diff --git a/miosix/_tools/testsuite/testsuite.cpp b/miosix/_tools/testsuite/testsuite.cpp
index 2060aa17d00f855798854c1ffba2242fc1aec77b..cbaba8afad373345a1e43276cf8fa36514964adb 100644
--- a/miosix/_tools/testsuite/testsuite.cpp
+++ b/miosix/_tools/testsuite/testsuite.cpp
@@ -803,14 +803,16 @@ also tests creation of multiple instances of the same thread
static void t3_p1(void *argv)
{
- const int SLEEP_TIME=100;
+ const int SLEEP_TIME=100; // in ms
for(;;)
{
if(Thread::testTerminate()) break;
//Test that Thread::sleep sleeps the desired number of ticks
- long long x=getTick();
+ long long x1=getTick(); //getTick returns # passed quantums
Thread::sleep(SLEEP_TIME);
- if(llabs(((SLEEP_TIME*TICK_FREQ)/1000)-(getTick()-x))>5)
+ long long x2=getTick();
+ //if(llabs(((SLEEP_TIME*TICK_FREQ)/1000)-(getTick()-x))>5)
+ if (llabs((x2-x1)*preemptionPeriodNs/1000000-SLEEP_TIME)>5) //Max tolerated error is 5ms
fail("Thread::sleep() or getTick()");
}
}
@@ -880,16 +882,19 @@ static void test_3()
if(t3_deleted==false) fail("multiple instances (4)");
//Testing Thread::sleepUntil()
long long tick;
- const int period=static_cast<int>(TICK_FREQ*0.01); //10ms
+ //const int period=static_cast<int>(TICK_FREQ*0.01); //10ms
+ const int period=10000000;//10ms
{
InterruptDisableLock lock; //Making these two operations atomic.
- tick=getTick();
+ tick=getTick()*preemptionPeriodNs;
tick+=period;
}
for(int i=0;i<4;i++)
{
- Thread::sleepUntil(tick);
- if(tick!=getTick()) fail("Thread::sleepUntil()");
+ //tick is in number of quantums passed while sleepUntil requires ms
+ Thread::nanoSleepUntil(tick);
+ long long t2 = getTick();
+ if(tick!=t2*preemptionPeriodNs) fail("Thread::sleepUntil()");
tick+=period;
}
pass();
diff --git a/miosix/arch/cortexM4_stm32f4/common/interfaces-impl/cstimer.cpp b/miosix/arch/cortexM4_stm32f4/common/interfaces-impl/cstimer.cpp
index 0874558e4c89a4731b7ba85f85aae54a661efb4f..f56e6d526c36339b160e7ad5b0283de8f6bf1934 100644
--- a/miosix/arch/cortexM4_stm32f4/common/interfaces-impl/cstimer.cpp
+++ b/miosix/arch/cortexM4_stm32f4/common/interfaces-impl/cstimer.cpp
@@ -3,7 +3,7 @@
#include "interfaces/arch_registers.h"
#include "kernel/kernel.h"
#include "kernel/scheduler/timer_interrupt.h"
-#include "../../../../../debugpin.h"
+#include "kernel/timeconversion.h"
using namespace miosix;
@@ -61,15 +61,13 @@ void __attribute__((naked)) TIM2_IRQHandler()
void __attribute__((used)) cstirqhnd()
{
- HighPin<debug1> h1;
if(TIM2->SR & TIM_SR_CC1IF || lateIrq)
{
TIM2->SR = ~TIM_SR_CC1IF;
if(ms32time==ms32chkp || lateIrq)
{
lateIrq=false;
- HighPin<debug2> h2;
- IRQtimerInterrupt(nextInterrupt());
+ IRQtimerInterrupt(tc->tick2ns(nextInterrupt()));
}
}
@@ -172,6 +170,9 @@ ContextSwitchTimer::ContextSwitchTimer()
// interface. After this, the freq variable contains the frequency in Hz
// at which the timer prescaler is clocked.
if(RCC->CFGR & RCC_CFGR_PPRE1_2) timerFreq/=1<<((RCC->CFGR>>10) & 0x3);
+ tc=new TimeConversion(timerFreq);
}
+TimeConversion *tc;
+
} //namespace miosix
diff --git a/miosix/config/arch/cortexM4_stm32f4/stm32f407vg_stm32f4discovery/board_settings.h b/miosix/config/arch/cortexM4_stm32f4/stm32f407vg_stm32f4discovery/board_settings.h
index 5720a7dfb69ffad35e82a67b64b0431cd974ee26..324982dfe36f5907aa5b902011bb25ad079ab207 100644
--- a/miosix/config/arch/cortexM4_stm32f4/stm32f407vg_stm32f4discovery/board_settings.h
+++ b/miosix/config/arch/cortexM4_stm32f4/stm32f407vg_stm32f4discovery/board_settings.h
@@ -50,18 +50,21 @@ namespace miosix {
/// STM32F407VG only has 192KB of RAM so there is room for a big 4K stack.
const unsigned int MAIN_STACK_SIZE=4*1024;
+/// Context Switch Quantum Size (measured in nanoseconds)
+const unsigned int preemptionPeriodNs=1000000;
+
/// Frequency of tick (in Hz). The frequency of the STM32F100RB timer in the
/// stm32vldiscovery board can be divided by 1000. This allows to use a 1KHz
/// tick and the minimun Thread::sleep value is 1ms
/// For the priority scheduler this is also the context switch frequency
-const unsigned int TICK_FREQ=1000;
+const unsigned int TICK_FREQ=1000; //FIX ME: Should be removed
///\internal Aux timer run @ 100KHz
///Note that since the timer is only 16 bits this imposes a limit on the
///burst measurement of 655ms. If due to a pause_kernel() or
///disable_interrupts() section a thread runs for more than that time, a wrong
///burst value will be measured
-const unsigned int AUX_TIMER_CLOCK=100000;
+const unsigned int AUX_TIMER_CLOCK=100000; //FIX ME: Should be removed
const unsigned int AUX_TIMER_MAX=0xffff; ///<\internal Aux timer is 16 bits
/// Serial port (USART3 PB10=TX, PB11=RX)
diff --git a/miosix/interfaces/cstimer.h b/miosix/interfaces/cstimer.h
index 6bb06eac4481dd6cacb27e7aa280294869c16caa..e9b1af524d92e8fb8bce9d2ebc9a9eb407950f58 100644
--- a/miosix/interfaces/cstimer.h
+++ b/miosix/interfaces/cstimer.h
@@ -1,6 +1,8 @@
#ifndef CSTIMER_H
#define CSTIMER_H
+#include "kernel/timeconversion.h"
+
namespace miosix {
/**
@@ -65,6 +67,8 @@ private:
unsigned int timerFreq;
};
+extern TimeConversion *tc;
+
} //namespace miosix
#endif //TIMER_H
diff --git a/miosix/kernel/kernel.cpp b/miosix/kernel/kernel.cpp
index 2b275ca2fbc514156c1b236b649709758004c43f..ce336f3dbb75b46b3670b86daf134abfd9e649bd 100644
--- a/miosix/kernel/kernel.cpp
+++ b/miosix/kernel/kernel.cpp
@@ -38,13 +38,12 @@
#include "kernel/scheduler/scheduler.h"
#include "stdlib_integration/libc_integration.h"
#include "interfaces/cstimer.h"
+#include "timeconversion.h"
#include <stdexcept>
#include <algorithm>
#include <string.h>
#include <reent.h>
-#define CSQUANTUM 84000 //FIXME: remove it please
-
/*
Used by assembler context switch macros
This variable is set by miosix::IRQfindNextThread in file kernel.cpp
@@ -119,6 +118,8 @@ void *idleThread(void *argv)
#ifndef JTAG_DISABLE_SLEEP
//JTAG debuggers lose communication with the device if it enters sleep
//mode, so to use debugging it is necessary to remove this instruction
+
+//FIX ME: deepsleep has not been integrated fully so the code is surrounded with ifdef
#ifdef BOARD_efm32gg332f1024_wandstem
bool sleep=false;
{
@@ -193,6 +194,7 @@ bool areInterruptsEnabled()
return miosix_private::checkAreInterruptsEnabled();
}
+//FIX ME: deepsleep has not been integrated fully so the code is surrounded with ifdef
#ifdef BOARD_efm32gg332f1024_wandstem
void deepSleepLock()
{
@@ -261,9 +263,9 @@ void startKernel()
#ifdef USE_CSTIMER
// Set the first checkpoint interrupt
csRecord->p = nullptr;
- csRecord->wakeup_time = CSQUANTUM;
+ csRecord->wakeup_time = preemptionPeriodNs;
sleepingList->push_front(csRecord);
- timer->IRQsetNextInterrupt(CSQUANTUM);
+ timer->IRQsetNextInterrupt(tc->ns2tick(preemptionPeriodNs));
#endif //USE_CSTIMER
miosix_private::IRQportableStartKernel();
kernel_started=true;
@@ -292,7 +294,7 @@ long long getTick()
if(a==b) return a;
}
#else //USE_CSTIMER
- return timer->getCurrentTick()/CSQUANTUM;
+ return tc->tick2ns(timer->getCurrentTick())/preemptionPeriodNs;
#endif //USE_CSTIMER
}
@@ -320,7 +322,7 @@ void IRQaddToSleepingList(SleepData *x)
//Upon any change to the sleepingList the ContextSwitchTimer should have
//its interrupt set to the head of the list in order to keep it sync with
//the list
- timer->IRQsetNextInterrupt(sleepingList->front()->wakeup_time);
+ timer->IRQsetNextInterrupt(tc->ns2tick(sleepingList->front()->wakeup_time));
#endif
}
@@ -349,7 +351,7 @@ void IRQsetNextPreemption(long long preemptionTime)
//Upon any change to the sleepingList the ContextSwitchTimer should have
//its interrupt set to the head of the list in order to keep it sync with
//the list
- timer->IRQsetNextInterrupt(sleepingList->front()->wakeup_time);
+ timer->IRQsetNextInterrupt(tc->ns2tick(sleepingList->front()->wakeup_time));
#endif
}
/**
@@ -466,10 +468,16 @@ bool Thread::testTerminate()
}
#ifdef USE_CSTIMER
-inline void Thread::tickSleepUntil(long long absTicks)
+void Thread::nanoSleep(unsigned int ns)
+{
+ if(ns==0) return; //TODO: should be (ns < resolution + epsilon)
+ //TODO: Mutual Exclusion issue
+ nanoSleepUntil(tc->tick2ns(ContextSwitchTimer::instance().getCurrentTick()) + ns);
+}
+
+void Thread::nanoSleepUntil(long long absoluteTime)
{
- //absTicks: As it is in terms of real ticks of the kernel/timer, there's no
- //resolution issues here.
+ //TODO: The absolute time should be rounded w.r.t. the timer resolution
//This function does not care about setting the wakeup_time in the past
//as it should be based on the policy taken into account by IRQwakeThreads
@@ -482,25 +490,11 @@ inline void Thread::tickSleepUntil(long long absTicks)
{
FastInterruptDisableLock lock;
d.p=const_cast<Thread*>(cur);
- d.wakeup_time = absTicks;
+ d.wakeup_time = absoluteTime;
IRQaddToSleepingList(&d);//Also sets SLEEP_FLAG
}
Thread::yield();
-}
-
-void Thread::nanoSleep(unsigned int ns)
-{
- if(ns==0) return; //TODO: should be (ns < resolution + epsilon)
- long long ticks = ns * 0.084;//TODO: ns2tick fast conversion needed
- tickSleepUntil(ContextSwitchTimer::instance().getCurrentTick() + ticks);
-}
-
-void Thread::nanoSleepUntil(long long absoluteTime)
-{
- //TODO: The absolute time should be rounded w.r.t. the timer resolution
- long long ticks = absoluteTime * 0.084;//TODO: ns2tick fast conversion needed
- if (ticks <= ContextSwitchTimer::instance().getCurrentTick()) return;
- tickSleepUntil(ticks);
+
}
#endif
diff --git a/miosix/kernel/kernel.h b/miosix/kernel/kernel.h
index 9712491b8bbfe69901719eeee3dcd8cd053659a6..125592e2292cb5e49df343badbd3af8b25831fff 100644
--- a/miosix/kernel/kernel.h
+++ b/miosix/kernel/kernel.h
@@ -964,17 +964,6 @@ private:
* \param argv argument passed to the entry point
*/
static void threadLauncher(void *(*threadfunc)(void*), void *argv);
-
- /**
- * Puts the thread to sleep until the given time.
- * This is the base function for adding a thread to the sleeping list.
- * Other functions such as nanoSleep, sleep and sleepUntil are base on
- * appropriate calls to tickSleepUntil.
- * \param absTicks: For a tickless kernel (i.e. it uses an external aperiodic
- * timer) absTicks is in terms of aperiodic timer tick otherwise it is in
- * terms of kernel's tick!
- */
- static void tickSleepUntil(long long absTicks);
/**
* Allocates the idle thread and makes cur point to it
diff --git a/miosix/kernel/scheduler/priority/priority_scheduler.cpp b/miosix/kernel/scheduler/priority/priority_scheduler.cpp
index c294459c1d2a457226f4763920dcd3a539453f3a..231c79f7994c1fabe0e72e689ae60066a4b4f6f2 100644
--- a/miosix/kernel/scheduler/priority/priority_scheduler.cpp
+++ b/miosix/kernel/scheduler/priority/priority_scheduler.cpp
@@ -30,7 +30,6 @@
#include "kernel/process.h"
#ifdef SCHED_TYPE_PRIORITY
-#define CSQUANTUM 84000 //FIXME : Remove this
namespace miosix {
//These are defined in kernel.cpp
@@ -199,7 +198,7 @@ void PriorityScheduler::IRQsetIdleThread(Thread *idleThread)
unsigned int PriorityScheduler::IRQfindNextThread()
{
- if(kernel_running!=0) return CSQUANTUM;//If kernel is paused, do nothing
+ if(kernel_running!=0) return preemptionPeriodNs;//If kernel is paused, do nothing
for(int i=PRIORITY_MAX-1;i>=0;i--)
{
if(thread_list[i]==NULL) continue;
@@ -226,7 +225,7 @@ unsigned int PriorityScheduler::IRQfindNextThread()
//Rotate to next thread so that next time the list is walked
//a different thread, if available, will be chosen first
thread_list[i]=temp;
- return CSQUANTUM;
+ return preemptionPeriodNs;
} else temp=temp->schedData.next;
if(temp==thread_list[i]->schedData.next) break;
}
@@ -237,7 +236,7 @@ unsigned int PriorityScheduler::IRQfindNextThread()
#ifdef WITH_PROCESSES
MPUConfiguration::IRQdisable();
#endif //WITH_PROCESSES
- return CSQUANTUM;
+ return preemptionPeriodNs;
}
Thread *PriorityScheduler::thread_list[PRIORITY_MAX]={0};
diff --git a/miosix/kernel/scheduler/timer_interrupt.h b/miosix/kernel/scheduler/timer_interrupt.h
index 7ecdf70a46909431fd8ca630fcb73aefd9a801c8..6dd9b0cb2bc1d2ec14d18cf8fb87d7e5d4d73812 100644
--- a/miosix/kernel/scheduler/timer_interrupt.h
+++ b/miosix/kernel/scheduler/timer_interrupt.h
@@ -43,6 +43,9 @@ extern volatile Thread *cur;///\internal Do not use outside the kernel
extern void IRQsetNextPreemption(long long preemptionTime); ///\internal Do not use outside the kernel
extern bool IRQwakeThreads(long long currentTick);///\internal Do not use outside the kernel
+/**
+ * @param currentTick: Should be in nanoseconds
+ */
inline void IRQtimerInterrupt(long long currentTick)
{
miosix_private::IRQstackOverflowCheck();