SAMA5: Use the one-shot and free-running timers to implement tickless OS support for SAMA5
This commit is contained in:
Gregory Nutt
parent
a05ce21399
commit
d1d1d76189
@ -134,6 +134,7 @@ config ARCH_CHIP_SAMA5
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select ARCH_HAVE_FPU
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select ARCH_HAVE_LOWVECTORS
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select ARCH_HAVE_I2CRESET
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select ARCH_HAVE_TICKLESS
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---help---
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Atmel SAMA5 (ARM Cortex-A5)
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@ -3564,16 +3564,16 @@ if SCHED_TICKLESS
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config SAMA5_TICKLESS_ONESHOT
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int "Tickless one-shot timer channel"
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range 0 8
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default 0
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range 0 8
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---help---
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If the Tickless OS feature is enabled, the one clock must be
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assigned to provided the one-shot timer needed by the OS.
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config SAMA5_TICKLESS_FREERUN
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int "Tickless free-running timer channel"
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default 1
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range 0 8
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default 0
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---help---
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If the Tickless OS feature is enabled, the one clock must be
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assigned to provided the free-running timer needed by the OS.
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@ -258,6 +258,9 @@ endif
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ifeq ($(CONFIG_SAMA5_FREERUN),y)
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CHIP_CSRCS += sam_freerun.c
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endif
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ifeq ($(CONFIG_SCHED_TICKLESS),y)
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CHIP_CSRCS += sam_tickless.c
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endif
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endif
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ifeq ($(CONFIG_SAMA5_EBICS0_NAND),y)
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365
arch/arm/src/sama5/sam_tickless.c
Normal file
365
arch/arm/src/sama5/sam_tickless.c
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@ -0,0 +1,365 @@
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/****************************************************************************
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* arch/arm/src/sama5/sam_tickless.c
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*
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* Copyright (C) 2014 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Tickless OS Support.
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*
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* When CONFIG_SCHED_TICKLESS is enabled, all support for timer interrupts
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* is suppressed and the platform specific code is expected to provide the
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* following custom functions.
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*
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* void up_timer_initialize(void): Initializes the timer facilities. Called
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* early in the intialization sequence (by up_intialize()).
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* int up_timer_gettime(FAR struct timespec *ts): Returns the current
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* time from the platform specific time source.
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* int up_timer_cancel(void): Cancels the interval timer.
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* int up_timer_start(FAR const struct timespec *ts): Start (or re-starts)
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* the interval timer.
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*
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* The RTOS will provide the following interfaces for use by the platform-
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* specific interval timer implementation:
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*
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* void sched_timer_expiration(void): Called by the platform-specific
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* logic when the interval timer expires.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <debug.h>
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#include <nuttx/arch.h>
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#include "sam_oneshot.h"
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#include "sam_freerun.h"
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#ifdef CONFIG_SCHED_TICKLESS
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#ifndef CONFIG_SAMA5_HAVE_TC
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# error Timer/counters must be selected for the Tickless OS option
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#endif
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#ifndef CONFIG_SAMA5_ONESHOT
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# error CONFIG_SAMA5_ONESHOT must be selected for the Tickless OS option
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#endif
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#ifndef CONFIG_SAMA5_FREERUN
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# error CONFIG_SAMA5_FREERUN must be selected for the Tickless OS option
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#endif
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#ifndef CONFIG_SAMA5_TICKLESS_FREERUN
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# error CONFIG_SAMA5_TICKLESS_FREERUN must be selected for the Tickless OS option
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#endif
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#ifndef CONFIG_SAMA5_TICKLESS_ONESHOT
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# error CONFIG_SAMA5_TICKLESS_ONESHOT must be selected for the Tickless OS option
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#endif
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#if CONFIG_SAMA5_TICKLESS_ONESHOT == 0 && !defined(CONFIG_SAMA5_TC0)
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# error CONFIG_SAMA5_TICKLESS_ONESHOT == 0 && CONFIG_SAMA5_TC0 not selected
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#elif CONFIG_SAMA5_TICKLESS_ONESHOT == 1 && !defined(CONFIG_SAMA5_TC1)
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# error CONFIG_SAMA5_TICKLESS_ONESHOT == 1 && CONFIG_SAMA5_TC1 not selected
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#elif CONFIG_SAMA5_TICKLESS_ONESHOT == 2 && !defined(CONFIG_SAMA5_TC2)
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# error CONFIG_SAMA5_TICKLESS_ONESHOT == 2 && CONFIG_SAMA5_TC2 not selected
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#elif CONFIG_SAMA5_TICKLESS_ONESHOT == 3 && !defined(CONFIG_SAMA5_TC3)
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# error CONFIG_SAMA5_TICKLESS_ONESHOT == 3 && CONFIG_SAMA5_TC3 not selected
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#elif CONFIG_SAMA5_TICKLESS_ONESHOT == 4 && !defined(CONFIG_SAMA5_TC4)
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# error CONFIG_SAMA5_TICKLESS_ONESHOT == 4 && CONFIG_SAMA5_TC4 not selected
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#elif CONFIG_SAMA5_TICKLESS_ONESHOT == 5 && !defined(CONFIG_SAMA5_TC5)
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# error CONFIG_SAMA5_TICKLESS_ONESHOT == 5 && CONFIG_SAMA5_TC5 not selected
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#elif CONFIG_SAMA5_TICKLESS_ONESHOT == 6 && !defined(CONFIG_SAMA5_TC6)
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# error CONFIG_SAMA5_TICKLESS_ONESHOT == 6 && CONFIG_SAMA5_TC6 not selected
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#elif CONFIG_SAMA5_TICKLESS_ONESHOT == 7 && !defined(CONFIG_SAMA5_TC7)
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# error CONFIG_SAMA5_TICKLESS_ONESHOT == 7 && CONFIG_SAMA5_TC7 not selected
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#elif CONFIG_SAMA5_TICKLESS_ONESHOT == 8 && !defined(CONFIG_SAMA5_TC8)
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# error CONFIG_SAMA5_TICKLESS_ONESHOT == 8 && CONFIG_SAMA5_TC8 not selected
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#endif
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#if CONFIG_SAMA5_TICKLESS_ONESHOT < 0 || CONFIG_SAMA5_TICKLESS_ONESHOT > 8
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# error CONFIG_SAMA5_TICKLESS_ONESHOT is not valid
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#endif
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#if CONFIG_SAMA5_TICKLESS_FREERUN == 0 && !defined(CONFIG_SAMA5_TC0)
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# error CONFIG_SAMA5_TICKLESS_FREERUN == 0 && CONFIG_SAMA5_TC0 not selected
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#elif CONFIG_SAMA5_TICKLESS_FREERUN == 1 && !defined(CONFIG_SAMA5_TC1)
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# error CONFIG_SAMA5_TICKLESS_FREERUN == 1 && CONFIG_SAMA5_TC1 not selected
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#elif CONFIG_SAMA5_TICKLESS_FREERUN == 2 && !defined(CONFIG_SAMA5_TC2)
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# error CONFIG_SAMA5_TICKLESS_FREERUN == 2 && CONFIG_SAMA5_TC2 not selected
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#elif CONFIG_SAMA5_TICKLESS_FREERUN == 3 && !defined(CONFIG_SAMA5_TC3)
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# error CONFIG_SAMA5_TICKLESS_FREERUN == 3 && CONFIG_SAMA5_TC3 not selected
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#elif CONFIG_SAMA5_TICKLESS_FREERUN == 4 && !defined(CONFIG_SAMA5_TC4)
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# error CONFIG_SAMA5_TICKLESS_FREERUN == 4 && CONFIG_SAMA5_TC4 not selected
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#elif CONFIG_SAMA5_TICKLESS_FREERUN == 5 && !defined(CONFIG_SAMA5_TC5)
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# error CONFIG_SAMA5_TICKLESS_FREERUN == 5 && CONFIG_SAMA5_TC5 not selected
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#elif CONFIG_SAMA5_TICKLESS_FREERUN == 6 && !defined(CONFIG_SAMA5_TC6)
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# error CONFIG_SAMA5_TICKLESS_FREERUN == 6 && CONFIG_SAMA5_TC6 not selected
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#elif CONFIG_SAMA5_TICKLESS_FREERUN == 7 && !defined(CONFIG_SAMA5_TC7)
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# error CONFIG_SAMA5_TICKLESS_FREERUN == 7 && CONFIG_SAMA5_TC7 not selected
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#elif CONFIG_SAMA5_TICKLESS_FREERUN == 8 && !defined(CONFIG_SAMA5_TC8)
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# error CONFIG_SAMA5_TICKLESS_FREERUN == 8 && CONFIG_SAMA5_TC8 not selected
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#endif
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#if CONFIG_SAMA5_TICKLESS_FREERUN < 0 || CONFIG_SAMA5_TICKLESS_FREERUN > 8
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# error CONFIG_SAMA5_TICKLESS_FREERUN is not valid
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#endif
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#if CONFIG_SAMA5_TICKLESS_FREERUN == CONFIG_SAMA5_TICKLESS_ONESHOT
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# error CONFIG_SAMA5_TICKLESS_FREERUN is the same as CONFIG_SAMA5_TICKLESS_ONESHOT
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#endif
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#ifdef CONFIG_SAMA5_TC_DEBUG
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# define tcdbg dbg
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# define tcvdbg vdbg
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#else
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# define tcdbg(x...)
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# define tcvdbg(x...)
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#endif
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/****************************************************************************
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* Private Types
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****************************************************************************/
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struct sam_tickless_s
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{
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struct sam_oneshot_s oneshot;
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struct sam_freerun_s freerun;
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};
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Private Data
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****************************************************************************/
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struct sam_tickless_s g_tickless;
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: sam_oneshot_handler
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*
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* Description:
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* Called when the one shot timer expires
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* None
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*
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* Assumptions:
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* Called early in the initialization sequence before any special
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* concurrency protections are required.
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*
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****************************************************************************/
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static void sam_oneshot_handler(void *arg)
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{
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sched_timer_expiration();
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: up_timer_initialize
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*
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* Description:
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* Initializes all platform-specific timer facilities. This function is
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* called early in the initialization sequence by up_intialize().
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* On return, the current up-time should be available from
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* up_timer_gettime() and the interval timer is ready for use (but not
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* actively timing.
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*
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* Provided by platform-specific code and called from the architecture-
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* specific logic.
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* None
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*
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* Assumptions:
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* Called early in the initialization sequence before any special
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* concurrency protections are required.
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*
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****************************************************************************/
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void up_timer_initialize(void)
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{
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int ret;
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/* Initialize the one-shot timer */
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ret = sam_oneshot_initialize(&g_tickless.oneshot,
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CONFIG_SAMA5_TICKLESS_ONESHOT,
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CONFIG_USEC_PER_TICK);
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if (ret < 0)
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{
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tcdbg("ERROR: sam_oneshot_initialize failed\n");
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PANIC();
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}
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/* Initialize the free-running timer */
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ret = sam_freerun_initialize(&g_tickless.freerun,
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CONFIG_SAMA5_TICKLESS_FREERUN,
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CONFIG_USEC_PER_TICK);
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if (ret < 0)
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{
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tcdbg("ERROR: sam_freerun_initialize failed\n");
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PANIC();
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}
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}
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/****************************************************************************
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* Name: up_timer_gettime
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*
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* Description:
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* Return the elapsed time since power-up (or, more correctly, since
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* up_timer_initialize() was called). This function is functionally
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* equivalent to:
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*
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* int clock_gettime(clockid_t clockid, FAR struct timespec *ts);
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*
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* when clockid is CLOCK_MONOTONIC.
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*
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* This function provides the basis for reporting the current time and
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* also is used to eliminate error build-up from small erros in interval
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* time calculations.
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*
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* Provided by platform-specific code and called from the RTOS base code.
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*
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* Input Parameters:
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* ts - Provides the location in which to return the up-time.
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*
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* Returned Value:
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* Zero (OK) is returned on success; a negated errno value is returned on
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* any failure.
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*
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* Assumptions:
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* Called from the the normal tasking context. The implementation must
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* provide whatever mutual exclusion is necessary for correct operation.
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* This can include disabling interrupts in order to assure atomic register
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* operations.
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*
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****************************************************************************/
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int up_timer_gettime(FAR struct timespec *ts)
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{
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return sam_freerun_counter(&g_tickless.freerun, ts);
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}
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/****************************************************************************
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* Name: up_timer_cancel
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*
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* Description:
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* Cancel the interval timer and return the time remaining on the timer.
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* These two steps need to be as nearly atomic as possible.
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* sched_timer_expiration() will not be called unless the timer is
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* restarted with up_timer_start().
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*
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* If, as a race condition, the timer has already expired when this
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* function is called, then that pending interrupt must be cleared so
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* that up_timer_start() and the remaining time of zero should be
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* returned.
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*
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* Provided by platform-specific code and called from the RTOS base code.
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*
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* Input Parameters:
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* ts - Location to return the remaining time. Zero should be returned
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* if the timer is not active.
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*
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* Returned Value:
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* Zero (OK) is returned on success; a negated errno value is returned on
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* any failure.
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*
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* Assumptions:
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* May be called from interrupt level handling or from the normal tasking
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* level. Interrupts may need to be disabled internally to assure
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* non-reentrancy.
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*
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****************************************************************************/
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int up_timer_cancel(FAR struct timespec *ts)
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{
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return sam_oneshot_cancel(&g_tickless.oneshot, ts);
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}
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/****************************************************************************
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* Name: up_timer_start
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*
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* Description:
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* Start the interval timer. sched_timer_expiration() will be
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* called at the completion of the timeout (unless up_timer_cancel
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* is called to stop the timing.
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*
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* Provided by platform-specific code and called from the RTOS base code.
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*
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* Input Parameters:
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* ts - Provides the time interval until sched_timer_expiration() is
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* called.
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*
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* Returned Value:
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* Zero (OK) is returned on success; a negated errno value is returned on
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* any failure.
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*
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* Assumptions:
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* May be called from interrupt level handling or from the normal tasking
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* level. Interrupts may need to be disabled internally to assure
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* non-reentrancy.
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*
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****************************************************************************/
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int up_timer_start(FAR const struct timespec *ts)
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{
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return sam_oneshot_start(&g_tickless.oneshot, sam_oneshot_handler, NULL, ts);
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}
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#endif /* CONFIG_SCHED_TICKLESS */
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