mirror of
https://github.com/RIOT-OS/RIOT.git
synced 2024-12-29 04:50:03 +01:00
sys/can: migrate to ztimer
This commit is contained in:
parent
622fca0235
commit
ce373902ee
@ -399,14 +399,16 @@ ifneq (,$(filter can,$(USEMODULE)))
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endif
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ifneq (,$(filter can_isotp,$(USEMODULE)))
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USEMODULE += xtimer
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USEMODULE += ztimer
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USEMODULE += ztimer_usec
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USEMODULE += gnrc_pktbuf
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endif
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ifneq (,$(filter conn_can,$(USEMODULE)))
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USEMODULE += can
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USEMODULE += can_mbox
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USEMODULE += xtimer
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USEMODULE += ztimer
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USEMODULE += ztimer_usec
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endif
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ifneq (,$(filter entropy_source_%,$(USEMODULE)))
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@ -32,15 +32,15 @@
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#define ENABLE_DEBUG 0
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#include "debug.h"
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#include "xtimer.h"
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#include "ztimer.h"
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#define _TIMEOUT_TX_MSG_TYPE (0x8000)
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#define _TIMEOUT_RX_MSG_TYPE (0x8001)
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#define _CLOSE_CONN_MSG_TYPE (0x8002)
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#define _TIMEOUT_MSG_VALUE (0xABCDEFAB)
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#ifndef CONN_CAN_ISOTP_TIMEOUT_TX_CONF
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#define CONN_CAN_ISOTP_TIMEOUT_TX_CONF (10 * US_PER_SEC)
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#ifndef CONN_CAN_ISOTP_TIMEOUT_TX_CONF_US
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#define CONN_CAN_ISOTP_TIMEOUT_TX_CONF_US (10 * US_PER_SEC)
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#endif
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static inline int try_put_msg(conn_can_isotp_t *conn, msg_t *msg)
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@ -169,10 +169,10 @@ int conn_can_isotp_send(conn_can_isotp_t *conn, const void *buf, size_t size, in
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return isotp_send(&conn->isotp, buf, size, flags);
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}
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else {
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xtimer_t timer;
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ztimer_t timer;
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timer.callback = _tx_conf_timeout;
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timer.arg = conn;
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xtimer_set(&timer, CONN_CAN_ISOTP_TIMEOUT_TX_CONF);
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ztimer_set(ZTIMER_USEC, &timer, CONN_CAN_ISOTP_TIMEOUT_TX_CONF_US);
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ret = isotp_send(&conn->isotp, buf, size, flags);
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@ -192,7 +192,7 @@ int conn_can_isotp_send(conn_can_isotp_t *conn, const void *buf, size_t size, in
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break;
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}
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#endif
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xtimer_remove(&timer);
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ztimer_remove(ZTIMER_USEC, &timer);
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return ret;
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case _TIMEOUT_TX_MSG_TYPE:
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return -ETIMEDOUT;
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@ -246,11 +246,11 @@ int conn_can_isotp_recv(conn_can_isotp_t *conn, void *buf, size_t size, uint32_t
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}
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#endif
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xtimer_t timer;
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ztimer_t timer;
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if (timeout != 0) {
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timer.callback = _rx_timeout;
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timer.arg = conn;
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xtimer_set(&timer, timeout);
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ztimer_set(ZTIMER_USEC, &timer, timeout);
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}
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msg_t msg;
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@ -270,7 +270,7 @@ int conn_can_isotp_recv(conn_can_isotp_t *conn, void *buf, size_t size, uint32_t
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}
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#endif
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if (timeout != 0) {
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xtimer_remove(&timer);
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ztimer_remove(ZTIMER_USEC, &timer);
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}
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if (snip->size <= size) {
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memcpy(buf, snip->data, snip->size);
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@ -296,7 +296,7 @@ int conn_can_isotp_recv(conn_can_isotp_t *conn, void *buf, size_t size, uint32_t
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if ((msg.content.ptr == conn) || (msg.content.ptr == conn->master)) {
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#endif
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if (timeout != 0) {
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xtimer_remove(&timer);
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ztimer_remove(ZTIMER_USEC, &timer);
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}
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return -ECONNABORTED;
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#ifdef MODULE_CONN_CAN_ISOTP_MULTI
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@ -306,7 +306,7 @@ int conn_can_isotp_recv(conn_can_isotp_t *conn, void *buf, size_t size, uint32_t
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default:
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DEBUG("conn_can_isotp_recv: unexpected msg %x\n", msg.type);
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if (timeout != 0) {
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xtimer_remove(&timer);
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ztimer_remove(ZTIMER_USEC, &timer);
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}
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ret = -EINTR;
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return ret;
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@ -383,11 +383,11 @@ int conn_can_isotp_select(conn_can_isotp_slave_t **conn, conn_can_isotp_t *maste
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int ret;
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xtimer_t timer;
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ztimer_t timer;
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if (timeout != 0) {
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timer.callback = _rx_timeout;
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timer.arg = master;
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xtimer_set(&timer, timeout);
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ztimer_set(ZTIMER_USEC, &timer, timeout);
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}
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msg_t msg;
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@ -396,7 +396,7 @@ int conn_can_isotp_select(conn_can_isotp_slave_t **conn, conn_can_isotp_t *maste
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mbox_get(&master->mbox, &msg);
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if (timeout != 0) {
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xtimer_remove(&timer);
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ztimer_remove(ZTIMER_USEC, &timer);
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}
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switch (msg.type) {
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case CAN_MSG_RX_INDICATION:
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@ -28,15 +28,15 @@
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#define ENABLE_DEBUG 0
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#include "debug.h"
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#include "xtimer.h"
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#include "ztimer.h"
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#define _TIMEOUT_TX_MSG_TYPE (0x8000)
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#define _TIMEOUT_RX_MSG_TYPE (0x8001)
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#define _CLOSE_CONN_MSG_TYPE (0x8002)
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#define _TIMEOUT_MSG_VALUE (0xABCDEFAB)
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#ifndef CONN_CAN_RAW_TIMEOUT_TX_CONF
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#define CONN_CAN_RAW_TIMEOUT_TX_CONF (1 * US_PER_SEC)
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#ifndef CONN_CAN_ISOTP_TIMEOUT_TX_CONF_US
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#define CONN_CAN_ISOTP_TIMEOUT_TX_CONF_US (1 * US_PER_SEC)
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#endif
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int conn_can_raw_create(conn_can_raw_t *conn, struct can_filter *filter, size_t count,
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@ -146,14 +146,14 @@ int conn_can_raw_send(conn_can_raw_t *conn, const struct can_frame *frame, int f
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}
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}
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else {
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xtimer_t timer;
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ztimer_t timer;
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timer.callback = _tx_conf_timeout;
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timer.arg = conn;
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xtimer_set(&timer, CONN_CAN_RAW_TIMEOUT_TX_CONF);
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ztimer_set(ZTIMER_USEC, &timer, CONN_CAN_ISOTP_TIMEOUT_TX_CONF_US);
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handle = raw_can_send_mbox(conn->ifnum, frame, &conn->mbox);
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if (handle < 0) {
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xtimer_remove(&timer);
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ztimer_remove(ZTIMER_USEC, &timer);
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return handle;
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}
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@ -161,7 +161,7 @@ int conn_can_raw_send(conn_can_raw_t *conn, const struct can_frame *frame, int f
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int timeout = 5;
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while (1) {
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mbox_get(&conn->mbox, &msg);
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xtimer_remove(&timer);
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ztimer_remove(ZTIMER_USEC, &timer);
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switch (msg.type) {
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case CAN_MSG_TX_ERROR:
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return -EIO;
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@ -186,7 +186,7 @@ int conn_can_raw_send(conn_can_raw_t *conn, const struct can_frame *frame, int f
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if (!timeout--) {
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return -EINTR;
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}
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xtimer_set(&timer, CONN_CAN_RAW_TIMEOUT_TX_CONF);
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ztimer_set(ZTIMER_USEC, &timer, CONN_CAN_ISOTP_TIMEOUT_TX_CONF_US);
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break;
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}
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}
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@ -216,12 +216,12 @@ int conn_can_raw_recv(conn_can_raw_t *conn, struct can_frame *frame, uint32_t ti
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assert(frame != NULL);
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xtimer_t timer;
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ztimer_t timer;
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if (timeout != 0) {
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timer.callback = _rx_timeout;
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timer.arg = conn;
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xtimer_set(&timer, timeout);
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ztimer_set(ZTIMER_USEC, &timer, timeout);
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}
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int ret;
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@ -230,7 +230,7 @@ int conn_can_raw_recv(conn_can_raw_t *conn, struct can_frame *frame, uint32_t ti
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mbox_get(&conn->mbox, &msg);
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if (timeout != 0) {
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xtimer_remove(&timer);
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ztimer_remove(ZTIMER_USEC, &timer);
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}
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switch (msg.type) {
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case CAN_MSG_RX_INDICATION:
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@ -22,6 +22,7 @@
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#include <errno.h>
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#include "thread.h"
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#include "ztimer.h"
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#include "can/device.h"
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#include "can/common.h"
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#include "can/pkt.h"
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@ -146,7 +147,7 @@ static int power_down(candev_dev_t *candev_dev)
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}
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#ifdef MODULE_CAN_PM
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xtimer_remove(&candev_dev->pm_timer);
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ztimer_remove(ZTIMER_USEC, &candev_dev->pm_timer);
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candev_dev->last_pm_update = 0;
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#endif
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@ -171,15 +172,15 @@ static void pm_reset(candev_dev_t *candev_dev, uint32_t value)
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if (value == 0) {
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candev_dev->last_pm_value = 0;
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xtimer_remove(&candev_dev->pm_timer);
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ztimer_remove(ZTIMER_USEC, &candev_dev->pm_timer);
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return;
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}
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if (candev_dev->last_pm_update == 0 ||
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value > (candev_dev->last_pm_value - (xtimer_now_usec() - candev_dev->last_pm_update))) {
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value > (candev_dev->last_pm_value - (ztimer_now(ZTIMER_USEC) - candev_dev->last_pm_update))) {
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candev_dev->last_pm_value = value;
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candev_dev->last_pm_update = xtimer_now_usec();
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xtimer_set(&candev_dev->pm_timer, value);
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candev_dev->last_pm_update = ztimer_now(ZTIMER_USEC);
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ztimer_set(ZTIMER_USEC, &candev_dev->pm_timer, value);
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}
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}
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#endif
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@ -29,6 +29,7 @@
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#include "thread.h"
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#include "mutex.h"
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#include "timex.h"
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#include "ztimer.h"
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#include "utlist.h"
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#define ENABLE_DEBUG 0
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@ -196,7 +197,7 @@ static int _isotp_rcv_fc(struct isotp *isotp, struct can_frame *frame, int ae)
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return 0;
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}
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xtimer_remove(&isotp->tx_timer);
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ztimer_remove(ZTIMER_USEC, &isotp->tx_timer);
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if (frame->can_dlc < ae + FC_CONTENT_SZ) {
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/* Invalid length */
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@ -230,7 +231,7 @@ static int _isotp_rcv_fc(struct isotp *isotp, struct can_frame *frame, int ae)
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isotp->tx_wft = 0;
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isotp->tx.bs = 0;
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isotp->tx.state = ISOTP_SENDING_NEXT_CF;
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xtimer_set(&isotp->tx_timer, isotp->tx_gap);
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ztimer_set(ZTIMER_USEC, &isotp->tx_timer, isotp->tx_gap);
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break;
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case ISOTP_FC_WT:
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@ -240,7 +241,7 @@ static int _isotp_rcv_fc(struct isotp *isotp, struct can_frame *frame, int ae)
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return 1;
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}
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/* BS and STmin shall be ignored */
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xtimer_set(&isotp->tx_timer, CAN_ISOTP_TIMEOUT_N_Bs);
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ztimer_set(ZTIMER_USEC, &isotp->tx_timer, CAN_ISOTP_TIMEOUT_N_Bs);
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break;
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case ISOTP_FC_OVFLW:
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@ -257,7 +258,7 @@ static int _isotp_rcv_fc(struct isotp *isotp, struct can_frame *frame, int ae)
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static int _isotp_rcv_sf(struct isotp *isotp, struct can_frame *frame, int ae)
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{
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xtimer_remove(&isotp->rx_timer);
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ztimer_remove(ZTIMER_USEC, &isotp->rx_timer);
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isotp->rx.state = ISOTP_IDLE;
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int len = (frame->data[ae] & 0x0F);
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@ -341,7 +342,7 @@ static int _isotp_rcv_cf(struct isotp *isotp, struct can_frame *frame, int ae)
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return 1;
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}
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xtimer_remove(&isotp->rx_timer);
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ztimer_remove(ZTIMER_USEC, &isotp->rx_timer);
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if ((frame->data[ae] & 0x0F) != isotp->rx.sn) {
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DEBUG("_isotp_rcv_cf: wrong seq number %d, expected %d\n", frame->data[ae] & 0x0F, isotp->rx.sn);
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@ -380,7 +381,7 @@ static int _isotp_rcv_cf(struct isotp *isotp, struct can_frame *frame, int ae)
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DEBUG("_isotp_rcv_cf: rxfc.bs=%" PRIx8 " rx.bs=%" PRIx8 "\n", isotp->rxfc.bs, isotp->rx.bs);
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if (!isotp->rxfc.bs || (++isotp->rx.bs < isotp->rxfc.bs)) {
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xtimer_set(&isotp->rx_timer, CAN_ISOTP_TIMEOUT_N_Cr);
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ztimer_set(ZTIMER_USEC, &isotp->rx_timer, CAN_ISOTP_TIMEOUT_N_Cr);
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return 0;
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}
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@ -456,7 +457,7 @@ static int _isotp_send_fc(struct isotp *isotp, int ae, uint8_t status)
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DEBUG("\n");
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}
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xtimer_set(&isotp->rx_timer, CAN_ISOTP_TIMEOUT_N_Ar);
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ztimer_set(ZTIMER_USEC, &isotp->rx_timer, CAN_ISOTP_TIMEOUT_N_Ar);
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isotp->rx.tx_handle = raw_can_send(isotp->entry.ifnum, &fc, isotp_pid);
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if (isotp->rx.tx_handle >= 0) {
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@ -464,7 +465,7 @@ static int _isotp_send_fc(struct isotp *isotp, int ae, uint8_t status)
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}
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else {
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isotp->rx.state = ISOTP_IDLE;
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xtimer_remove(&isotp->rx_timer);
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ztimer_remove(ZTIMER_USEC, &isotp->rx_timer);
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return isotp->rx.tx_handle;
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}
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}
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@ -555,7 +556,7 @@ static void _isotp_tx_timeout_task(struct isotp *isotp)
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static void _isotp_tx_tx_conf(struct isotp *isotp)
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{
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xtimer_remove(&isotp->tx_timer);
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ztimer_remove(ZTIMER_USEC, &isotp->tx_timer);
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isotp->tx.tx_handle = 0;
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DEBUG("_isotp_tx_tx_conf: state=%d\n", isotp->tx.state);
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@ -568,7 +569,7 @@ static void _isotp_tx_tx_conf(struct isotp *isotp)
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case ISOTP_SENDING_FF:
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isotp->tx.state = ISOTP_WAIT_FC;
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xtimer_set(&isotp->tx_timer, CAN_ISOTP_TIMEOUT_N_Bs);
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ztimer_set(ZTIMER_USEC, &isotp->tx_timer, CAN_ISOTP_TIMEOUT_N_Bs);
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break;
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case ISOTP_SENDING_CF:
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@ -582,12 +583,12 @@ static void _isotp_tx_tx_conf(struct isotp *isotp)
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if (isotp->txfc.bs && (isotp->tx.bs >= isotp->txfc.bs)) {
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/* wait for FC */
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isotp->tx.state = ISOTP_WAIT_FC;
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xtimer_set(&isotp->tx_timer, CAN_ISOTP_TIMEOUT_N_Bs);
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ztimer_set(ZTIMER_USEC, &isotp->tx_timer, CAN_ISOTP_TIMEOUT_N_Bs);
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break;
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}
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isotp->tx.state = ISOTP_SENDING_NEXT_CF;
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xtimer_set(&isotp->tx_timer, isotp->tx_gap);
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ztimer_set(ZTIMER_USEC, &isotp->tx_timer, isotp->tx_gap);
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break;
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}
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}
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@ -611,7 +612,7 @@ static void _isotp_rx_timeout_task(struct isotp *isotp)
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static void _isotp_rx_tx_conf(struct isotp *isotp)
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{
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xtimer_remove(&isotp->rx_timer);
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ztimer_remove(ZTIMER_USEC, &isotp->rx_timer);
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isotp->rx.tx_handle = 0;
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DEBUG("_isotp_rx_tx_conf: state=%d\n", isotp->rx.state);
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@ -619,18 +620,18 @@ static void _isotp_rx_tx_conf(struct isotp *isotp)
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switch (isotp->rx.state) {
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case ISOTP_SENDING_FC:
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isotp->rx.state = ISOTP_WAIT_CF;
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xtimer_set(&isotp->rx_timer, CAN_ISOTP_TIMEOUT_N_Cr);
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ztimer_set(ZTIMER_USEC, &isotp->rx_timer, CAN_ISOTP_TIMEOUT_N_Cr);
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break;
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}
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}
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static int _isotp_tx_send(struct isotp *isotp, struct can_frame *frame)
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{
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xtimer_set(&isotp->tx_timer, CAN_ISOTP_TIMEOUT_N_As);
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ztimer_set(ZTIMER_USEC, &isotp->tx_timer, CAN_ISOTP_TIMEOUT_N_As);
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isotp->tx.tx_handle = raw_can_send(isotp->entry.ifnum, frame, isotp_pid);
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DEBUG("isotp_send: FF/SF/CF sent handle=%d\n", isotp->tx.tx_handle);
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if (isotp->tx.tx_handle < 0) {
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xtimer_remove(&isotp->tx_timer);
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ztimer_remove(ZTIMER_USEC, &isotp->tx_timer);
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isotp->tx.state = ISOTP_IDLE;
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return _isotp_dispatch_tx(isotp, isotp->tx.tx_handle);
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}
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@ -868,7 +869,7 @@ int isotp_release(struct isotp *isotp)
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.can_mask = 0xFFFFFFFF,
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};
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raw_can_unsubscribe_rx(isotp->entry.ifnum, &filter, isotp_pid, isotp);
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xtimer_remove(&isotp->rx_timer);
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ztimer_remove(ZTIMER_USEC, &isotp->rx_timer);
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if (isotp->rx.snip) {
|
||||
DEBUG("isotp_release: freeing rx buf\n");
|
||||
@ -878,7 +879,7 @@ int isotp_release(struct isotp *isotp)
|
||||
isotp->rx.state = ISOTP_IDLE;
|
||||
isotp->entry.target.pid = KERNEL_PID_UNDEF;
|
||||
|
||||
xtimer_remove(&isotp->tx_timer);
|
||||
ztimer_remove(ZTIMER_USEC, &isotp->tx_timer);
|
||||
|
||||
mutex_lock(&lock);
|
||||
LL_DELETE(isotp_list, isotp);
|
||||
|
||||
@ -28,7 +28,7 @@ extern "C" {
|
||||
#include "sched.h"
|
||||
|
||||
#ifdef MODULE_CAN_PM
|
||||
#include "xtimer.h"
|
||||
#include "ztimer.h"
|
||||
#endif
|
||||
#ifdef MODULE_CAN_TRX
|
||||
#include "can/can_trx.h"
|
||||
@ -79,7 +79,7 @@ typedef struct candev_dev {
|
||||
uint32_t tx_wakeup_timeout; /**< Min timeout loaded when a frame is sent */
|
||||
uint32_t last_pm_update; /**< time when the pm was updated */
|
||||
uint32_t last_pm_value; /**< last pm timer value set */
|
||||
xtimer_t pm_timer; /**< timer for power management */
|
||||
ztimer_t pm_timer; /**< timer for power management */
|
||||
#endif
|
||||
} candev_dev_t;
|
||||
|
||||
|
||||
@ -28,7 +28,7 @@ extern "C" {
|
||||
#include "can/can.h"
|
||||
#include "can/common.h"
|
||||
#include "thread.h"
|
||||
#include "xtimer.h"
|
||||
#include "ztimer.h"
|
||||
#include "net/gnrc/pktbuf.h"
|
||||
|
||||
#ifndef CAN_ISOTP_BS
|
||||
@ -110,8 +110,8 @@ struct isotp {
|
||||
struct isotp_fc_options txfc; /**< tx flow control options (defined remotely) */
|
||||
struct tpcon tx; /**< transmit state */
|
||||
struct tpcon rx; /**< receive state */
|
||||
xtimer_t tx_timer; /**< timer for tx operations */
|
||||
xtimer_t rx_timer; /**< timer for rx operations */
|
||||
ztimer_t tx_timer; /**< timer for tx operations */
|
||||
ztimer_t rx_timer; /**< timer for rx operations */
|
||||
can_reg_entry_t entry; /**< entry containing ifnum and upper layer msg system */
|
||||
uint32_t tx_gap; /**< transmit gap from fc (in us) */
|
||||
uint8_t tx_wft; /**< transmit wait counter */
|
||||
|
||||
Loading…
Reference in New Issue
Block a user