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risc-v/esp32-c3: Group static variables into a struct and prevent an unitialized thread to be deleted

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This commit is contained in:
Sara Souza 2021-09-20 18:16:37 -03:00 committed by Abdelatif Guettouche
parent f9b322567c
commit fc12d6888b
1 changed files with 89 additions and 70 deletions
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159
arch/risc-v/src/esp32c3/esp32c3_rt_timer.c
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@ -62,18 +62,27 @@
#define CYCLES_TO_USEC(c) ((c) / CYCLES_PER_USEC) #define CYCLES_TO_USEC(c) ((c) / CYCLES_PER_USEC)
#define ESP32C3_RT_TIMER ESP32C3_SYSTIM /* Systimer 1 */ #define ESP32C3_RT_TIMER ESP32C3_SYSTIM /* Systimer 1 */
/****************************************************************************
* Private Types
****************************************************************************/
struct esp32c3_rt_priv_s
{
int pid;
sem_t s_toutsem;
struct list_node s_runlist;
struct list_node s_toutlist;
FAR struct esp32c3_tim_dev_s *timer;
};
/**************************************************************************** /****************************************************************************
* Private Data * Private Data
****************************************************************************/ ****************************************************************************/
static int s_pid; static struct esp32c3_rt_priv_s g_rt_priv =
{
static sem_t s_toutsem; .pid = -EINVAL,
};
static struct list_node s_runlist;
static struct list_node s_toutlist;
static struct esp32c3_tim_dev_s *s_esp32c3_tim_dev;
/**************************************************************************** /****************************************************************************
* Private Function Prototypes * Private Function Prototypes
@ -104,7 +113,7 @@ static void start_rt_timer(FAR struct rt_timer_s *timer,
struct rt_timer_s *p; struct rt_timer_s *p;
bool inserted = false; bool inserted = false;
uint64_t counter; uint64_t counter;
struct esp32c3_tim_dev_s *tim = s_esp32c3_tim_dev; FAR struct esp32c3_rt_priv_s *priv = &g_rt_priv;
flags = enter_critical_section(); flags = enter_critical_section();
@ -114,7 +123,7 @@ static void start_rt_timer(FAR struct rt_timer_s *timer,
{ {
/* Calculate the timer's alarm value */ /* Calculate the timer's alarm value */
ESP32C3_TIM_GETCTR(tim, &counter); ESP32C3_TIM_GETCTR(priv->timer, &counter);
counter = CYCLES_TO_USEC(counter); counter = CYCLES_TO_USEC(counter);
timer->timeout = timeout; timer->timeout = timeout;
timer->alarm = timer->timeout + counter; timer->alarm = timer->timeout + counter;
@ -132,7 +141,7 @@ static void start_rt_timer(FAR struct rt_timer_s *timer,
* node of timer whose alarm value is larger than new one * node of timer whose alarm value is larger than new one
*/ */
list_for_every_entry(&s_runlist, p, struct rt_timer_s, list) list_for_every_entry(&priv->s_runlist, p, struct rt_timer_s, list)
{ {
if (p->alarm > timer->alarm) if (p->alarm > timer->alarm)
{ {
@ -148,19 +157,20 @@ static void start_rt_timer(FAR struct rt_timer_s *timer,
if (!inserted) if (!inserted)
{ {
list_add_tail(&s_runlist, &timer->list); list_add_tail(&priv->s_runlist, &timer->list);
} }
timer->state = RT_TIMER_READY; timer->state = RT_TIMER_READY;
/* If this timer is at the head of the list */ /* If this timer is at the head of the list */
if (timer == container_of(s_runlist.next, struct rt_timer_s, list)) if (timer == container_of(priv->s_runlist.next,
struct rt_timer_s, list))
{ {
/* Reset the hardware timer alarm */ /* Reset the hardware timer alarm */
ESP32C3_TIM_SETALRVL(tim, USEC_TO_CYCLES(timer->alarm)); ESP32C3_TIM_SETALRVL(priv->timer, USEC_TO_CYCLES(timer->alarm));
ESP32C3_TIM_SETALRM(tim, true); ESP32C3_TIM_SETALRM(priv->timer, true);
} }
} }
@ -188,7 +198,7 @@ static void stop_rt_timer(FAR struct rt_timer_s *timer)
bool ishead; bool ishead;
struct rt_timer_s *next_timer; struct rt_timer_s *next_timer;
uint64_t alarm; uint64_t alarm;
struct esp32c3_tim_dev_s *tim = s_esp32c3_tim_dev; FAR struct esp32c3_rt_priv_s *priv = &g_rt_priv;
flags = enter_critical_section(); flags = enter_critical_section();
@ -204,7 +214,8 @@ static void stop_rt_timer(FAR struct rt_timer_s *timer)
{ {
/* Check if the timer is at the head of the list */ /* Check if the timer is at the head of the list */
if (timer == container_of(s_runlist.next, struct rt_timer_s, list)) if (timer == container_of(priv->s_runlist.next,
struct rt_timer_s, list))
{ {
ishead = true; ishead = true;
} }
@ -220,19 +231,19 @@ static void stop_rt_timer(FAR struct rt_timer_s *timer)
if (ishead) if (ishead)
{ {
if (!list_is_empty(&s_runlist)) if (!list_is_empty(&priv->s_runlist))
{ {
/* Set the value from the next timer as the new hardware timer /* Set the value from the next timer as the new hardware timer
* alarm value. * alarm value.
*/ */
next_timer = container_of(s_runlist.next, next_timer = container_of(priv->s_runlist.next,
struct rt_timer_s, struct rt_timer_s,
list); list);
alarm = next_timer->alarm; alarm = next_timer->alarm;
ESP32C3_TIM_SETALRVL(tim, USEC_TO_CYCLES(alarm)); ESP32C3_TIM_SETALRVL(priv->timer, USEC_TO_CYCLES(alarm));
ESP32C3_TIM_SETALRM(tim, true); ESP32C3_TIM_SETALRM(priv->timer, true);
} }
} }
} }
@ -261,6 +272,8 @@ static void delete_rt_timer(FAR struct rt_timer_s *timer)
int ret; int ret;
irqstate_t flags; irqstate_t flags;
FAR struct esp32c3_rt_priv_s *priv = &g_rt_priv;
flags = enter_critical_section(); flags = enter_critical_section();
if (timer->state == RT_TIMER_READY) if (timer->state == RT_TIMER_READY)
@ -276,12 +289,12 @@ static void delete_rt_timer(FAR struct rt_timer_s *timer)
goto exit; goto exit;
} }
list_add_after(&s_toutlist, &timer->list); list_add_after(&priv->s_toutlist, &timer->list);
timer->state = RT_TIMER_DELETE; timer->state = RT_TIMER_DELETE;
/* Wake up the thread to process deleted timers */ /* Wake up the thread to process deleted timers */
ret = nxsem_post(&s_toutsem); ret = nxsem_post(&priv->s_toutsem);
if (ret < 0) if (ret < 0)
{ {
tmrerr("ERROR: Failed to post sem ret=%d\n", ret); tmrerr("ERROR: Failed to post sem ret=%d\n", ret);
@ -313,12 +326,13 @@ static int rt_timer_thread(int argc, FAR char *argv[])
irqstate_t flags; irqstate_t flags;
struct rt_timer_s *timer; struct rt_timer_s *timer;
enum rt_timer_state_e raw_state; enum rt_timer_state_e raw_state;
FAR struct esp32c3_rt_priv_s *priv = &g_rt_priv;
while (1) while (1)
{ {
/* Waiting for all timers to time out */ /* Waiting for all timers to time out */
ret = nxsem_wait(&s_toutsem); ret = nxsem_wait(&priv->s_toutsem);
if (ret) if (ret)
{ {
tmrerr("ERROR: Wait s_toutsem error=%d\n", ret); tmrerr("ERROR: Wait s_toutsem error=%d\n", ret);
@ -329,11 +343,12 @@ static int rt_timer_thread(int argc, FAR char *argv[])
/* Process all the timers in list */ /* Process all the timers in list */
while (!list_is_empty(&s_toutlist)) while (!list_is_empty(&priv->s_toutlist))
{ {
/* Get the first timer in the list */ /* Get the first timer in the list */
timer = container_of(s_toutlist.next, struct rt_timer_s, list); timer = container_of(priv->s_toutlist.next,
struct rt_timer_s, list);
/* Cache the raw state to decide how to deal with this timer */ /* Cache the raw state to decide how to deal with this timer */
@ -403,17 +418,17 @@ static int rt_timer_isr(int irq, void *context, void *arg)
uint64_t alarm; uint64_t alarm;
uint64_t counter; uint64_t counter;
bool wake = false; bool wake = false;
struct esp32c3_tim_dev_s *tim = s_esp32c3_tim_dev; FAR struct esp32c3_rt_priv_s *priv = &g_rt_priv;
/* Clear interrupt register status */ /* Clear interrupt register status */
ESP32C3_TIM_ACKINT(tim); ESP32C3_TIM_ACKINT(priv->timer);
flags = enter_critical_section(); flags = enter_critical_section();
/* Check if there is a timer running */ /* Check if there is a timer running */
if (!list_is_empty(&s_runlist)) if (!list_is_empty(&priv->s_runlist))
{ {
/** /**
* When stop/delete timer, in the same time the hardware timer * When stop/delete timer, in the same time the hardware timer
@ -421,8 +436,8 @@ static int rt_timer_isr(int irq, void *context, void *arg)
* from running list, so the 1st timer is not which triggers. * from running list, so the 1st timer is not which triggers.
*/ */
timer = container_of(s_runlist.next, struct rt_timer_s, list); timer = container_of(priv->s_runlist.next, struct rt_timer_s, list);
ESP32C3_TIM_GETCTR(tim, &counter); ESP32C3_TIM_GETCTR(priv->timer, &counter);
counter = CYCLES_TO_USEC(counter); counter = CYCLES_TO_USEC(counter);
if (timer->alarm <= counter) if (timer->alarm <= counter)
{ {
@ -435,32 +450,33 @@ static int rt_timer_isr(int irq, void *context, void *arg)
list_delete(&timer->list); list_delete(&timer->list);
timer->state = RT_TIMER_TIMEOUT; timer->state = RT_TIMER_TIMEOUT;
list_add_after(&s_toutlist, &timer->list); list_add_after(&priv->s_toutlist, &timer->list);
wake = true; wake = true;
/* Check if there is a timer running */ /* Check if there is a timer running */
if (!list_is_empty(&s_runlist)) if (!list_is_empty(&priv->s_runlist))
{ {
/* Reset hardware timer alarm with next timer's alarm value */ /* Reset hardware timer alarm with next timer's alarm value */
timer = container_of(s_runlist.next, struct rt_timer_s, list); timer = container_of(priv->s_runlist.next,
struct rt_timer_s, list);
alarm = timer->alarm; alarm = timer->alarm;
ESP32C3_TIM_SETALRVL(tim, USEC_TO_CYCLES(alarm)); ESP32C3_TIM_SETALRVL(priv->timer, USEC_TO_CYCLES(alarm));
} }
} }
/* If there is a timer in the list, the alarm should be enabled */ /* If there is a timer in the list, the alarm should be enabled */
ESP32C3_TIM_SETALRM(tim, true); ESP32C3_TIM_SETALRM(priv->timer, true);
} }
if (wake) if (wake)
{ {
/* Wake up the thread to process timed-out timers */ /* Wake up the thread to process timed-out timers */
ret = nxsem_post(&s_toutsem); ret = nxsem_post(&priv->s_toutsem);
if (ret < 0) if (ret < 0)
{ {
tmrerr("ERROR: Failed to post sem ret=%d\n", ret); tmrerr("ERROR: Failed to post sem ret=%d\n", ret);
@ -594,9 +610,9 @@ void rt_timer_delete(FAR struct rt_timer_s *timer)
uint64_t IRAM_ATTR rt_timer_time_us(void) uint64_t IRAM_ATTR rt_timer_time_us(void)
{ {
uint64_t counter; uint64_t counter;
struct esp32c3_tim_dev_s *tim = s_esp32c3_tim_dev; FAR struct esp32c3_rt_priv_s *priv = &g_rt_priv;
ESP32C3_TIM_GETCTR(tim, &counter); ESP32C3_TIM_GETCTR(priv->timer, &counter);
counter = CYCLES_TO_USEC(counter); counter = CYCLES_TO_USEC(counter);
return counter; return counter;
@ -620,14 +636,14 @@ uint64_t IRAM_ATTR rt_timer_get_alarm(void)
{ {
irqstate_t flags; irqstate_t flags;
uint64_t counter; uint64_t counter;
struct esp32c3_tim_dev_s *tim = s_esp32c3_tim_dev; FAR struct esp32c3_rt_priv_s *priv = &g_rt_priv;
uint64_t alarm_value = 0; uint64_t alarm_value = 0;
flags = enter_critical_section(); flags = enter_critical_section();
ESP32C3_TIM_GETCTR(tim, &counter); ESP32C3_TIM_GETCTR(priv->timer, &counter);
counter = CYCLES_TO_USEC(counter); counter = CYCLES_TO_USEC(counter);
ESP32C3_TIM_GETALRVL(tim, &alarm_value); ESP32C3_TIM_GETALRVL(priv->timer, &alarm_value);
alarm_value = CYCLES_TO_USEC(alarm_value); alarm_value = CYCLES_TO_USEC(alarm_value);
if (alarm_value <= counter) if (alarm_value <= counter)
@ -661,15 +677,15 @@ uint64_t IRAM_ATTR rt_timer_get_alarm(void)
void IRAM_ATTR rt_timer_calibration(uint64_t time_us) void IRAM_ATTR rt_timer_calibration(uint64_t time_us)
{ {
uint64_t counter; uint64_t counter;
struct esp32c3_tim_dev_s *tim = s_esp32c3_tim_dev; FAR struct esp32c3_rt_priv_s *priv = &g_rt_priv;
irqstate_t flags; irqstate_t flags;
flags = enter_critical_section(); flags = enter_critical_section();
ESP32C3_TIM_GETCTR(tim, &counter); ESP32C3_TIM_GETCTR(priv->timer, &counter);
counter = CYCLES_TO_USEC(counter); counter = CYCLES_TO_USEC(counter);
counter += time_us; counter += time_us;
ESP32C3_TIM_SETCTR(tim, USEC_TO_CYCLES(counter)); ESP32C3_TIM_SETCTR(priv->timer, USEC_TO_CYCLES(counter));
ESP32C3_TIM_RLD_NOW(tim); ESP32C3_TIM_RLD_NOW(priv->timer);
leave_critical_section(flags); leave_critical_section(flags);
} }
@ -691,34 +707,31 @@ int esp32c3_rt_timer_init(void)
{ {
int pid; int pid;
irqstate_t flags; irqstate_t flags;
struct esp32c3_tim_dev_s *tim; FAR struct esp32c3_rt_priv_s *priv = &g_rt_priv;
tim = esp32c3_tim_init(ESP32C3_RT_TIMER); priv->timer = esp32c3_tim_init(ESP32C3_RT_TIMER);
if (!tim) if (priv->timer == NULL)
{ {
tmrerr("ERROR: Failed to initialize ESP32-C3 timer0\n"); tmrerr("ERROR: Failed to initialize ESP32-C3 timer0\n");
return -EINVAL; return -EINVAL;
} }
nxsem_init(&s_toutsem, 0, 0); nxsem_init(&priv->s_toutsem, 0, 0);
pid = kthread_create(RT_TIMER_TASK_NAME, priv->pid = kthread_create(RT_TIMER_TASK_NAME,
RT_TIMER_TASK_PRIORITY, RT_TIMER_TASK_PRIORITY,
RT_TIMER_TASK_STACK_SIZE, RT_TIMER_TASK_STACK_SIZE,
rt_timer_thread, rt_timer_thread,
NULL); NULL);
if (pid < 0) if (priv->pid < 0)
{ {
tmrerr("ERROR: Failed to create RT timer task error=%d\n", pid); tmrerr("ERROR: Failed to create RT timer task error=%d\n", pid);
esp32c3_tim_deinit(tim); esp32c3_tim_deinit(priv->timer);
return pid; return priv->pid;
} }
list_initialize(&s_runlist); list_initialize(&priv->s_runlist);
list_initialize(&s_toutlist); list_initialize(&priv->s_toutlist);
s_esp32c3_tim_dev = tim;
s_pid = pid;
flags = enter_critical_section(); flags = enter_critical_section();
@ -732,10 +745,10 @@ int esp32c3_rt_timer_init(void)
* until ESP32C3_TIM_SETALRM is set. * until ESP32C3_TIM_SETALRM is set.
*/ */
ESP32C3_TIM_CLEAR(tim); ESP32C3_TIM_CLEAR(priv->timer);
ESP32C3_TIM_SETISR(tim, rt_timer_isr, NULL); ESP32C3_TIM_SETISR(priv->timer, rt_timer_isr, NULL);
ESP32C3_TIM_ENABLEINT(tim); ESP32C3_TIM_ENABLEINT(priv->timer);
ESP32C3_TIM_START(tim); ESP32C3_TIM_START(priv->timer);
leave_critical_section(flags); leave_critical_section(flags);
@ -759,17 +772,23 @@ int esp32c3_rt_timer_init(void)
void esp32c3_rt_timer_deinit(void) void esp32c3_rt_timer_deinit(void)
{ {
irqstate_t flags; irqstate_t flags;
FAR struct esp32c3_rt_priv_s *priv = &g_rt_priv;
flags = enter_critical_section(); flags = enter_critical_section();
ESP32C3_TIM_STOP(s_esp32c3_tim_dev); ESP32C3_TIM_STOP(priv->timer);
ESP32C3_TIM_DISABLEINT(s_esp32c3_tim_dev); ESP32C3_TIM_DISABLEINT(priv->timer);
ESP32C3_TIM_SETISR(s_esp32c3_tim_dev, NULL, NULL); ESP32C3_TIM_SETISR(priv->timer, NULL, NULL);
esp32c3_tim_deinit(s_esp32c3_tim_dev); esp32c3_tim_deinit(priv->timer);
s_esp32c3_tim_dev = NULL; priv->timer = NULL;
leave_critical_section(flags); leave_critical_section(flags);
kthread_delete(s_pid); if (priv->pid != -EINVAL)
nxsem_destroy(&s_toutsem); {
kthread_delete(priv->pid);
priv->pid = -EINVAL;
}
nxsem_destroy(&priv->s_toutsem);
} }