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clock: add clock_resynchronize and use subseconds RTC

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Add clock_resynchronize for better synchronization of CLOCK_REALTIME and CLOCK_MONOTONIC to match RTC after resume from low-power state.

Add up_rtc_getdatetime_with_subseconds under CONFIG_ARCH_HAVE_RTC_SUBSECONDS to allow initializing (and resynchronizing) system clock with subseconds accuracy RTC.
This commit is contained in:
Jussi Kivilinna 2017-04-21 08:45:57 -06:00 committed by Gregory Nutt
parent c04c49dac0
commit 325ba1a803
10 changed files with 363 additions and 7 deletions
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4
arch/Kconfig
View File

@ -190,6 +190,10 @@ config ARCH_HAVE_RESET
bool
default n
config ARCH_HAVE_RTC_SUBSECONDS
bool
default n
config ARCH_USE_MMU
bool "Enable MMU"
default n

1
arch/arm/src/stm32/Kconfig
View File

@ -6362,6 +6362,7 @@ config STM32_HAVE_RTC_COUNTER
config STM32_HAVE_RTC_SUBSECONDS
bool
select ARCH_HAVE_RTC_SUBSECONDS
default n
config RTC_MAGIC_REG

34
arch/arm/src/stm32/stm32_rtcc.c
View File

@ -928,6 +928,40 @@ int up_rtc_getdatetime(FAR struct tm *tp)
}
#endif
/************************************************************************************
* Name: up_rtc_getdatetime_with_subseconds
*
* Description:
* Get the current date and time from the date/time RTC. This interface
* is only supported by the date/time RTC hardware implementation.
* It is used to replace the system timer. It is only used by the RTOS during
* initialization to set up the system time when CONFIG_RTC and CONFIG_RTC_DATETIME
* are selected (and CONFIG_RTC_HIRES is not).
*
* NOTE: This interface exposes sub-second accuracy capability of RTC hardware.
* This interface allow maintaining timing accuracy when system time needs constant
* resynchronization with RTC, for example on MCU with low-power state that
* stop system timer.
*
* Input Parameters:
* tp - The location to return the high resolution time value.
* nsec - The location to return the subsecond time value.
*
* Returned Value:
* Zero (OK) on success; a negated errno on failure
*
************************************************************************************/
#ifdef CONFIG_ARCH_HAVE_RTC_SUBSECONDS
# ifndef CONFIG_STM32_HAVE_RTC_SUBSECONDS
# error "Invalid config, enable CONFIG_STM32_HAVE_RTC_SUBSECONDS."
# endif
int up_rtc_getdatetime_with_subseconds(FAR struct tm *tp, FAR long *nsec)
{
return stm32_rtc_getdatetime_with_subseconds(tp, nsec);
}
#endif
/************************************************************************************
* Name: stm32_rtc_setdatetime
*

1
arch/arm/src/stm32f7/Kconfig
View File

@ -1821,6 +1821,7 @@ config STM32F7_HAVE_RTC_COUNTER
config STM32F7_HAVE_RTC_SUBSECONDS
bool
select ARCH_HAVE_RTC_SUBSECONDS
default y
config RTC_MAGIC_REG

36
arch/arm/src/stm32f7/stm32_rtc.c
View File

@ -1178,7 +1178,7 @@ int up_rtc_getdatetime(FAR struct tm *tp)
}
rtc_dumptime((FAR const struct tm *)tp, &usecs, "Returning");
#else /* CONFIG_STM32_HAVE_RTC_SUBSECONDS */
#else /* CONFIG_STM32F7_HAVE_RTC_SUBSECONDS */
rtc_dumptime((FAR const struct tm *)tp, NULL, "Returning");
#endif
@ -1215,6 +1215,40 @@ int up_rtc_getdatetime(FAR struct tm *tp)
}
#endif
/************************************************************************************
* Name: up_rtc_getdatetime_with_subseconds
*
* Description:
* Get the current date and time from the date/time RTC. This interface
* is only supported by the date/time RTC hardware implementation.
* It is used to replace the system timer. It is only used by the RTOS during
* initialization to set up the system time when CONFIG_RTC and CONFIG_RTC_DATETIME
* are selected (and CONFIG_RTC_HIRES is not).
*
* NOTE: This interface exposes sub-second accuracy capability of RTC hardware.
* This interface allow maintaining timing accuracy when system time needs constant
* resynchronization with RTC, for example with board level power-save mode utilizing
* deep-sleep modes such as STOP on STM32 MCUs.
*
* Input Parameters:
* tp - The location to return the high resolution time value.
* nsec - The location to return the subsecond time value.
*
* Returned Value:
* Zero (OK) on success; a negated errno on failure
*
************************************************************************************/
#ifdef CONFIG_ARCH_HAVE_RTC_SUBSECONDS
# ifndef CONFIG_STM32F7_HAVE_RTC_SUBSECONDS
# error "Invalid config, enable CONFIG_STM32F7_HAVE_RTC_SUBSECONDS."
# endif
int up_rtc_getdatetime_with_subseconds(FAR struct tm *tp, FAR long *nsec)
{
return stm32_rtc_getdatetime_with_subseconds(tp, nsec);
}
#endif
/****************************************************************************
* Name: stm32_rtc_setdatetime
*

29
include/nuttx/arch.h
View File

@ -2185,6 +2185,35 @@ int up_rtc_gettime(FAR struct timespec *tp);
int up_rtc_getdatetime(FAR struct tm *tp);
#endif
/************************************************************************************
* Name: up_rtc_getdatetime_with_subseconds
*
* Description:
* Get the current date and time from the date/time RTC. This interface
* is only supported by the date/time RTC hardware implementation.
* It is used to replace the system timer. It is only used by the RTOS during
* initialization to set up the system time when CONFIG_RTC and CONFIG_RTC_DATETIME
* are selected (and CONFIG_RTC_HIRES is not).
*
* NOTE: This interface exposes sub-second accuracy capability of RTC hardware.
* This interface allow maintaining timing accuracy when system time needs constant
* resynchronization with RTC, for example on MCU with low-power state that
* stop system timer.
*
* Input Parameters:
* tp - The location to return the high resolution time value.
* nsec - The location to return the subsecond time value.
*
* Returned Value:
* Zero (OK) on success; a negated errno on failure
*
************************************************************************************/
#if defined(CONFIG_RTC) && defined(CONFIG_RTC_DATETIME) && \
defined(CONFIG_ARCH_HAVE_RTC_SUBSECONDS)
int up_rtc_getdatetime_with_subseconds(FAR struct tm *tp, FAR long *nsec);
#endif
/************************************************************************************
* Name: up_rtc_settime
*

38
include/nuttx/clock.h
View File

@ -1,7 +1,7 @@
/****************************************************************************
* include/nuttx/clock.h
*
* Copyright (C) 2007-2009, 2011-2012, 2014, 2016 Gregory Nutt.
* Copyright (C) 2007-2009, 2011-2012, 2014, 2016-2017 Gregory Nutt.
All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
@ -50,6 +50,7 @@
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Efficient, direct access to OS global timer variables will be supported
* if the execution environment has direct access to kernel global data.
@ -71,12 +72,12 @@
/* Case 1: There is no global timer data */
#elif defined(CONFIG_BUILD_PROTECTED) && defined(__KERNEL__)
/* Case 3: Kernel mode of protected kernel build */
/* Case 3: Kernel mode of protected kernel build */
# define __HAVE_KERNEL_GLOBALS 1
#elif defined(CONFIG_BUILD_KERNEL) && defined(__KERNEL__)
/* Case 3: Kernel only build */
/* Case 3: Kernel only build */
# define __HAVE_KERNEL_GLOBALS 1
@ -261,6 +262,37 @@ EXTERN volatile systime_t g_system_timer;
void clock_synchronize(void);
#endif
/****************************************************************************
* Name: clock_resynchronize
*
* Description:
* Resynchronize the system timer to a hardware RTC. The user can
* explicitly re-synchronize the system timer to the RTC under certain
* conditions where the system timer is known to be in error. For example,
* in certain low-power states, the system timer may be stopped but the
* RTC will continue keep correct time. After recovering from such
* low-power state, this function should be called to restore the correct
* system time. Function also keeps monotonic clock at rate of RTC.
*
* Calling this function will not result in system time going "backward" in
* time. If setting system time with RTC would result time going "backward"
* then resynchronization is not performed.
*
* Parameters:
* diff: amount of time system-time is adjusted forward with RTC
*
* Return Value:
* None
*
* Assumptions:
*
****************************************************************************/
#if defined(CONFIG_RTC) && !defined(CONFIG_SCHED_TICKLESS) && \
!defined(CONFIG_CLOCK_TIMEKEEPING)
void clock_resynchronize(FAR struct timespec *rtc_diff);
#endif
/****************************************************************************
* Function: clock_systimer
*

6
sched/clock/clock.h
View File

@ -1,7 +1,7 @@
/****************************************************************************
* sched/clock/clock.h
*
* Copyright (C) 2007-2009, 2014 Gregory Nutt. All rights reserved.
* Copyright (C) 2007-2009, 2014, 2017 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -81,6 +81,10 @@ extern volatile uint32_t g_system_timer;
#ifndef CONFIG_CLOCK_TIMEKEEPING
extern struct timespec g_basetime;
#ifdef CONFIG_CLOCK_MONOTONIC
extern struct timespec g_monotonic_basetime;
#endif
#endif
/****************************************************************************

33
sched/clock/clock_gettime.c
View File

@ -100,6 +100,33 @@ int clock_gettime(clockid_t clock_id, struct timespec *tp)
#else
ret = clock_systimespec(tp);
#endif
#ifndef CONFIG_CLOCK_TIMEKEEPING
if (ret == OK)
{
irqstate_t flags;
/* Add the offset time to this. The offset time allows
* CLOCK_MONOTONIC be introduced additional increases to systime.
*/
flags = enter_critical_section();
tp->tv_sec += (uint32_t)g_monotonic_basetime.tv_sec;
tp->tv_nsec += (uint32_t)g_monotonic_basetime.tv_nsec;
leave_critical_section(flags);
/* Handle carry to seconds. */
if (tp->tv_nsec >= NSEC_PER_SEC)
{
carry = tp->tv_nsec / NSEC_PER_SEC;
tp->tv_sec += carry;
tp->tv_nsec -= (carry * NSEC_PER_SEC);
}
}
#endif /* CONFIG_CLOCK_TIMEKEEPING */
}
else
#endif
@ -129,14 +156,20 @@ int clock_gettime(clockid_t clock_id, struct timespec *tp)
#ifndef CONFIG_CLOCK_TIMEKEEPING
if (ret == OK)
{
irqstate_t flags;
/* Add the base time to this. The base time is the time-of-day
* setting. When added to the elapsed time since the time-of-day
* was last set, this gives us the current time.
*/
flags = enter_critical_section();
ts.tv_sec += (uint32_t)g_basetime.tv_sec;
ts.tv_nsec += (uint32_t)g_basetime.tv_nsec;
leave_critical_section(flags);
/* Handle carry to seconds. */
if (ts.tv_nsec >= NSEC_PER_SEC)

188
sched/clock/clock_initialize.c
View File

@ -1,7 +1,7 @@
/****************************************************************************
* sched/clock/clock_initialize.c
*
* Copyright (C) 2007, 2009, 2011-2012 Gregory Nutt. All rights reserved.
* Copyright (C) 2007, 2009, 2011-2012, 2017 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -80,8 +80,14 @@ volatile uint32_t g_system_timer;
#endif
#endif
#ifndef CONFIG_CLOCK_TIMEKEEPING
struct timespec g_basetime;
#ifdef CONFIG_CLOCK_MONOTONIC
struct timespec g_monotonic_basetime;
#endif
#endif
/****************************************************************************
* Private Functions
****************************************************************************/
@ -101,17 +107,22 @@ struct timespec g_basetime;
static inline int clock_basetime(FAR struct timespec *tp)
{
struct tm rtctime;
long nsecs = 0;
int ret;
/* Get the broken-out time from the date/time RTC. */
#ifdef CONFIG_ARCH_HAVE_RTC_SUBSECONDS
ret = up_rtc_getdatetime_with_subseconds(&rtctime, &nsecs);
#else
ret = up_rtc_getdatetime(&rtctime);
#endif
if (ret >= 0)
{
/* And use the broken-out time to initialize the system time */
tp->tv_sec = mktime(&rtctime);
tp->tv_nsec = 0;
tp->tv_nsec = nsecs;
}
return ret;
@ -256,6 +267,179 @@ void clock_synchronize(void)
}
#endif
/****************************************************************************
* Name: clock_resynchronize
*
* Description:
* Resynchronize the system timer to a hardware RTC. The user can
* explicitly re-synchronize the system timer to the RTC under certain
* conditions where the system timer is known to be in error. For example,
* in certain low-power states, the system timer may be stopped but the
* RTC will continue keep correct time. After recovering from such
* low-power state, this function should be called to restore the correct
* system time. Function also keeps monotonic clock at rate of RTC.
*
* Calling this function will not result in system time going "backward" in
* time. If setting system time with RTC would result time going "backward"
* then resynchronization is not performed.
*
* Parameters:
* rtc_diff: amount of time system-time is adjusted forward with RTC
*
* Return Value:
* None
*
* Assumptions:
*
****************************************************************************/
#if defined(CONFIG_RTC) && !defined(CONFIG_SCHED_TICKLESS) && \
!defined(CONFIG_CLOCK_TIMEKEEPING)
void clock_resynchronize(FAR struct timespec *rtc_diff)
{
struct timespec rtc_time, bias, curr_ts;
struct timespec rtc_diff_tmp;
irqstate_t flags;
int32_t carry;
int ret;
if (rtc_diff == NULL)
{
rtc_diff = &rtc_diff_tmp;
}
/* Set the time value to match the RTC */
flags = enter_critical_section();
/* Get RTC time */
ret = clock_basetime(&rtc_time);
if (ret < 0)
{
/* Error reading RTC, skip resynchronization. */
sinfo("rtc error %d, skip resync\n", ret);
rtc_diff->tv_sec = 0;
rtc_diff->tv_nsec = 0;
goto skip;
}
/* Get the elapsed time since power up (in milliseconds). This is a
* bias value that we need to use to correct the base time.
*/
(void)clock_systimespec(&bias);
/* Add the base time to this. The base time is the time-of-day
* setting. When added to the elapsed time since the time-of-day
* was last set, this gives us the current time.
*/
curr_ts.tv_sec = bias.tv_sec + g_basetime.tv_sec;
curr_ts.tv_nsec = bias.tv_nsec + g_basetime.tv_nsec;
/* Handle carry to seconds. */
if (curr_ts.tv_nsec >= NSEC_PER_SEC)
{
carry = curr_ts.tv_nsec / NSEC_PER_SEC;
curr_ts.tv_sec += carry;
curr_ts.tv_nsec -= (carry * NSEC_PER_SEC);
}
/* Check if RTC has advanced past system time. */
if (curr_ts.tv_sec > rtc_time.tv_sec ||
(curr_ts.tv_sec == rtc_time.tv_sec && curr_ts.tv_nsec >= rtc_time.tv_nsec))
{
/* Setting system time with RTC now would result time going
* backwards. Skip resynchronization.
*/
sinfo("skip resync\n");
rtc_diff->tv_sec = 0;
rtc_diff->tv_nsec = 0;
}
else
{
/* Save RTC time as the new base time. */
g_basetime.tv_sec = rtc_time.tv_sec;
g_basetime.tv_nsec = rtc_time.tv_nsec;
/* Subtract that bias from the basetime so that when the system
* timer is again added to the base time, the result is the current
* time relative to basetime.
*/
if (g_basetime.tv_nsec < bias.tv_nsec)
{
g_basetime.tv_nsec += NSEC_PER_SEC;
g_basetime.tv_sec--;
}
/* Result could be negative seconds */
g_basetime.tv_nsec -= bias.tv_nsec;
g_basetime.tv_sec -= bias.tv_sec;
sinfo("basetime=(%ld,%lu) bias=(%ld,%lu)\n",
(long)g_basetime.tv_sec, (unsigned long)g_basetime.tv_nsec,
(long)bias.tv_sec, (unsigned long)bias.tv_nsec);
/* Output difference between time at entry and new current time. */
rtc_diff->tv_sec = (bias.tv_sec + g_basetime.tv_sec) - curr_ts.tv_sec;
rtc_diff->tv_nsec = (bias.tv_nsec + g_basetime.tv_nsec) - curr_ts.tv_nsec;
/* Handle carry to seconds. */
if (rtc_diff->tv_nsec < 0)
{
carry = -((-(rtc_diff->tv_nsec + 1)) / NSEC_PER_SEC + 1);
}
else if (rtc_diff->tv_nsec >= NSEC_PER_SEC)
{
carry = rtc_diff->tv_nsec / NSEC_PER_SEC;
}
else
{
carry = 0;
}
if (carry)
{
rtc_diff->tv_sec += carry;
rtc_diff->tv_nsec -= (carry * NSEC_PER_SEC);
}
#ifdef CONFIG_CLOCK_MONOTONIC
/* Monotonic clock follows wall time since system start-up. Adjust
* CLOCK_MONOTONIC same amount as CLOCK_REALTIME.
*/
g_monotonic_basetime.tv_sec += (uint32_t)rtc_diff->tv_sec;
g_monotonic_basetime.tv_nsec += (uint32_t)rtc_diff->tv_nsec;
/* Handle carry to seconds. */
if (g_monotonic_basetime.tv_nsec >= NSEC_PER_SEC)
{
carry = g_monotonic_basetime.tv_nsec / NSEC_PER_SEC;
g_monotonic_basetime.tv_sec += carry;
g_monotonic_basetime.tv_nsec -= (carry * NSEC_PER_SEC);
}
#endif
}
skip:
leave_critical_section(flags);
}
#endif
/****************************************************************************
* Name: clock_timer
*