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RIOT/sys/ztimer/init.c

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/*
* Copyright (C) 2020 Kaspar Schleiser <kaspar@schleiser.de>
* 2020 Freie Universität Berlin
* 2020 Inria
*
* This file is subject to the terms and conditions of the GNU Lesser General
* Public License v2.1. See the file LICENSE in the top level directory for more
* details.
*/
/**
* @ingroup sys_ztimer
* @{
*
* @file
* @brief ztimer initialization code
*
*
* This file could benefit a lot from code generation...
*
* Anyhow, this configures ztimer as follows:
*
* 1. if ztimer_usec in USEMODULE:
* 1.1. assume ztimer_usec uses periph_timer
* 1.2a. if no config given
* 1.2a.1a. use xtimer config if available
* 1.2a.1b. default to TIMER_DEV(0), 32bit
* 1.2b. else, use config
*
* 2. if ztimer_msec in USEMODULE:
* 2.1a. if periph_rtt in USEMODULE: use that
* 2.1b: else: convert from ZTIMER_USEC
*
* @author Kaspar Schleiser <kaspar@schleiser.de>
* @author Karl Fessel <kfessel>
*
* @}
*/
#include "kernel_defines.h"
#include "board.h"
#include "ztimer.h"
#include "ztimer/convert_frac.h"
#include "ztimer/convert_shift.h"
#include "ztimer/convert_muldiv64.h"
#include "ztimer/overhead.h"
#include "ztimer/periph_timer.h"
#include "ztimer/periph_rtt.h"
#include "ztimer/periph_rtc.h"
#include "ztimer/config.h"
/* both 'stdio_rtt' and 'stdio_semihosting' rely on ztimer for stdio output,
so not output is possible before 'ztimer' has been initiated, silence all
logs */
#if IS_USED(MODULE_STDIO_RTT) || IS_USED(MODULE_STDIO_SEMIHOSTING)
#undef LOG_LEVEL
#define LOG_LEVEL LOG_NONE
#endif
#include "log.h"
#define WIDTH_TO_MAXVAL(width) (UINT32_MAX >> (32 - width))
#define FREQ_1MHZ 1000000LU
#define FREQ_250KHZ 250000LU
#define FREQ_1KHZ 1000LU
#define FREQ_1HZ 1LU
/* Step 0: define available ztimer-periphery by activated modules */
#if MODULE_ZTIMER_PERIPH_TIMER
# define ZTIMER_TIMER _ztimer_periph_timer
# define ZTIMER_TIMER_CLK _ztimer_periph_timer.super
# define ZTIMER_TIMER_FREQ CONFIG_ZTIMER_USEC_BASE_FREQ
#endif
#if MODULE_ZTIMER_PERIPH_LPTIMER
# define ZTIMER_LPTIMER _ztimer_periph_timer_lp
# define ZTIMER_LPTIMER_CLK _ztimer_periph_timer_lp.super
# define ZTIMER_LPTIMER_FREQ CONFIG_ZTIMER_LPTIMER_FREQ
#endif
#if MODULE_ZTIMER_PERIPH_RTT
# define ZTIMER_RTT _ztimer_periph_timer_rtt
# define ZTIMER_RTT_CLK _ztimer_periph_timer_rtt
# define ZTIMER_RTT_FREQ RTT_FREQUENCY
#endif
#if MODULE_ZTIMER_PERIPH_RTC
# define ZTIMER_RTC _ztimer_periph_timer_rtc
# define ZTIMER_RTC_CLK _ztimer_periph_timer_rtc
# define ZTIMER_RTC_FREQ FREQ_1HZ
#endif
/* Step 1: select which periphery to use for the higher level ZTIMER_*SEC
* selected periphery is marked for initialisation (INIT_ZTIMER_<periph>
* prepare defines for ztimer initialization
*/
/* ZTIMER_USEC always uses the basic timer
* basic timer is available on all boards */
#if MODULE_ZTIMER_USEC
# ifdef ZTIMER_TIMER
# define ZTIMER_USEC_TIMER 1
# ifndef INIT_ZTIMER_TIMER
# define INIT_ZTIMER_TIMER 1
# endif
# endif
#endif
/* ZTIMER_MSEC uses one of in order of preference:
* - ZTIMER_LPTIMER (ztimer_periph_lptimer)
* if it is available and running at a frequency > 1kHz
* - ZTIMER_RTT (ztimer_periph_rtt)
* if it is available and running at a frequency > 1kHz,
* if there is neither of those it falls back to use the basic timer
* if that is available (there should be a basic timer with all boards)*/
#if MODULE_ZTIMER_MSEC
# if defined(ZTIMER_LPTIMER) && ZTIMER_LPTIMER_FREQ >= FREQ_1KHZ
# define ZTIMER_MSEC_LPTIMER 1
# ifndef INIT_ZTIMER_LPTIMER
# define INIT_ZTIMER_LPTIMER 1
# endif
# if ZTIMER_LPTIMER_FREQ != FREQ_1KHZ
# define ZTIMER_MSEC_CONVERT_LOWER_FREQ ZTIMER_LPTIMER_FREQ
# endif
# elif defined(ZTIMER_RTT) && ZTIMER_RTT_FREQ >= FREQ_1KHZ
# define ZTIMER_MSEC_RTT 1
# ifndef INIT_ZTIMER_RTT
# define INIT_ZTIMER_RTT 1
# endif
# if ZTIMER_RTT_FREQ != FREQ_1KHZ
# define ZTIMER_MSEC_CONVERT_LOWER_FREQ ZTIMER_RTT_FREQ
# endif
# elif defined(ZTIMER_TIMER)
# define ZTIMER_MSEC_TIMER 1
# ifndef INIT_ZTIMER_TIMER
# define INIT_ZTIMER_TIMER 1
# endif
# define ZTIMER_MSEC_CONVERT_LOWER_FREQ ZTIMER_TIMER_FREQ
# endif
#endif
/* ZTIMER_SEC uses one of in order of preference:
* - ZTIMER_LPTIMER (ztimer_periph_lptimer)
* if it is available and running at a frequency > 1Hz
* - ZTIMER_RTT (ztimer_periph_rtt)
* if it is available and running at a frequency > 1Hz,
* - ZTIMER_RTC (ztimer_periph_rtc)
* if it is available (this should be avoided)
* if there is neither of those it falls back to use the basic timer
* if that is available (there should be a basic timer with all boards)*/
#if MODULE_ZTIMER_SEC
# if defined(ZTIMER_LPTIMER) && ZTIMER_LPTIMER_FREQ >= FREQ_1HZ
# define ZTIMER_SEC_LPTIMER 1
# ifndef INIT_ZTIMER_LPTIMER
# define INIT_ZTIMER_LPTIMER 1
# endif
# if ZTIMER_LPTIMER_FREQ != FREQ_1HZ
# define ZTIMER_SEC_CONVERT_LOWER_FREQ ZTIMER_LPTIMER_FREQ
# endif
# elif defined(ZTIMER_RTT)
# define ZTIMER_SEC_RTT
# ifndef INIT_ZTIMER_RTT
# define INIT_ZTIMER_RTT 1
# endif
# if ZTIMER_RTT_FREQ != FREQ_1HZ
# define ZTIMER_SEC_CONVERT_LOWER_FREQ ZTIMER_RTT_FREQ
# endif
# elif defined(ZTIMER_RTC)
# define ZTIMER_SEC_RTC
# ifndef INIT_ZTIMER_RTC
# define INIT_ZTIMER_RTC 1
# endif
# elif defined(ZTIMER_TIMER)
# define ZTIMER_SEC_TIMER
# ifndef INIT_ZTIMER_TIMER
# define INIT_ZTIMER_TIMER 1
# endif
# define ZTIMER_SEC_CONVERT_LOWER_FREQ ZTIMER_TIMER_FREQ
# endif
#endif
/* Step 2: setup static memory for used ztimer-periphery */
#if INIT_ZTIMER_TIMER
static ztimer_periph_timer_t ZTIMER_TIMER = {
.min = CONFIG_ZTIMER_USEC_MIN
};
#endif
#if INIT_ZTIMER_LPTIMER
static ztimer_periph_timer_t ZTIMER_LPTIMER = {};
#endif
#if INIT_ZTIMER_RTT
static ztimer_periph_rtt_t ZTIMER_RTT;
#endif
#if INIT_ZTIMER_RTC
static ztimer_periph_rtc_t ZTIMER_RTC;
#endif
/* Step 3: setup constants for ztimers and memory for converters */
#if MODULE_ZTIMER_USEC
# ifdef ZTIMER_USEC_TIMER
ztimer_clock_t *const ZTIMER_USEC_BASE = &ZTIMER_TIMER_CLK;
# else
# error No suitable ZTIMER_USEC config. Basic timer configuration missing?
# endif
# if ZTIMER_TIMER_FREQ == FREQ_1MHZ
ztimer_clock_t *const ZTIMER_USEC = &ZTIMER_TIMER_CLK;
# elif ZTIMER_TIMER_FREQ == 250000LU
static ztimer_convert_shift_t _ztimer_convert_shift_usec;
ztimer_clock_t *const ZTIMER_USEC = &_ztimer_convert_shift_usec.super.super;
# else
static ztimer_convert_frac_t _ztimer_convert_frac_usec;
ztimer_clock_t *const ZTIMER_USEC = &_ztimer_convert_frac_usec.super.super;
# endif
#endif
#if MODULE_ZTIMER_MSEC
# ifdef ZTIMER_MSEC_RTT
ztimer_clock_t *const ZTIMER_MSEC_BASE = &ZTIMER_RTT_CLK;
# elif defined(ZTIMER_MSEC_TIMER)
ztimer_clock_t *const ZTIMER_MSEC_BASE = &ZTIMER_TIMER_CLK;
# elif defined(ZTIMER_MSEC_LPTIMER)
ztimer_clock_t *const ZTIMER_MSEC_BASE = &ZTIMER_LPTIMER_CLK;
# else
# error No suitable ZTIMER_MSEC config. No rtt or basic timer?
# endif
# ifdef ZTIMER_MSEC_CONVERT_LOWER_FREQ
static ztimer_convert_frac_t _ztimer_convert_frac_msec;
ztimer_clock_t *const ZTIMER_MSEC = &_ztimer_convert_frac_msec.super.super;
# else
ztimer_clock_t *const ZTIMER_MSEC = ZTIMER_MSEC_BASE;
# endif
#endif
#if MODULE_ZTIMER_SEC
# ifdef ZTIMER_SEC_RTC
ztimer_clock_t *const ZTIMER_SEC_BASE = &ZTIMER_RTC_CLK;
# elif defined(ZTIMER_SEC_RTT)
ztimer_clock_t *const ZTIMER_SEC_BASE = &ZTIMER_RTT_CLK;
# elif defined(ZTIMER_SEC_TIMER)
ztimer_clock_t *const ZTIMER_SEC_BASE = &ZTIMER_TIMER_CLK;
# elif defined(ZTIMER_SEC_LPTIMER)
ztimer_clock_t *const ZTIMER_SEC_BASE = &ZTIMER_LPTIMER_CLK;
# else
# error No suitable ZTIMER_SEC config. No rtc, rtt or basic timer?
# endif
# ifdef ZTIMER_SEC_CONVERT_LOWER_FREQ
static ztimer_convert_frac_t _ztimer_convert_frac_sec;
ztimer_clock_t *const ZTIMER_SEC = &_ztimer_convert_frac_sec.super.super;
# else
ztimer_clock_t *const ZTIMER_SEC = ZTIMER_SEC_BASE;
# endif
#endif
#if IS_USED(MODULE_ZTIMER_USEC)
#ifndef CONFIG_ZTIMER_AUTO_ADJUST_BASE_ITVL
#define CONFIG_ZTIMER_AUTO_ADJUST_BASE_ITVL 1000
#endif
#ifndef CONFIG_ZTIMER_AUTO_ADJUST_ITER
#define CONFIG_ZTIMER_AUTO_ADJUST_ITER 100
#endif
static void _ztimer_usec_overhead(unsigned samples, unsigned base, uint16_t *adjust_value,
int32_t (*overhead_fn)(ztimer_clock_t *clock, uint32_t base))
{
int32_t min = INT32_MAX;
for (unsigned i = 0; i < samples; i++) {
int32_t overhead = overhead_fn(ZTIMER_USEC, base);
if (overhead < min) {
min = overhead;
}
}
*adjust_value = min;
}
#endif
void ztimer_init(void)
{
/* Step 4: initialize used ztimer-periphery */
#if INIT_ZTIMER_TIMER
LOG_DEBUG(
"ztimer_init(): ZTIMER_TIMER using periph timer %u, freq %lu, width %u\n",
CONFIG_ZTIMER_USEC_DEV, ZTIMER_TIMER_FREQ,
CONFIG_ZTIMER_USEC_WIDTH);
ztimer_periph_timer_init(&ZTIMER_TIMER, CONFIG_ZTIMER_USEC_DEV,
ZTIMER_TIMER_FREQ, WIDTH_TO_MAXVAL(CONFIG_ZTIMER_USEC_WIDTH));
# if MODULE_PM_LAYERED && !MODULE_ZTIMER_ONDEMAND
LOG_DEBUG("ztimer_init(): ZTIMER_TIMER setting block_pm_mode to %i\n",
CONFIG_ZTIMER_TIMER_BLOCK_PM_MODE);
ZTIMER_TIMER_CLK.block_pm_mode = CONFIG_ZTIMER_TIMER_BLOCK_PM_MODE;
# endif
#endif
#if INIT_ZTIMER_LPTIMER
LOG_DEBUG(
"ztimer_init(): ZTIMER_LPTIMER using periph timer %u, freq %lu, width %u\n",
CONFIG_ZTIMER_LPTIMER_DEV, ZTIMER_LPTIMER_FREQ,
CONFIG_ZTIMER_LPTIMER_WIDTH);
ztimer_periph_timer_init(&ZTIMER_LPTIMER, CONFIG_ZTIMER_LPTIMER_DEV,
ZTIMER_LPTIMER_FREQ, WIDTH_TO_MAXVAL(CONFIG_ZTIMER_LPTIMER_WIDTH));
# if MODULE_PM_LAYERED && !MODULE_ZTIMER_ONDEMAND
LOG_DEBUG("ztimer_init(): ZTIMER_LPTIMER setting block_pm_mode to %i\n",
CONFIG_ZTIMER_LPTIMER_BLOCK_PM_MODE);
ZTIMER_LPTIMER_CLK.block_pm_mode = CONFIG_ZTIMER_LPTIMER_BLOCK_PM_MODE;
# endif
#endif
#if INIT_ZTIMER_RTT
LOG_DEBUG("ztimer_init(): initializing rtt\n");
ztimer_periph_rtt_init(&ZTIMER_RTT);
# if MODULE_PM_LAYERED && !MODULE_ZTIMER_ONDEMAND
LOG_DEBUG("ztimer_init(): ZTIMER_RTT setting block_pm_mode to %i\n",
CONFIG_ZTIMER_RTT_BLOCK_PM_MODE);
ZTIMER_RTT_CLK.block_pm_mode = CONFIG_ZTIMER_RTT_BLOCK_PM_MODE;
# endif
#endif
#if INIT_ZTIMER_RTC
LOG_DEBUG("ztimer_init(): initializing rtc\n");
ztimer_periph_rtc_init(&ZTIMER_RTC);
# if MODULE_PM_LAYERED && !MODULE_ZTIMER_ONDEMAND
LOG_DEBUG("ztimer_init(): ZTIMER_RTC setting block_pm_mode to %i\n",
CONFIG_ZTIMER_RTC_BLOCK_PM_MODE);
ZTIMER_RTC_CLK.block_pm_mode = CONFIG_ZTIMER_RTC_BLOCK_PM_MODE;
# endif
#endif
/* Step 5: initialize ztimers requested */
#if MODULE_ZTIMER_USEC
# if ZTIMER_TIMER_FREQ != FREQ_1MHZ
# if ZTIMER_TIMER_FREQ == FREQ_250KHZ
LOG_DEBUG("ztimer_init(): ZTIMER_USEC convert_shift %lu to 1000000\n",
ZTIMER_TIMER_FREQ);
ztimer_convert_shift_up_init(&_ztimer_convert_shift_usec,
ZTIMER_USEC_BASE, 2);
# else
LOG_DEBUG("ztimer_init(): ZTIMER_USEC convert_frac %lu to 1000000\n",
ZTIMER_TIMER_FREQ);
ztimer_convert_frac_init(&_ztimer_convert_frac_usec, ZTIMER_USEC_BASE,
FREQ_1MHZ, ZTIMER_TIMER_FREQ);
# endif
# else
LOG_DEBUG("ztimer_init(): ZTIMER_USEC without conversion\n");
# endif
/* warm-up time if set and needed */
if (IS_USED(MODULE_ZTIMER_AUTO_ADJUST) &&
!(CONFIG_ZTIMER_USEC_ADJUST_SET && CONFIG_ZTIMER_USEC_ADJUST_SLEEP)) {
if (CONFIG_ZTIMER_AUTO_ADJUST_SETTLE) {
ztimer_sleep(ZTIMER_USEC, CONFIG_ZTIMER_AUTO_ADJUST_SETTLE);
}
}
# if MODULE_ZTIMER_ONDEMAND
/* configure 'adjust_clock_start' */
if (CONFIG_ZTIMER_USEC_ADJUST_CLOCK_START) {
ZTIMER_USEC->adjust_clock_start = CONFIG_ZTIMER_USEC_ADJUST_CLOCK_START;
}
# endif
/* calculate or set 'adjust_set' */
if (CONFIG_ZTIMER_USEC_ADJUST_SET) {
ZTIMER_USEC->adjust_set = CONFIG_ZTIMER_USEC_ADJUST_SET;
}
else if (IS_USED(MODULE_ZTIMER_AUTO_ADJUST)) {
_ztimer_usec_overhead(CONFIG_ZTIMER_AUTO_ADJUST_ITER, CONFIG_ZTIMER_AUTO_ADJUST_BASE_ITVL,
&ZTIMER_USEC->adjust_set, ztimer_overhead_set);
}
if (ZTIMER_USEC->adjust_set) {
LOG_DEBUG("ztimer_init(): ZTIMER_USEC setting adjust_set value to %i\n",
ZTIMER_USEC->adjust_set);
}
/* calculate or set 'adjust_sleep' */
if (CONFIG_ZTIMER_USEC_ADJUST_SLEEP) {
ZTIMER_USEC->adjust_sleep = CONFIG_ZTIMER_USEC_ADJUST_SLEEP;
}
else if (IS_USED(MODULE_ZTIMER_AUTO_ADJUST)) {
_ztimer_usec_overhead(CONFIG_ZTIMER_AUTO_ADJUST_ITER,
CONFIG_ZTIMER_AUTO_ADJUST_BASE_ITVL, &ZTIMER_USEC->adjust_sleep,
ztimer_overhead_sleep);
}
if (ZTIMER_USEC->adjust_sleep) {
LOG_DEBUG("ztimer_init(): ZTIMER_USEC setting adjust_sleep value to %i\n",
ZTIMER_USEC->adjust_sleep);
}
#endif
#if MODULE_ZTIMER_MSEC
# if ZTIMER_MSEC_CONVERT_LOWER_FREQ
LOG_DEBUG("ztimer_init(): ZTIMER_MSEC convert_frac from %lu to 1000\n",
(long unsigned)ZTIMER_MSEC_CONVERT_LOWER_FREQ);
ztimer_convert_frac_init(&_ztimer_convert_frac_msec, ZTIMER_MSEC_BASE,
FREQ_1KHZ, ZTIMER_MSEC_CONVERT_LOWER_FREQ);
# endif
# ifdef CONFIG_ZTIMER_MSEC_ADJUST
LOG_DEBUG("ztimer_init(): ZTIMER_MSEC setting adjust value to %i\n",
CONFIG_ZTIMER_MSEC_ADJUST);
ZTIMER_MSEC->adjust = CONFIG_ZTIMER_MSEC_ADJUST;
# endif
#endif
#if MODULE_ZTIMER_SEC
# if ZTIMER_SEC_CONVERT_LOWER_FREQ
LOG_DEBUG("ztimer_init(): ZTIMER_SEC convert_frac from %lu to 1\n",
(long unsigned)ZTIMER_SEC_CONVERT_LOWER_FREQ);
ztimer_convert_frac_init(&_ztimer_convert_frac_sec, ZTIMER_SEC_BASE,
FREQ_1HZ, ZTIMER_SEC_CONVERT_LOWER_FREQ);
# endif
#endif
}
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