352 | |
kenjiArai | 0:5b88d5760320 | 353 | // update the current timestamp |
kenjiArai | 0:5b88d5760320 | 354 | update_present_time(ticker); |
kenjiArai | 0:5b88d5760320 | 355 | |
kenjiArai | 0:5b88d5760320 | 356 | // initialise our data |
kenjiArai | 0:5b88d5760320 | 357 | obj->timestamp = timestamp; |
kenjiArai | 0:5b88d5760320 | 358 | obj->id = id; |
kenjiArai | 0:5b88d5760320 | 359 | |
kenjiArai | 0:5b88d5760320 | 360 | /* Go through the list until we either reach the end, or find |
kenjiArai | 0:5b88d5760320 | 361 | an element this should come before (which is possibly the |
kenjiArai | 0:5b88d5760320 | 362 | head). */ |
kenjiArai | 0:5b88d5760320 | 363 | ticker_event_t *prev = NULL, *p = ticker->queue->head; |
kenjiArai | 0:5b88d5760320 | 364 | while (p != NULL) { |
kenjiArai | 0:5b88d5760320 | 365 | /* check if we come before p */ |
kenjiArai | 0:5b88d5760320 | 366 | if (timestamp < p->timestamp) { |
kenjiArai | 0:5b88d5760320 | 367 | break; |
kenjiArai | 0:5b88d5760320 | 368 | } |
kenjiArai | 0:5b88d5760320 | 369 | /* go to the next element */ |
kenjiArai | 0:5b88d5760320 | 370 | prev = p; |
kenjiArai | 0:5b88d5760320 | 371 | p = p->next; |
kenjiArai | 0:5b88d5760320 | 372 | } |
kenjiArai | 0:5b88d5760320 | 373 | |
kenjiArai | 0:5b88d5760320 | 374 | /* if we're at the end p will be NULL, which is correct */ |
kenjiArai | 0:5b88d5760320 | 375 | obj->next = p; |
kenjiArai | 0:5b88d5760320 | 376 | |
kenjiArai | 0:5b88d5760320 | 377 | /* if prev is NULL we're at the head */ |
kenjiArai | 0:5b88d5760320 | 378 | if (prev == NULL) { |
kenjiArai | 0:5b88d5760320 | 379 | ticker->queue->head = obj; |
kenjiArai | 0:5b88d5760320 | 380 | } else { |
kenjiArai | 0:5b88d5760320 | 381 | prev->next = obj; |
kenjiArai | 0:5b88d5760320 | 382 | } |
kenjiArai | 0:5b88d5760320 | 383 | |
kenjiArai | 0:5b88d5760320 | 384 | if (prev == NULL || timestamp <= ticker->queue->present_time) { |
kenjiArai | 0:5b88d5760320 | 385 | schedule_interrupt(ticker); |
kenjiArai | 0:5b88d5760320 | 386 | } |
kenjiArai | 0:5b88d5760320 | 387 | |
kenjiArai | 0:5b88d5760320 | 388 | core_util_critical_section_exit(); |
kenjiArai | 0:5b88d5760320 | 389 | } |
kenjiArai | 0:5b88d5760320 | 390 | |
kenjiArai | 0:5b88d5760320 | 391 | void ticker_remove_event(const ticker_data_t *const ticker, ticker_event_t *obj) |
kenjiArai | 0:5b88d5760320 | 392 | { |
kenjiArai | 0:5b88d5760320 | 393 | core_util_critical_section_enter(); |
kenjiArai | 0:5b88d5760320 | 394 | |
kenjiArai | 0:5b88d5760320 | 395 | // remove this object from the list |
kenjiArai | 0:5b88d5760320 | 396 | if (ticker->queue->head == obj) { |
kenjiArai | 0:5b88d5760320 | 397 | // first in the list, so just drop me |
kenjiArai | 0:5b88d5760320 | 398 | ticker->queue->head = obj->next; |
kenjiArai | 0:5b88d5760320 | 399 | schedule_interrupt(ticker); |
kenjiArai | 0:5b88d5760320 | 400 | } else { |
kenjiArai | 0:5b88d5760320 | 401 | // find the object before me, then drop me |
kenjiArai | 0:5b88d5760320 | 402 | ticker_event_t *p = ticker->queue->head; |
kenjiArai | 0:5b88d5760320 | 403 | while (p != NULL) { |
kenjiArai | 0:5b88d5760320 | 404 | if (p->next == obj) { |
kenjiArai | 0:5b88d5760320 | 405 | p->next = obj->next; |
kenjiArai | 0:5b88d5760320 | 406 | break; |
kenjiArai | 0:5b88d5760320 | 407 | } |
kenjiArai | 0:5b88d5760320 | 408 | p = p->next; |
kenjiArai | 0:5b88d5760320 | 409 | } |
kenjiArai | 0:5b88d5760320 | 410 | } |
kenjiArai | 0:5b88d5760320 | 411 | |
kenjiArai | 0:5b88d5760320 | 412 | core_util_critical_section_exit(); |
kenjiArai | 0:5b88d5760320 | 413 | } |
kenjiArai | 0:5b88d5760320 | 414 | |
kenjiArai | 0:5b88d5760320 | 415 | timestamp_t ticker_read(const ticker_data_t *const ticker) |
kenjiArai | 0:5b88d5760320 | 416 | { |
kenjiArai | 0:5b88d5760320 | 417 | return ticker_read_us(ticker); |
kenjiArai | 0:5b88d5760320 | 418 | } |
kenjiArai | 0:5b88d5760320 | 419 | |
kenjiArai | 0:5b88d5760320 | 420 | us_timestamp_t ticker_read_us(const ticker_data_t *const ticker) |
kenjiArai | 0:5b88d5760320 | 421 | { |
kenjiArai | 0:5b88d5760320 | 422 | us_timestamp_t ret; |
kenjiArai | 0:5b88d5760320 | 423 | |
kenjiArai | 0:5b88d5760320 | 424 | initialize(ticker); |
kenjiArai | 0:5b88d5760320 | 425 | |
kenjiArai | 0:5b88d5760320 | 426 | core_util_critical_section_enter(); |
kenjiArai | 0:5b88d5760320 | 427 | update_present_time(ticker); |
kenjiArai | 0:5b88d5760320 | 428 | ret = ticker->queue->present_time; |
kenjiArai | 0:5b88d5760320 | 429 | core_util_critical_section_exit(); |
kenjiArai | 0:5b88d5760320 | 430 | |
kenjiArai | 0:5b88d5760320 | 431 | return ret; |
kenjiArai | 0:5b88d5760320 | 432 | } |
kenjiArai | 0:5b88d5760320 | 433 | |
kenjiArai | 0:5b88d5760320 | 434 | int ticker_get_next_timestamp(const ticker_data_t *const data, timestamp_t *timestamp) |
kenjiArai | 0:5b88d5760320 | 435 | { |
kenjiArai | 0:5b88d5760320 | 436 | int ret = 0; |
kenjiArai | 0:5b88d5760320 | 437 | |
kenjiArai | 0:5b88d5760320 | 438 | /* if head is NULL, there are no pending events */ |
kenjiArai | 0:5b88d5760320 | 439 | core_util_critical_section_enter(); |
kenjiArai | 0:5b88d5760320 | 440 | if (data->queue->head != NULL) { |
kenjiArai | 0:5b88d5760320 | 441 | *timestamp = data->queue->head->timestamp; |
kenjiArai | 0:5b88d5760320 | 442 | ret = 1; |
kenjiArai | 0:5b88d5760320 | 443 | } |
kenjiArai | 0:5b88d5760320 | 444 | core_util_critical_section_exit(); |
kenjiArai | 0:5b88d5760320 | 445 | |
kenjiArai | 0:5b88d5760320 | 446 | return ret; |
kenjiArai | 0:5b88d5760320 | 447 | } |
kenjiArai | 0:5b88d5760320 | 448 | |
kenjiArai | 0:5b88d5760320 | 449 | void ticker_suspend(const ticker_data_t *const ticker) |
kenjiArai | 0:5b88d5760320 | 450 | { |
kenjiArai | 0:5b88d5760320 | 451 | core_util_critical_section_enter(); |
kenjiArai | 0:5b88d5760320 | 452 | |
kenjiArai | 0:5b88d5760320 | 453 | ticker->queue->suspended = true; |
kenjiArai | 0:5b88d5760320 | 454 | |
kenjiArai | 0:5b88d5760320 | 455 | core_util_critical_section_exit(); |
kenjiArai | 0:5b88d5760320 | 456 | } |
kenjiArai | 0:5b88d5760320 | 457 | |
kenjiArai | 0:5b88d5760320 | 458 | void ticker_resume(const ticker_data_t *const ticker) |
kenjiArai | 0:5b88d5760320 | 459 | { |
kenjiArai | 0:5b88d5760320 | 460 | core_util_critical_section_enter(); |
kenjiArai | 0:5b88d5760320 | 461 | |
kenjiArai | 0:5b88d5760320 | 462 | ticker->queue->suspended = false; |
kenjiArai | 0:5b88d5760320 | 463 | if (ticker->queue->initialized) { |
kenjiArai | 0:5b88d5760320 | 464 | ticker->queue->tick_last_read = ticker->interface->read(); |
kenjiArai | 0:5b88d5760320 | 465 | |
kenjiArai | 0:5b88d5760320 | 466 | update_present_time(ticker); |
kenjiArai | 0:5b88d5760320 | 467 | schedule_interrupt(ticker); |
kenjiArai | 0:5b88d5760320 | 468 | } else { |
kenjiArai | 0:5b88d5760320 | 469 | initialize(ticker); |
kenjiArai | 0:5b88d5760320 | 470 | } |
kenjiArai | 0:5b88d5760320 | 471 | |
kenjiArai | 0:5b88d5760320 | 472 | core_util_critical_section_exit(); |
kenjiArai | 0:5b88d5760320 | 473 | } |