RIOT/sys/swtimer.c

/**
 *
 * \ingroup system
 * @{
 */

#include <stdio.h>
#include <stdint.h>

#include <msg.h>
#include <thread.h>
#include <hwtimer.h>
#include <swtimer.h>
#include <scheduler.h>
#include <cpu.h>
#include <irq.h>

#define SWTIMER_OVERHEAD 80
#define SWTIMER_SPIN_THRESHOLD 100

//#define ENABLE_DEBUG

#ifdef ENABLE_DEBUG
#undef SWTIMER_OVERHEAD
#define SWTIMER_OVERHEAD 7500
#endif

#include <debug.h>

/* workaround for buggy mspgcc signal.h */
#undef wakeup

static void swtimer_update_alarm();
static void swtimer_action(swtimer_t *swtimer);
static void swtimer_trigger(void* ptr);
static void swtimer_tick(void *ptr);
static int swtimer_activate(swtimer_t *t);
static void swtimer_priolist_insert(swtimer_t *t);
static void swtimer_update_values();

static swtimer_t *swtimer_list = NULL;
static volatile swtime_t system_time = 0;
volatile swtime_t swtimer_next_alarm_absolute = 0;
static volatile unsigned long hwtimer_ticks_left = 0;
static volatile int hwtimer_id = -1;

extern unsigned long hwtimer_now(void);

int swtimer_init() {
    hwtimer_set_absolute(HWTIMER_MAXTICKS, swtimer_tick, NULL);
    return 0;
}

int swtimer_set(swtimer_t *t, swtime_t interval) {
    t->interval = interval;
    t->next = NULL;
    swtimer_activate(t);
    return 0;
}

static int swtimer_activate(swtimer_t *t) {
    DEBUG("swtimer_activate. now=%lu t->interval = %lu hwtimer_ticks=%lu\n", swtimer_now(), t->interval, HWTIMER_TICKS(t->interval));

    if (!inISR()) dINT();
    
    if (t->interval <= SWTIMER_OVERHEAD) {
        DEBUG("swtimer_activate: interval too short, triggering right away.\n");
        swtimer_action(t);
        if (!inISR()) eINT();
        return 0;
    }
    
    t->start = swtimer_now();

    swtimer_priolist_insert(t);
    
    if (swtimer_list == t) {          
        swtimer_update_values();
        swtimer_update_alarm();
    }
    
    if (!inISR())eINT();
    
    return 0;
}

static void swtimer_update_values() {
            swtimer_next_alarm_absolute = swtimer_list->start + swtimer_list->interval;
            swtime_t now = swtimer_now();
            swtime_t offset = swtimer_next_alarm_absolute - now;
            hwtimer_ticks_left = HWTIMER_TICKS(offset);
            
            DEBUG("swtimer_update_values abs: %lu offset: %lu hwtimer_ticks_left: %lu, now=%lu, hwtimer_now=%lu\n", swtimer_next_alarm_absolute, offset, hwtimer_ticks_left, swtimer_now(), hwtimer_now());
}


int swtimer_remove(swtimer_t *t) {
    if ( (! swtimer_list) || (! t)) {
        return -1;
    }

    if ( ! inISR() ) dINT();
    if (t == swtimer_list) {
        swtimer_list = t->next;
        if (swtimer_list) {
            swtimer_update_values();
            swtimer_update_alarm();
        } else {
            swtimer_next_alarm_absolute = 0;
            hwtimer_ticks_left = 0;
            hwtimer_remove(hwtimer_id);
            hwtimer_id = -1;
        }
    } else {
        swtimer_t *cur = t;
        while (cur) {
            if (cur->next == t) {
                cur->next = cur->next->next;
                break;
            }
            cur = cur->next;
        }
    }
    if (! inISR() ) eINT();
    return 0;
}

swtime_t swtimer_now() {
    swtime_t now = system_time;
    now += HWTIMER_TICKS_TO_US(hwtimer_now());
    return now;
}

int swtimer_set_msg(swtimer_t *t, swtime_t interval, int pid, void *ptr) {
    t->action_type = SWTIMER_MSG;
    t->action.msg.value = (unsigned int) ptr;
    t->action.msg.target_pid = pid;
    swtimer_set(t, interval);
    return 0;
}

int swtimer_set_wakeup(swtimer_t *t, swtime_t interval, int pid) {
    t->action_type = SWTIMER_WAKEUP;
    t->action.wakeup.pid = pid;
    swtimer_set(t, interval);
    return 0;
}

int swtimer_set_cb(swtimer_t *t, swtime_t interval, void (*f_ptr)(void *), void *ptr) {
    t->action_type = SWTIMER_CALLBACK;
    t->action.callback.f = f_ptr;
    t->action.callback.ptr = ptr;
    swtimer_set(t, interval);
    return 0;
}

static void swtimer_spin(swtime_t us) {
    swtime_t target = swtimer_now() + us;
    while (target > swtimer_now());
}

int swtimer_usleep(swtime_t us) {
    if (inISR()) {
        swtimer_spin(us);
        return 0;
    }
    swtimer_t t;
    t.interval = us;
    t.action_type = SWTIMER_WAKEUP;
    t.action.wakeup.pid = thread_getpid();
    swtimer_activate(&t);
    thread_sleep();
    return 0;
}

static void swtimer_priolist_insert(swtimer_t *t) {
    t->next = NULL;
    if (swtimer_list == NULL) {
//        DEBUG("swtimer: inserting first timer %x\n", (unsigned int)t);
        swtimer_list = t;
    } else {
//        DEBUG("swtimer: inserting timer %x\n", (unsigned int)t);
        swtime_t t_absolute = t->start + t->interval;
        swtimer_t *last = NULL;
        swtimer_t *cur = swtimer_list;
        while (cur != NULL) {
            if ( t_absolute < (cur->start + cur->interval) ) {
//                DEBUG("swtimer: timer %x elapses before timer %x\n", (unsigned int) t, (unsigned int) cur);
                t->next = cur;
                if (last) {
//                    DEBUG("swtimer: setting ->next of %x to %x\n", (unsigned int) last->next, (unsigned int) t);
                    last->next = t;
                } else {
//                    DEBUG("swtimer: %x is first timer now.\n", (unsigned int)t);
                    swtimer_list = t;
                }
                return;
            } else {
//                DEBUG("insertF\n");
                if ( cur->next ) {
//                    DEBUG("insertF1\n");
                    last = cur;
                    cur = cur->next;
                } else {
//                    DEBUG("insertF2\n");
                    cur->next = t;
                    return;
                }
            }
        }
    }
}


static void swtimer_set_hwtimer(unsigned int offset) { 
    DEBUG("swtimer_set_hwtimer: hwtimer_now: %lu offset:%u\n", hwtimer_now(), offset);
    if (hwtimer_id != -1) {
        hwtimer_remove(hwtimer_id);
    }

    hwtimer_id = hwtimer_set (offset, swtimer_trigger, NULL);
}

static void swtimer_action(swtimer_t *swtimer) {
    switch(swtimer->action_type) {
        case SWTIMER_WAKEUP: 
            {
                thread_wakeup(swtimer->action.wakeup.pid);
                break;
            }
        case SWTIMER_CALLBACK: 
            {
                swtimer->action.callback.f(swtimer->action.callback.ptr);
                break;
            }
        case SWTIMER_MSG: 
            {
                msg m;
                m.content.value = swtimer->action.msg.value;
                int result = msg_send_int(&m, swtimer->action.msg.target_pid);
                if (result < 0) {
                    // error
                }
                break;
            }
    }
}

static void swtimer_trigger(void* ptr) {
    swtimer_t *next = swtimer_list;
    swtimer_list = swtimer_list->next;
    swtimer_action(next);
    if (! ptr) swtimer_update_alarm();
}


static void swtimer_update_alarm() {
    DEBUG("swtimer_check_elapsed: Checking for elapsed timer...\n");
    
    while (swtimer_list) {
        swtimer_update_values();
        DEBUG("swtimer_check_elapsed: there are timers left to consider. hwtimer_ticks_left=%lu\n", hwtimer_ticks_left);

        if (hwtimer_ticks_left > HWTIMER_MAXTICKS)  {
            if ((long int) hwtimer_ticks_left < 0) {
                printf("swtimer_update_alarm: We're late!\n");
            }
            return;
            }

        if (hwtimer_ticks_left < SWTIMER_SPIN_THRESHOLD) {
            DEBUG("swtimer_check_elapsed: spinning..\n");
            if (hwtimer_ticks_left != 0) hwtimer_spin(hwtimer_ticks_left);
            DEBUG("swtimer_check_elapsed: spinning done. shooting timer.\n");
            swtimer_trigger((void*)1); /* flag to prevent recursion */
        } else {
            DEBUG("swtimer_check_elapsed: Setting hwtimer.\n");
            swtimer_set_hwtimer(hwtimer_ticks_left);
            return;
        }
    }
}


static void swtimer_tick(void* offset_ptr) {
    hwtimer_set_absolute(HWTIMER_MAXTICKS, swtimer_tick, NULL);
    system_time += HWTIMER_TICKS_TO_US(HWTIMER_MAXTICKS);
    
//    DEBUG("swtimer_tick: system_time: %lu next timer: %lu ticks_left: %lu pid=%i\n", system_time, swtimer_next_alarm_absolute, hwtimer_ticks_left, thread_getpid());
    DEBUG(".");

    if (swtimer_next_alarm_absolute > 0) {
        if (hwtimer_ticks_left > HWTIMER_MAXTICKS) {
            hwtimer_ticks_left -= HWTIMER_MAXTICKS;
            swtimer_update_alarm();
        }
    }
}


/** @} */