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Posted to commits@nuttx.apache.org by GitBox <gi...@apache.org> on 2020/10/23 10:46:37 UTC
[GitHub] [incubator-nuttx] Ouss4 commented on a change in pull request #2074: xtensa/esp32: Add real-time timer support for WiFi
Ouss4 commented on a change in pull request #2074:
URL: https://github.com/apache/incubator-nuttx/pull/2074#discussion_r510794880
##########
File path: arch/xtensa/src/esp32/Kconfig
##########
@@ -665,4 +671,21 @@ config ESP32_WIFI_FS_MOUNTPT
endmenu # ESP32_WIRELESS
+menu "Real-Time Timer"
+ depends on ESP32_RT_TIMER
+
+config ESP32_RT_TIMER_TASK_NAME
+ string "Timer task name"
+ default "rt_timer"
+
+config ESP32_RT_TIMER_TASK_PRIORITY
+ int "Timer task priority"
+ default 10
Review comment:
I find this default value a bit misleading for a "high priority" task.
##########
File path: arch/xtensa/src/esp32/esp32_rt_timer.c
##########
@@ -0,0 +1,570 @@
+/****************************************************************************
+ * arch/xtensa/src/esp32/esp32_rt_timer.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this args for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <string.h>
+#include <fcntl.h>
+#include <assert.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/irq.h>
+#include <nuttx/kthread.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/semaphore.h>
+
+#include "hardware/esp32_soc.h"
+#include "esp32_tim.h"
+#include "esp32_rt_timer.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define RT_TIMER_TASK_NAME CONFIG_ESP32_RT_TIMER_TASK_NAME
+#define RT_TIMER_TASK_PRIORITY CONFIG_ESP32_RT_TIMER_TASK_PRIORITY
+#define RT_TIMER_TASK_STACK_SIZE CONFIG_ESP32_RT_TIMER_TASK_STACK_SIZE
+
+#define ESP32_TIMER_PRESCALER (APB_CLK_FREQ / (1000 * 1000))
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static int s_pid;
+
+static sem_t s_toutsem;
+
+static struct list_node s_runlist;
+static struct list_node s_toutlist;
+
+static struct esp32_tim_dev_s *s_esp32_tim_dev;
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: start_rt_timer
+ *
+ * Description:
+ * Start timer by inserting it into running list and reset hardware timer
+ * alarm value if this timer in head of list.
+ *
+ * Input Parameters:
+ * timer - RT timer pointer
+ *
+ * Returned Value:
+ * None.
+ *
+ ****************************************************************************/
+
+static void start_rt_timer(FAR struct rt_timer_s *timer)
+{
+ irqstate_t flags;
+ struct rt_timer_s *p;
+ bool inserted = false;
+ uint64_t counter;
+ struct esp32_tim_dev_s *tim = s_esp32_tim_dev;
+
+ flags = enter_critical_section();
+
+ /* Check if timer is "not started" */
+
+ if (!timer->started)
+ {
+ /* Calculate the timer's alarm value */
+
+ ESP32_TIM_GETCTR(tim, &counter);
+ timer->alarm = timer->timeout + counter;
+
+ /** Scan timer list and insert the new timer into previous
+ * node of timer whose alarm value is larger than new one
+ */
+
+ list_for_every_entry(&s_runlist, p, struct rt_timer_s, list)
+ {
+ if (p->alarm > timer->alarm)
+ {
+ list_add_before(&p->list, &timer->list);
+ inserted = true;
+ break;
+ }
+ }
+
+ /* If not find a larger one, insert new timer into tail of list */
+
+ if (!inserted)
+ {
+ list_add_tail(&s_runlist, &timer->list);
+ }
+
+ timer->started = true;
+
+ /* If this timer is in head of list */
+
+ if (timer == container_of(s_runlist.next, struct rt_timer_s, list))
+ {
+ /* Reset hardware timer alarm */
+
+ ESP32_TIM_SETALRVL(tim, timer->alarm);
+ ESP32_TIM_SETALRM(tim, true);
+ }
+ }
+
+ leave_critical_section(flags);
+}
+
+/****************************************************************************
+ * Name: stop_rt_timer
+ *
+ * Description:
+ * Stop timer by removing it from running list and reset hardware timer
+ * alarm value if this timer is in head of list.
+ *
+ * Input Parameters:
+ * timer - RT timer pointer
+ *
+ * Returned Value:
+ * None.
+ *
+ ****************************************************************************/
+
+static void stop_rt_timer(FAR struct rt_timer_s *timer)
+{
+ irqstate_t flags;
+ bool ishead;
+ struct rt_timer_s *next_timer;
+ uint64_t alarm;
+ struct esp32_tim_dev_s *tim = s_esp32_tim_dev;
+
+ flags = enter_critical_section();
+
+ /* Check if timer is "started" */
+
+ if (timer->started)
+ {
+ /* Check if timer is in head of list */
+
+ if (timer == container_of(s_runlist.next, struct rt_timer_s, list))
+ {
+ ishead = true;
+ }
+ else
+ {
+ ishead = false;
+ }
+
+ list_delete(&timer->list);
+ timer->started = false;
+
+ /* If timer is in in head of list */
+
+ if (ishead)
+ {
+ /* If list is not empty */
+
+ if (!list_is_empty(&s_runlist))
+ {
+ /* Reset hardware timer alarm value to be next timer's */
+
+ next_timer = container_of(s_runlist.next,
+ struct rt_timer_s,
+ list);
+ alarm = next_timer->alarm;
+
+ ESP32_TIM_SETALRVL(tim, alarm);
+ ESP32_TIM_SETALRM(tim, true);
+ }
+ }
+ }
+
+ leave_critical_section(flags);
+}
+
+/****************************************************************************
+ * Name: rt_timer_thread
+ *
+ * Description:
+ * RT timer working thread, it wait for a timeout semaphore, scan
+ * the timeout list and process all timers in this list.
+ *
+ * Input Parameters:
+ * argc - Not used
+ * argv - Not used
+ *
+ * Returned Value:
+ * 0.
+ *
+ ****************************************************************************/
+
+static int rt_timer_thread(int argc, FAR char *argv[])
+{
+ int ret;
+ irqstate_t flags;
+ struct rt_timer_s *timer;
+
+ while (1)
+ {
+ /* Waiting for timers timeout */
+
+ ret = nxsem_wait(&s_toutsem);
+ if (ret)
+ {
+ tmrerr("ERROR: Wait s_toutsem error=%d\n", ret);
+ assert(0);
+ }
+
+ /* Enter critical to check global timer timeout list */
+
+ flags = enter_critical_section();
+
+ /* Process all timers in list */
+
+ while (!list_is_empty(&s_toutlist))
+ {
+ /* Get first timer in list */
+
+ timer = container_of(s_toutlist.next, struct rt_timer_s, list);
+
+ /* Delete timer from list */
+
+ list_delete(&timer->list);
+ timer->started = false;
+
+ /* Leave from critical to start to call "callback" function */
+
+ leave_critical_section(flags);
+
+ timer->callback(timer->arg);
+
+ /* Check if timer is repeat */
+
+ if (timer->flags & RT_TIMER_REPEAT)
+ {
+ /* Check if timer is "not started" */
+
+ if (timer->started == false)
+ {
+ /* Restart timer */
+
+ start_rt_timer(timer);
+ }
+ }
+
+ /* Enter critical for next scaning list */
+
+ flags = enter_critical_section();
+ }
+
+ leave_critical_section(flags);
+ }
+
+ return 0;
+}
+
+/****************************************************************************
+ * Name: rt_timer_isr
+ *
+ * Description:
+ * Hardware timer interrupt service function.
+ *
+ * Input Parameters:
+ * irq - Not used
+ * context - Not used
+ * arg - Not used
+ *
+ * Returned Value:
+ * 0.
+ *
+ ****************************************************************************/
+
+static int rt_timer_isr(int irq, void *context, void *arg)
+{
+ irqstate_t flags;
+ struct rt_timer_s *timer;
+ uint64_t alarm;
+ struct esp32_tim_dev_s *tim = s_esp32_tim_dev;
+
+ /* Clear interrupt register status */
+
+ ESP32_TIM_ACKINT(tim);
+
+ /* Wake up thread to process timeout timers */
+
+ nxsem_post(&s_toutsem);
+
+ flags = enter_critical_section();
+
+ /* Check if there is timer running */
+
+ if (!list_is_empty(&s_runlist))
+ {
+ /* Remove first timer in running list and add it into timeout list */
+
+ timer = container_of(s_runlist.next, struct rt_timer_s, list);
+ list_delete(&timer->list);
+ timer->started = false;
+ list_add_after(&s_toutlist, &timer->list);
+
+ /* Check if thers is timer running */
+
+ if (!list_is_empty(&s_runlist))
+ {
+ /* Reset hardware timer alarm with next timer's alarm value */
+
+ timer = container_of(s_runlist.next, struct rt_timer_s, list);
+ alarm = timer->alarm;
+
+ ESP32_TIM_SETALRVL(tim, alarm);
+ ESP32_TIM_SETALRM(tim, true);
+ }
+ }
+
+ leave_critical_section(flags);
+
+ return 0;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: rt_timer_create
+ *
+ * Description:
+ * Create RT timer by into timer creation arguments
+ *
+ * Input Parameters:
+ * args - Input RT timer creation arguments
+ * timer_handle - Output RT timer handle pointer
+ *
+ * Returned Value:
+ * 0 is returned on success. Otherwise, a negated errno value is returned.
+ *
+ ****************************************************************************/
+
+int rt_timer_create(FAR const struct rt_timer_args_s *args,
+ FAR struct rt_timer_s **timer_handle)
+{
+ struct rt_timer_s *timer;
+
+ timer = (struct rt_timer_s *)kmm_malloc(sizeof(*timer));
+ if (!timer)
+ {
+ tmrerr("ERROR: Failed to allocate %d bytes\n", sizeof(*timer));
+ return -ENOMEM;
+ }
+
+ timer->callback = args->callback;
+ timer->arg = args->arg;
+ timer->flags = RT_TIMER_NOFLAGS;
+ timer->started = false;
+ list_initialize(&timer->list);
+
+ *timer_handle = timer;
+
+ return 0;
+}
+
+/****************************************************************************
+ * Name: rt_timer_start
+ *
+ * Description:
+ * Start RT timer.
+ *
+ * Input Parameters:
+ * timer - RT timer pointer
+ * timeout - Timeout value
+ * repeat - If the timer run repeat
+ *
+ * Returned Value:
+ * None
+ *
+ ****************************************************************************/
+
+void rt_timer_start(FAR struct rt_timer_s *timer,
+ uint32_t timeout,
+ bool repeat)
+{
+ stop_rt_timer(timer);
+
+ if (repeat)
+ {
+ timer->flags |= RT_TIMER_REPEAT;
+ }
+ else
+ {
+ timer->flags &= ~RT_TIMER_REPEAT;
+ }
+
+ timer->timeout = timeout;
+
+ start_rt_timer(timer);
+}
+
+/****************************************************************************
+ * Name: rt_timer_stop
+ *
+ * Description:
+ * Stop RT timer.
+ *
+ * Input Parameters:
+ * timer - RT timer pointer
+ *
+ * Returned Value:
+ * None
+ *
+ ****************************************************************************/
+
+void rt_timer_stop(FAR struct rt_timer_s *timer)
+{
+ stop_rt_timer(timer);
+}
+
+/****************************************************************************
+ * Name: rt_timer_delete
+ *
+ * Description:
+ * Stop and deleta RT timer.
+ *
+ * Input Parameters:
+ * timer - RT timer pointer
+ *
+ * Returned Value:
+ * None
+ *
+ ****************************************************************************/
+
+void rt_timer_delete(FAR struct rt_timer_s *timer)
+{
+ stop_rt_timer(timer);
+
+ kmm_free(timer);
+}
+
+/****************************************************************************
+ * Name: esp32_rt_timer_init
+ *
+ * Description:
+ * Initialize ESP32 RT timer.
+ *
+ * Input Parameters:
+ * timer_no - Hardware timer number
+ *
+ * Returned Value:
+ * 0 is returned on success. Otherwise, a negated errno value is returned.
+ *
+ ****************************************************************************/
+
+int esp32_rt_timer_init(int timer_no)
+{
+ int pid;
+ irqstate_t flags;
+ struct esp32_tim_dev_s *tim;
+
+ tim = esp32_tim_init(timer_no);
+ if (!tim)
+ {
+ tmrerr("ERROR: Failed to initialize ESP32 timer%d\n", timer_no);
+ return -EINVAL;
+ }
+
+ pid = nxtask_create(RT_TIMER_TASK_NAME,
Review comment:
I think this one should be `kthread_create` instead.
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