From 50669f941ddc00e7f8ee9b4f4276ba0af43a71ef Mon Sep 17 00:00:00 2001
From: Fabiano Riccardi <fabiuz4@hotmail.it>
Date: Mon, 10 Oct 2016 07:16:35 -0700
Subject: [PATCH] Refactoring of cstimer in high_resolution_timer_base, base
class for the future timers
Signed-off-by: Fabiano Riccardi <fabiuz4@hotmail.it>
---
.../interfaces-impl/cstimer.cpp | 25 +-
.../interfaces-impl/cstimer_impl.h | 29 ++
.../high_resolution_timer_base.cpp | 277 +++++++++++++++---
.../high_resolution_timer_base.h | 4 +-
miosix/config/Makefile.inc | 3 +-
miosix/interfaces/cstimer.h | 3 +
6 files changed, 286 insertions(+), 55 deletions(-)
create mode 100644 miosix/arch/cortexM3_efm32gg/efm32gg332f1024_wandstem/interfaces-impl/cstimer_impl.h
diff --git a/miosix/arch/cortexM3_efm32gg/efm32gg332f1024_wandstem/interfaces-impl/cstimer.cpp b/miosix/arch/cortexM3_efm32gg/efm32gg332f1024_wandstem/interfaces-impl/cstimer.cpp
index c89b72dd..21b77240 100644
--- a/miosix/arch/cortexM3_efm32gg/efm32gg332f1024_wandstem/interfaces-impl/cstimer.cpp
+++ b/miosix/arch/cortexM3_efm32gg/efm32gg332f1024_wandstem/interfaces-impl/cstimer.cpp
@@ -3,6 +3,7 @@
#include "kernel/kernel.h"
#include "kernel/scheduler/timer_interrupt.h"
#include "kernel/timeconversion.h"
+#include "cstimer_impl.h"
#include "high_resolution_timer_base.h"
using namespace miosix;
@@ -21,28 +22,26 @@ namespace miosix {
}
void ContextSwitchTimer::IRQsetNextInterrupt(long long ns){
- b.IRQsetNextInterrupt1(tc->ns2tick(ns));
+ pImpl->b.IRQsetNextInterrupt1(tc->ns2tick(ns));
}
- long long ContextSwitchTimer::getNextInterrupt() const
- {
- return tc->tick2ns(b.IRQgetSetTimeCCV1());
+ long long ContextSwitchTimer::getNextInterrupt() const{
+ return tc->tick2ns(pImpl->b.IRQgetSetTimeCCV1());
}
- long long ContextSwitchTimer::getCurrentTick() const
- {
- return tc->tick2ns(b.getCurrentTick());
+ long long ContextSwitchTimer::getCurrentTick() const{
+ return tc->tick2ns(pImpl->b.getCurrentTick());
}
- long long ContextSwitchTimer::IRQgetCurrentTick() const
- {
- return tc->tick2ns(b.IRQgetCurrentTick());
+ long long ContextSwitchTimer::IRQgetCurrentTick() const{
+ return tc->tick2ns(pImpl->b.IRQgetCurrentTick());
}
ContextSwitchTimer::~ContextSwitchTimer(){}
- ContextSwitchTimer::ContextSwitchTimer(): b(HighResolutionTimerBase::instance())
- {
- tc = new TimeConversion(b.getTimerFrequency());
+ ContextSwitchTimer::ContextSwitchTimer(){
+ pImpl=new ContextSwitchTimerImpl();
+ timerFreq=pImpl->b.getTimerFrequency();
+ tc = new TimeConversion(timerFreq);
}
}
\ No newline at end of file
diff --git a/miosix/arch/cortexM3_efm32gg/efm32gg332f1024_wandstem/interfaces-impl/cstimer_impl.h b/miosix/arch/cortexM3_efm32gg/efm32gg332f1024_wandstem/interfaces-impl/cstimer_impl.h
new file mode 100644
index 00000000..2088b115
--- /dev/null
+++ b/miosix/arch/cortexM3_efm32gg/efm32gg332f1024_wandstem/interfaces-impl/cstimer_impl.h
@@ -0,0 +1,29 @@
+/*
+ * To change this license header, choose License Headers in Project Properties.
+ * To change this template file, choose Tools | Templates
+ * and open the template in the editor.
+ */
+
+/*
+ * File: cstimer_impl.h
+ * Author: fabiuz
+ *
+ * Created on October 3, 2016, 2:36 AM
+ */
+#include "high_resolution_timer_base.h"
+
+#ifndef CSTIMER_IMPL_H
+#define CSTIMER_IMPL_H
+namespace miosix{
+
+class ContextSwitchTimerImpl{
+ public:
+ HighResolutionTimerBase& b;
+ ContextSwitchTimerImpl():
+ b(HighResolutionTimerBase::instance()){};
+};
+
+}
+
+#endif /* CSTIMER_IMPL_H */
+
diff --git a/miosix/arch/cortexM3_efm32gg/efm32gg332f1024_wandstem/interfaces-impl/high_resolution_timer_base.cpp b/miosix/arch/cortexM3_efm32gg/efm32gg332f1024_wandstem/interfaces-impl/high_resolution_timer_base.cpp
index bad6a546..349c7723 100644
--- a/miosix/arch/cortexM3_efm32gg/efm32gg332f1024_wandstem/interfaces-impl/high_resolution_timer_base.cpp
+++ b/miosix/arch/cortexM3_efm32gg/efm32gg332f1024_wandstem/interfaces-impl/high_resolution_timer_base.cpp
@@ -14,12 +14,8 @@
#include "interfaces/arch_registers.h"
#include "kernel/kernel.h"
#include "kernel/scheduler/timer_interrupt.h"
-#include "kernel/timeconversion.h"
-#include "../../../../../debugpin.h"
-#include "CMSIS/Include/core_cm3.h"
-#include "bsp_impl.h"
#include "high_resolution_timer_base.h"
-
+#include "kernel/timeconversion.h"
using namespace miosix;
const unsigned int timerBits=32;
@@ -28,8 +24,159 @@ const unsigned long long lowerMask=overflowIncrement-1;
const unsigned long long upperMask=0xFFFFFFFFFFFFFFFFLL-lowerMask;
static long long ms32time = 0; //most significant 32 bits of counter
-static long long ms32chkp[3] = {0}; //most significant 32 bits of check point
+static long long ms32chkp[3] = {0,0,0}; //most significant 32 bits of check point
static bool lateIrq=false;
+static TimeConversion* tc;
+
+static inline unsigned int IRQread32Timer(){
+ unsigned int high=TIMER3->CNT;
+ unsigned int low=TIMER1->CNT;
+ unsigned int high2=TIMER3->CNT;
+ if(high==high2){
+ return (high<<16)|low;
+ }
+ return high2<<16|TIMER1->CNT;
+}
+
+static inline long long IRQgetTick(){
+ //PENDING BIT TRICK
+ unsigned int counter=IRQread32Timer();
+ if((TIMER3->IF & _TIMER_IFC_OF_MASK) && IRQread32Timer()>=counter)
+ return (ms32time | static_cast<long long>(counter)) + overflowIncrement;
+ return ms32time | static_cast<long long>(counter);
+}
+
+inline void interruptGPIOTimerRoutine(){
+ if(TIMER1->CC[2].CTRL & TIMER_CC_CTRL_MODE_OUTPUTCOMPARE){
+ expansion::gpio10::high();
+ }else if(TIMER1->CC[2].CTRL & TIMER_CC_CTRL_MODE_INPUTCAPTURE){
+ //Reactivating the thread that is waiting for the event.
+ if(HighResolutionTimerBase::tWaitingGPIO)
+ {
+ HighResolutionTimerBase::tWaitingGPIO->IRQwakeup();
+ if(HighResolutionTimerBase::tWaitingGPIO->IRQgetPriority()>Thread::IRQgetCurrentThread()->IRQgetPriority())
+ Scheduler::IRQfindNextThread();
+ HighResolutionTimerBase::tWaitingGPIO=nullptr;
+ }
+ }
+}
+
+static inline void callScheduler(){
+ TIMER1->IEN &= ~TIMER_IEN_CC1;
+ TIMER3->IEN &= ~TIMER_IEN_CC1;
+ long long tick = tc->tick2ns(IRQgetTick());
+ IRQtimerInterrupt(tick);
+}
+
+static inline void setupTimers(long long curTick,long long nextIntTick){
+ long long diffs = ms32chkp[1] - ms32time;
+ long int diff = TIMER3->CC[1].CCV - TIMER3->CNT;
+ if (diffs == 0 || (diffs==1 && (TIMER3->IF & TIMER_IF_OF)) ){
+ if (diff==0 || diff==-1){
+ if (diff==-1){ //if TIM1 overflows before calculating diff
+ callScheduler();
+ }else{
+ TIMER1->IFC = TIMER_IFC_CC1;
+ TIMER1->IEN |= TIMER_IEN_CC1;
+ if (TIMER1->CNT > TIMER1->CC[1].CCV || /* TIM1 overflows after calculating diff */
+ (TIMER3->CC[1].CCV - static_cast<unsigned int>((IRQgetTick() & 0xFFFF0000)>>16)==-1 &&
+ TIMER1->CNT < TIMER1->CC[1].CCV)){
+
+ callScheduler();
+ }
+ }
+ }else{
+ TIMER3->CC[1].CCV--;
+ TIMER3->IFC = TIMER_IFC_CC1;
+ TIMER3->IEN |= TIMER_IEN_CC1;
+ if (TIMER3->CNT == TIMER3->CC[1].CCV){
+ TIMER1->IFC = TIMER_IFC_CC1;
+ TIMER1->IEN |= TIMER_IEN_CC1;
+ TIMER3->IEN &= ~TIMER_IEN_CC1;
+ }else if (TIMER3->CNT > TIMER3->CC[1].CCV){
+ callScheduler();
+ }
+ }
+ }else{
+ TIMER3->IFC = TIMER_IFC_CC1;
+ TIMER3->IEN |= TIMER_IEN_CC1;
+ }
+}
+/*
+void __attribute__((naked)) TIMER3_IRQHandler()
+{
+ saveContext();
+ asm volatile("bl _Z10cstirqhnd3v");
+ restoreContext();
+}
+
+
+ //This routine has to manage the timer1 interrupt disable/enable to guarantee efficiency
+
+void __attribute__((used)) cstirqhnd3(){
+ //Context Switch - Checkpoint
+ if (lateIrq){
+ IRQtimerInterrupt(tc->tick2ns(IRQgetTick()));
+ lateIrq = false;
+ }else if (TIMER3->IF & TIMER_IF_CC1){
+ TIMER3->IFC = TIMER_IFC_CC1;
+ if (ms32time == ms32chkp[1]){
+ TIMER1->IFC = TIMER_IFC_CC1;
+ NVIC_ClearPendingIRQ(TIMER1_IRQn);
+ NVIC_EnableIRQ(TIMER1_IRQn);
+ //TIMER1->IEN |= TIMER_IEN_CC1;
+ if (TIMER1->CNT >= TIMER1->CC[1].CCV){
+ TIMER1->IFC = TIMER_IFC_CC1;
+ NVIC_DisableIRQ(TIMER1_IRQn);
+ //TIMER1->IEN &= ~TIMER_IEN_CC1;
+ IRQtimerInterrupt(tc->tick2ns(IRQgetTick()));
+ }
+ }
+ }
+
+// if(TIMER3->IF & TIMER_IF_CC0){
+// TIMER3->IFC = TIMER_IFC_CC0;
+// if (ms32time == ms32chkp[0]){
+// //global++;
+// TIMER1->IFC = TIMER_IFC_CC0;
+// TIMER1->IEN |= TIMER_IEN_CC0;
+// NVIC_ClearPendingIRQ(TIMER1_IRQn);
+// NVIC_EnableIRQ(TIMER1_IRQn);
+// if (TIMER1->CNT >= TIMER1->CC[0].CCV){
+// TIMER1->IEN &= ~TIMER_IEN_CC0;
+// TIMER1->IFC = TIMER_IFC_CC0;
+// interruptGPIOTimerRoutine();
+// //global+=10;
+// }
+// }
+// }
+
+ //Rollover
+ if (TIMER3->IF & TIMER_IF_OF){
+ TIMER3->IFC = TIMER_IFC_OF;
+ ms32time += overflowIncrement;
+ }
+}
+
+void __attribute__((used)) cstirqhnd1(){
+ //Context Switch - Checkpoint
+ if (TIMER1->IF & TIMER_IF_CC1){
+ TIMER1->IFC = TIMER_IFC_CC1;
+ //TIMER1->IEN &= ~TIMER_IEN_CC1;
+ NVIC_ClearPendingIRQ(TIMER1_IRQn);
+ NVIC_DisableIRQ(TIMER1_IRQn);
+ IRQtimerInterrupt(tc->tick2ns(IRQgetTick()));
+ }
+
+// if (TIMER1->IF & TIMER_IF_CC2){
+// //global+=100;
+// TIMER1->IEN &= ~TIMER_IEN_CC2;
+// TIMER1->IFC = TIMER_IFC_CC2;
+// NVIC_ClearPendingIRQ(TIMER1_IRQn);
+// interruptGPIOTimerRoutine();
+// }
+
+}
void __attribute__((naked)) TIMER1_IRQHandler()
{
@@ -45,17 +192,47 @@ void __attribute__((naked)) TIMER2_IRQHandler()
}
void __attribute__((used)) cstirqhnd2(){}
+*/
+void __attribute__((naked)) TIMER3_IRQHandler()
+{
+ saveContext();
+ asm volatile("bl _Z10cstirqhnd3v");
+ restoreContext();
+}
+void __attribute__((naked)) TIMER1_IRQHandler()
+{
+ saveContext();
+ asm volatile("bl _Z10cstirqhnd1v");
+ restoreContext();
+}
-
-static inline unsigned int IRQread32Timer(){
- unsigned int high=TIMER3->CNT;
- unsigned int low=TIMER1->CNT;
- unsigned int high2=TIMER3->CNT;
- if(high==high2){
- return (high<<16)|low;
+void __attribute__((used)) cstirqhnd3(){
+
+ //Checkpoint
+ if (TIMER3->IF & TIMER_IF_CC1){
+
+ TIMER3->IFC = TIMER_IFC_CC1;
+ long long diffs = ms32chkp[1] - ms32time;
+ if (diffs == 0|| (diffs==1 && (TIMER3->IF & TIMER_IF_OF)) ){
+ TIMER3->IEN &= ~TIMER_IEN_CC1;
+ TIMER1->IFC = TIMER_IFC_CC1;
+ TIMER1->IEN |= TIMER_IEN_CC1;
+ if (TIMER1->CNT >= TIMER1->CC[1].CCV){
+ callScheduler(); //WHat if CCV=0xFFFF
+ }
+ }
+ }
+ //rollover
+ if (TIMER3->IF & TIMER_IF_OF){
+ TIMER3->IFC = TIMER_IFC_OF;
+ ms32time += overflowIncrement;
+ }
+}
+void __attribute__((used)) cstirqhnd1(){
+ if (TIMER1->IF & TIMER_IF_CC1){
+ callScheduler();
}
- return high2<<16|TIMER1->CNT;
}
HighResolutionTimerBase& HighResolutionTimerBase::instance(){
@@ -88,9 +265,26 @@ HighResolutionTimerBase::HighResolutionTimerBase() {
TIMER3->CTRL = TIMER_CTRL_MODE_UP | TIMER_CTRL_CLKSEL_TIMEROUF
| TIMER_CTRL_SYNC;
+ //Code to entirely reset TIMER1, needed if you want run after the flash
+ TIMER1->CMD=TIMER_CMD_STOP;
+ TIMER1->CTRL=0;
+ TIMER1->ROUTE=0;
+ TIMER1->IEN=0;
+ TIMER1->IFC=~0;
+ TIMER1->TOP=0xFFFF;
+ TIMER1->CNT=0;
+ TIMER1->CC[0].CTRL=0;
+ TIMER1->CC[0].CCV=0;
+ TIMER1->CC[1].CTRL=0;
+ TIMER1->CC[1].CCV=0;
+ TIMER1->CC[2].CTRL=0;
+ TIMER1->CC[2].CCV=0;
+
+
+
//Enable necessary interrupt lines
- TIMER1->IEN = TIMER_IEN_CC1;
- TIMER3->IEN = /*TIMER_IEN_OF |*/ TIMER_IEN_CC1;
+ TIMER1->IEN = 0;
+ TIMER3->IEN = TIMER_IEN_OF; //OF needed to increment the software counter (32-bit)
TIMER1->CC[1].CTRL = TIMER_CC_CTRL_MODE_OUTPUTCOMPARE;
TIMER3->CC[1].CTRL = TIMER_CC_CTRL_MODE_OUTPUTCOMPARE;
@@ -100,24 +294,26 @@ HighResolutionTimerBase::HighResolutionTimerBase() {
NVIC_ClearPendingIRQ(TIMER3_IRQn);
NVIC_ClearPendingIRQ(TIMER1_IRQn);
NVIC_EnableIRQ(TIMER3_IRQn);
- NVIC_DisableIRQ(TIMER1_IRQn);
+ NVIC_EnableIRQ(TIMER1_IRQn);
+ timerFreq=48000000;
+ tc=new TimeConversion(timerFreq);
//Start timers
TIMER1->CMD = TIMER_CMD_START;
- //Setup tick2ns conversion tool
- timerFreq = 48000000;
+ //Synchronization is required only when timers are to start.
+ //If the sync is not disabled after start, start/stop on another timer
+ //(e.g. TIMER0) will affect the behavior of context switch timer!
+ TIMER1->CTRL &= ~TIMER_CTRL_SYNC;
+ TIMER2->CTRL &= ~TIMER_CTRL_SYNC;
+ TIMER3->CTRL &= ~TIMER_CTRL_SYNC;
}
-Thread* HighResolutionTimerBase::tWaiting=nullptr;
+Thread* HighResolutionTimerBase::tWaitingGPIO=nullptr;
HighResolutionTimerBase::~HighResolutionTimerBase() {}
long long HighResolutionTimerBase::IRQgetCurrentTick(){
- //PENDING BIT TRICK
- unsigned int counter=IRQread32Timer();
- if((TIMER3->IF & _TIMER_IFC_OF_MASK) && IRQread32Timer()>=counter)
- return (ms32time | static_cast<long long>(counter)) + overflowIncrement;
- return ms32time | static_cast<long long>(counter);
+ return IRQgetTick();
}
void HighResolutionTimerBase::setCCInterrupt0(bool enable){
@@ -203,25 +399,28 @@ bool HighResolutionTimerBase::IRQsetNextInterrupt0(long long tick){
return false;
}
return true;
-}
+}
bool HighResolutionTimerBase::IRQsetNextInterrupt1(long long tick){
- ms32chkp[1] = tick & upperMask;
- TIMER3->CC[1].CCV = static_cast<unsigned int>((tick & 0xFFFF0000)>>16);
- TIMER1->CC[1].CCV = static_cast<unsigned int>(tick & 0xFFFF);
- /*
- In order to prevent back to back interrupts due to a checkpoint
- set in the past, raise lateIrq flag to indicate this IRQ should
- be processed only once
- */
- if(IRQgetCurrentTick() >= IRQgetSetTimeCCV1())
+ // First off, clear and disable timers to prevent unnecessary IRQ
+ // when IRQsetNextInterrupt is called multiple times consecutively.
+ TIMER1->IEN &= ~TIMER_IEN_CC1;
+ TIMER3->IEN &= ~TIMER_IEN_CC1;
+
+ long long curTick = IRQgetTick();
+ if(curTick >= tick)
{
- NVIC_SetPendingIRQ(TIMER3_IRQn);
- // TIMER3->IFS=TIMER_IFS_CC1; ????
- lateIrq=true;
+ // The interrupt is in the past => call timerInt immediately
+ callScheduler(); //TODO: It could cause multiple invocations of sched.
return false;
+ }else{
+ // Apply the new interrupt on to the timer channels
+ TIMER1->CC[1].CCV = static_cast<unsigned int>(tick & 0xFFFF);
+ TIMER3->CC[1].CCV = static_cast<unsigned int>((tick & 0xFFFF0000)>>16);
+ ms32chkp[1] = tick & upperMask;
+ setupTimers(curTick, tick);
+ return true;
}
- return true;
}
bool HighResolutionTimerBase::IRQsetNextInterrupt2(long long tick){
diff --git a/miosix/arch/cortexM3_efm32gg/efm32gg332f1024_wandstem/interfaces-impl/high_resolution_timer_base.h b/miosix/arch/cortexM3_efm32gg/efm32gg332f1024_wandstem/interfaces-impl/high_resolution_timer_base.h
index 9f14e315..d5522920 100644
--- a/miosix/arch/cortexM3_efm32gg/efm32gg332f1024_wandstem/interfaces-impl/high_resolution_timer_base.h
+++ b/miosix/arch/cortexM3_efm32gg/efm32gg332f1024_wandstem/interfaces-impl/high_resolution_timer_base.h
@@ -11,7 +11,7 @@
* Created on September 27, 2016, 2:20 AM
*/
-#include "../../../../miosix.h"
+#include "miosix.h"
#ifndef HIGH_RESOLUTION_TIMER_BASE_H
#define HIGH_RESOLUTION_TIMER_BASE_H
@@ -20,7 +20,7 @@ namespace miosix {
class HighResolutionTimerBase {
public:
- static Thread *tWaiting;
+ static Thread *tWaitingGPIO;
static HighResolutionTimerBase& instance();
diff --git a/miosix/config/Makefile.inc b/miosix/config/Makefile.inc
index 8a96f785..7197f628 100644
--- a/miosix/config/Makefile.inc
+++ b/miosix/config/Makefile.inc
@@ -2112,7 +2112,8 @@ else ifeq ($(ARCH),cortexM3_efm32gg)
$(BOARD_INC)/interfaces-impl/gpioirq.cpp \
$(BOARD_INC)/interfaces-impl/hardware_timer.cpp \
$(BOARD_INC)/interfaces-impl/transceiver.cpp \
- $(BOARD_INC)/interfaces-impl/cstimer.cpp
+ $(BOARD_INC)/interfaces-impl/cstimer.cpp \
+ $(BOARD_INC)/interfaces-impl/high_resolution_timer_base.cpp
## Add a #define to allow querying board name
CFLAGS_BASE += -DEFM32GG332F1024 -D_BOARD_WANDSTEM
diff --git a/miosix/interfaces/cstimer.h b/miosix/interfaces/cstimer.h
index 92d32400..1befa418 100644
--- a/miosix/interfaces/cstimer.h
+++ b/miosix/interfaces/cstimer.h
@@ -3,6 +3,8 @@
namespace miosix {
+class ContextSwitchTimerImpl;
+
/**
* This class is a low level interface to a hardware timer, that is used as
* the basis for the Miosix timing infrastructure. In detail, it allows to
@@ -66,6 +68,7 @@ private:
*/
ContextSwitchTimer();
unsigned int timerFreq;
+ ContextSwitchTimerImpl* pImpl;
};
} //namespace miosix
--
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