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Merge branch 'bugfix/jump_time_54_sec_v3.3' into 'release/v3.3'

Browse source 
esp_timer: Fix time jumps back ~ 54sec (v3.3)

See merge request espressif/esp-idf!6468
This commit is contained in:
Jiang Jiang Jian 2019-10-30 16:25:35 +08:00
parent 34b14ddf5b 696d6867b4
commit dbd2cd2f7a
3 changed files with 252 additions and 93 deletions
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104
components/esp32/esp_timer.c
View file

@ -38,12 +38,17 @@
#endif
#include "rom/queue.h"
#define EVENT_ID_DELETE_TIMER 0xF0DE1E1E
#define TIMER_EVENT_QUEUE_SIZE 16
struct esp_timer {
uint64_t alarm;
uint64_t period;
esp_timer_cb_t callback;
union {
esp_timer_cb_t callback;
uint32_t event_id;
};
void* arg;
#if WITH_PROFILING
const char* name;
@ -54,12 +59,12 @@ struct esp_timer {
LIST_ENTRY(esp_timer) list_entry;
};
static bool is_initialized();
static bool is_initialized(void);
static esp_err_t timer_insert(esp_timer_handle_t timer);
static esp_err_t timer_remove(esp_timer_handle_t timer);
static bool timer_armed(esp_timer_handle_t timer);
static void timer_list_lock();
static void timer_list_unlock();
static void timer_list_lock(void);
static void timer_list_unlock(void);
#if WITH_PROFILING
static void timer_insert_inactive(esp_timer_handle_t timer);
@ -76,23 +81,18 @@ static LIST_HEAD(esp_timer_list, esp_timer) s_timers =
// all the timers
static LIST_HEAD(esp_inactive_timer_list, esp_timer) s_inactive_timers =
LIST_HEAD_INITIALIZER(s_timers);
// used to keep track of the timer when executing the callback
static esp_timer_handle_t s_timer_in_callback;
#endif
// task used to dispatch timer callbacks
static TaskHandle_t s_timer_task;
// counting semaphore used to notify the timer task from ISR
static SemaphoreHandle_t s_timer_semaphore;
// mutex which protects timers from deletion during callback execution
static SemaphoreHandle_t s_timer_delete_mutex;
#if CONFIG_SPIRAM_USE_MALLOC
// memory for s_timer_semaphore and s_timer_delete_mutex
// memory for s_timer_semaphore
static StaticQueue_t s_timer_semaphore_memory;
static StaticQueue_t s_timer_delete_mutex_memory;
#endif
// lock protecting s_timers, s_inactive_timers, s_timer_in_callback
// lock protecting s_timers, s_inactive_timers
static portMUX_TYPE s_timer_lock = portMUX_INITIALIZER_UNLOCKED;
@ -103,7 +103,7 @@ esp_err_t esp_timer_create(const esp_timer_create_args_t* args,
if (!is_initialized()) {
return ESP_ERR_INVALID_STATE;
}
if (args->callback == NULL) {
if (args == NULL || args->callback == NULL || out_handle == NULL) {
return ESP_ERR_INVALID_ARG;
}
esp_timer_handle_t result = (esp_timer_handle_t) calloc(1, sizeof(*result));
@ -122,33 +122,48 @@ esp_err_t esp_timer_create(const esp_timer_create_args_t* args,
esp_err_t IRAM_ATTR esp_timer_start_once(esp_timer_handle_t timer, uint64_t timeout_us)
{
if (timer == NULL) {
return ESP_ERR_INVALID_ARG;
}
if (!is_initialized() || timer_armed(timer)) {
return ESP_ERR_INVALID_STATE;
}
timer_list_lock();
timer->alarm = esp_timer_get_time() + timeout_us;
timer->period = 0;
#if WITH_PROFILING
timer->times_armed++;
#endif
return timer_insert(timer);
esp_err_t err = timer_insert(timer);
timer_list_unlock();
return err;
}
esp_err_t IRAM_ATTR esp_timer_start_periodic(esp_timer_handle_t timer, uint64_t period_us)
{
if (timer == NULL) {
return ESP_ERR_INVALID_ARG;
}
if (!is_initialized() || timer_armed(timer)) {
return ESP_ERR_INVALID_STATE;
}
timer_list_lock();
period_us = MAX(period_us, esp_timer_impl_get_min_period_us());
timer->alarm = esp_timer_get_time() + period_us;
timer->period = period_us;
#if WITH_PROFILING
timer->times_armed++;
#endif
return timer_insert(timer);
esp_err_t err = timer_insert(timer);
timer_list_unlock();
return err;
}
esp_err_t IRAM_ATTR esp_timer_stop(esp_timer_handle_t timer)
{
if (timer == NULL) {
return ESP_ERR_INVALID_ARG;
}
if (!is_initialized() || !timer_armed(timer)) {
return ESP_ERR_INVALID_STATE;
}
@ -163,21 +178,17 @@ esp_err_t esp_timer_delete(esp_timer_handle_t timer)
if (timer_armed(timer)) {
return ESP_ERR_INVALID_STATE;
}
xSemaphoreTakeRecursive(s_timer_delete_mutex, portMAX_DELAY);
#if WITH_PROFILING
if (timer == s_timer_in_callback) {
s_timer_in_callback = NULL;
}
timer_remove_inactive(timer);
#endif
free(timer);
xSemaphoreGiveRecursive(s_timer_delete_mutex);
timer_list_lock();
timer->event_id = EVENT_ID_DELETE_TIMER;
timer->alarm = esp_timer_get_time();
timer->period = 0;
timer_insert(timer);
timer_list_unlock();
return ESP_OK;
}
static IRAM_ATTR esp_err_t timer_insert(esp_timer_handle_t timer)
{
timer_list_lock();
#if WITH_PROFILING
timer_remove_inactive(timer);
#endif
@ -200,7 +211,6 @@ static IRAM_ATTR esp_err_t timer_insert(esp_timer_handle_t timer)
if (timer == LIST_FIRST(&s_timers)) {
esp_timer_impl_set_alarm(timer->alarm);
}
timer_list_unlock();
return ESP_OK;
}
@ -251,12 +261,12 @@ static IRAM_ATTR bool timer_armed(esp_timer_handle_t timer)
return timer->alarm > 0;
}
static IRAM_ATTR void timer_list_lock()
static IRAM_ATTR void timer_list_lock(void)
{
portENTER_CRITICAL(&s_timer_lock);
}
static IRAM_ATTR void timer_list_unlock()
static IRAM_ATTR void timer_list_unlock(void)
{
portEXIT_CRITICAL(&s_timer_lock);
}
@ -266,13 +276,17 @@ static void timer_process_alarm(esp_timer_dispatch_t dispatch_method)
/* unused, provision to allow running callbacks from ISR */
(void) dispatch_method;
xSemaphoreTakeRecursive(s_timer_delete_mutex, portMAX_DELAY);
timer_list_lock();
uint64_t now = esp_timer_impl_get_time();
esp_timer_handle_t it = LIST_FIRST(&s_timers);
while (it != NULL &&
it->alarm < now) {
LIST_REMOVE(it, list_entry);
if (it->event_id == EVENT_ID_DELETE_TIMER) {
free(it);
it = LIST_FIRST(&s_timers);
continue;
}
if (it->period > 0) {
it->alarm += it->period;
timer_insert(it);
@ -284,21 +298,14 @@ static void timer_process_alarm(esp_timer_dispatch_t dispatch_method)
}
#if WITH_PROFILING
uint64_t callback_start = now;
s_timer_in_callback = it;
#endif
timer_list_unlock();
(*it->callback)(it->arg);
timer_list_lock();
now = esp_timer_impl_get_time();
#if WITH_PROFILING
/* The callback might have deleted the timer.
* If this happens, esp_timer_delete will set s_timer_in_callback
* to NULL.
*/
if (s_timer_in_callback) {
s_timer_in_callback->times_triggered++;
s_timer_in_callback->total_callback_run_time += now - callback_start;
}
it->times_triggered++;
it->total_callback_run_time += now - callback_start;
#endif
it = LIST_FIRST(&s_timers);
}
@ -307,7 +314,6 @@ static void timer_process_alarm(esp_timer_dispatch_t dispatch_method)
esp_timer_impl_set_alarm(first->alarm);
}
timer_list_unlock();
xSemaphoreGiveRecursive(s_timer_delete_mutex);
}
static void timer_task(void* arg)
@ -331,7 +337,7 @@ static void IRAM_ATTR timer_alarm_handler(void* arg)
}
}
static IRAM_ATTR bool is_initialized()
static IRAM_ATTR bool is_initialized(void)
{
return s_timer_task != NULL;
}
@ -355,18 +361,6 @@ esp_err_t esp_timer_init(void)
goto out;
}
#if CONFIG_SPIRAM_USE_MALLOC
memset(&s_timer_delete_mutex_memory, 0, sizeof(StaticQueue_t));
s_timer_delete_mutex = xSemaphoreCreateRecursiveMutexStatic(&s_timer_delete_mutex_memory);
#else
s_timer_delete_mutex = xSemaphoreCreateRecursiveMutex();
#endif
if (!s_timer_delete_mutex) {
err = ESP_ERR_NO_MEM;
goto out;
}
int ret = xTaskCreatePinnedToCore(&timer_task, "esp_timer",
ESP_TASK_TIMER_STACK, NULL, ESP_TASK_TIMER_PRIO, &s_timer_task, PRO_CPU_NUM);
if (ret != pdPASS) {
@ -390,10 +384,6 @@ out:
vSemaphoreDelete(s_timer_semaphore);
s_timer_semaphore = NULL;
}
if (s_timer_delete_mutex) {
vSemaphoreDelete(s_timer_delete_mutex);
s_timer_delete_mutex = NULL;
}
return ESP_ERR_NO_MEM;
}
@ -498,7 +488,7 @@ esp_err_t esp_timer_dump(FILE* stream)
return ESP_OK;
}
int64_t IRAM_ATTR esp_timer_get_next_alarm()
int64_t IRAM_ATTR esp_timer_get_next_alarm(void)
{
int64_t next_alarm = INT64_MAX;
timer_list_lock();
@ -510,7 +500,7 @@ int64_t IRAM_ATTR esp_timer_get_next_alarm()
return next_alarm;
}
int64_t IRAM_ATTR esp_timer_get_time()
int64_t IRAM_ATTR esp_timer_get_time(void)
{
return (int64_t) esp_timer_impl_get_time();
}

56
components/esp32/esp_timer_esp32.c
View file

@ -12,6 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
#include "sys/param.h"
#include "esp_err.h"
#include "esp_timer.h"
#include "esp_system.h"
@ -127,13 +128,6 @@ static uint32_t s_timer_us_per_overflow;
// will not increment s_time_base_us if this flag is set.
static bool s_mask_overflow;
//The timer_overflow_happened read alarm register to tell if overflow happened.
//However, there is a monent that overflow happens, and before ISR function called
//alarm register is set to another value, then you call timer_overflow_happened,
//it will return false.
//So we store the overflow value when new alarm is to be set.
static bool s_overflow_happened;
#ifdef CONFIG_PM_DFS_USE_RTC_TIMER_REF
// If DFS is enabled, upon the first frequency change this value is set to the
// difference between esp_timer value and RTC timer value. On every subsequent
@ -152,10 +146,6 @@ portMUX_TYPE s_time_update_lock = portMUX_INITIALIZER_UNLOCKED;
// Check if timer overflow has happened (but was not handled by ISR yet)
static inline bool IRAM_ATTR timer_overflow_happened()
{
if (s_overflow_happened) {
return true;
}
return ((REG_READ(FRC_TIMER_CTRL_REG(1)) & FRC_TIMER_INT_STATUS) != 0 &&
((REG_READ(FRC_TIMER_ALARM_REG(1)) == ALARM_OVERFLOW_VAL && TIMER_IS_AFTER_OVERFLOW(REG_READ(FRC_TIMER_COUNT_REG(1))) && !s_mask_overflow) ||
(!TIMER_IS_AFTER_OVERFLOW(REG_READ(FRC_TIMER_ALARM_REG(1))) && TIMER_IS_AFTER_OVERFLOW(REG_READ(FRC_TIMER_COUNT_REG(1))))));
@ -222,35 +212,31 @@ uint64_t IRAM_ATTR esp_timer_impl_get_time()
void IRAM_ATTR esp_timer_impl_set_alarm(uint64_t timestamp)
{
portENTER_CRITICAL(&s_time_update_lock);
// Alarm time relative to the moment when counter was 0
uint64_t time_after_timebase_us = timestamp - s_time_base_us;
// Adjust current time if overflow has happened
bool overflow = timer_overflow_happened();
uint64_t cur_count = REG_READ(FRC_TIMER_COUNT_REG(1));
if (overflow) {
assert(time_after_timebase_us > s_timer_us_per_overflow);
time_after_timebase_us -= s_timer_us_per_overflow;
s_overflow_happened = true;
}
// Calculate desired timer compare value (may exceed 2^32-1)
uint64_t compare_val = time_after_timebase_us * s_timer_ticks_per_us;
uint32_t alarm_reg_val = ALARM_OVERFLOW_VAL;
// Use calculated alarm value if it is less than ALARM_OVERFLOW_VAL.
// Note that if by the time we update ALARM_REG, COUNT_REG value is higher,
// interrupt will not happen for another ALARM_OVERFLOW_VAL timer ticks,
// so need to check if alarm value is too close in the future (e.g. <2 us away).
const uint32_t offset = s_timer_ticks_per_us * 2;
if (compare_val < ALARM_OVERFLOW_VAL) {
if (compare_val < cur_count + offset) {
compare_val = cur_count + offset;
if (compare_val > ALARM_OVERFLOW_VAL) {
compare_val = ALARM_OVERFLOW_VAL;
}
do {
// Adjust current time if overflow has happened
if (timer_overflow_happened()) {
timer_count_reload();
s_time_base_us += s_timer_us_per_overflow;
}
alarm_reg_val = (uint32_t) compare_val;
}
REG_WRITE(FRC_TIMER_ALARM_REG(1), alarm_reg_val);
s_mask_overflow = false;
uint64_t cur_count = REG_READ(FRC_TIMER_COUNT_REG(1));
// Alarm time relative to the moment when counter was 0
int64_t time_after_timebase_us = (int64_t)timestamp - s_time_base_us;
// Calculate desired timer compare value (may exceed 2^32-1)
int64_t compare_val = time_after_timebase_us * s_timer_ticks_per_us;
compare_val = MAX(compare_val, cur_count + offset);
uint32_t alarm_reg_val = ALARM_OVERFLOW_VAL;
if (compare_val < ALARM_OVERFLOW_VAL) {
alarm_reg_val = (uint32_t) compare_val;
}
REG_WRITE(FRC_TIMER_ALARM_REG(1), alarm_reg_val);
} while (REG_READ(FRC_TIMER_ALARM_REG(1)) <= REG_READ(FRC_TIMER_COUNT_REG(1)));
portEXIT_CRITICAL(&s_time_update_lock);
}
@ -261,7 +247,6 @@ static void IRAM_ATTR timer_alarm_isr(void *arg)
if (timer_overflow_happened()) {
timer_count_reload();
s_time_base_us += s_timer_us_per_overflow;
s_overflow_happened = false;
}
s_mask_overflow = false;
// Clear interrupt status
@ -336,7 +321,6 @@ void esp_timer_impl_advance(int64_t time_us)
REG_WRITE(FRC_TIMER_ALARM_REG(1), 0);
REG_WRITE(FRC_TIMER_LOAD_REG(1), 0);
s_time_base_us += count / s_timer_ticks_per_us + time_us;
s_overflow_happened = false;
portEXIT_CRITICAL(&s_time_update_lock);
}

185
components/esp32/test/test_esp_timer.c
View file

@ -536,6 +536,61 @@ TEST_CASE("Can delete timer from callback", "[esp_timer]")
vSemaphoreDelete(args.notify_from_timer_cb);
}
typedef struct {
SemaphoreHandle_t delete_start;
SemaphoreHandle_t delete_done;
SemaphoreHandle_t test_done;
esp_timer_handle_t timer;
} timer_delete_test_args_t;
static void timer_delete_task(void* arg)
{
timer_delete_test_args_t* args = (timer_delete_test_args_t*) arg;
xSemaphoreTake(args->delete_start, portMAX_DELAY);
printf("Deleting the timer\n");
esp_timer_delete(args->timer);
printf("Timer deleted\n");
xSemaphoreGive(args->delete_done);
vTaskDelete(NULL);
}
static void timer_delete_test_callback(void* arg)
{
timer_delete_test_args_t* args = (timer_delete_test_args_t*) arg;
printf("Timer callback called\n");
xSemaphoreGive(args->delete_start);
xSemaphoreTake(args->delete_done, portMAX_DELAY);
printf("Callback complete\n");
xSemaphoreGive(args->test_done);
}
TEST_CASE("Can delete timer from a separate task, triggered from callback", "[esp_timer]")
{
timer_delete_test_args_t args = {
.delete_start = xSemaphoreCreateBinary(),
.delete_done = xSemaphoreCreateBinary(),
.test_done = xSemaphoreCreateBinary(),
};
esp_timer_create_args_t timer_args = {
.callback = &timer_delete_test_callback,
.arg = &args
};
esp_timer_handle_t timer;
TEST_ESP_OK(esp_timer_create(&timer_args, &timer));
args.timer = timer;
xTaskCreate(timer_delete_task, "deleter", 4096, &args, 5, NULL);
esp_timer_start_once(timer, 100);
TEST_ASSERT(xSemaphoreTake(args.test_done, pdMS_TO_TICKS(1000)));
vSemaphoreDelete(args.delete_done);
vSemaphoreDelete(args.delete_start);
vSemaphoreDelete(args.test_done);
}
TEST_CASE("esp_timer_impl_advance moves time base correctly", "[esp_timer]")
{
ref_clock_init();
@ -594,3 +649,133 @@ TEST_CASE("after esp_timer_impl_advance, timers run when expected", "[esp_timer]
ref_clock_deinit();
}
#if !defined(CONFIG_FREERTOS_UNICORE) && defined(CONFIG_ESP32_DPORT_WORKAROUND)
#include "soc/dport_reg.h"
#include "soc/frc_timer_reg.h"
#include "esp_ipc.h"
static bool task_stop;
static bool time_jumped;
static void task_check_time(void *p)
{
int64_t t1 = 0, t2 = 0;
while (task_stop == false) {
t1 = t2;
t2 = esp_timer_get_time();
if (t1 > t2) {
int64_t shift_us = t2 - t1;
time_jumped = true;
printf("System clock jumps back: %lli us\n", shift_us);
}
vTaskDelay(1);
}
vTaskDelete(NULL);
}
static void timer_callback(void* arg)
{
}
static void dport_task(void *pvParameters)
{
while (task_stop == false) {
DPORT_STALL_OTHER_CPU_START();
ets_delay_us(3);
DPORT_STALL_OTHER_CPU_END();
}
vTaskDelete(NULL);
}
TEST_CASE("esp_timer_impl_set_alarm does not set an alarm below the current time", "[esp_timer][timeout=62]")
{
const int max_timers = 2;
time_jumped = false;
task_stop = false;
xTaskCreatePinnedToCore(task_check_time, "task_check_time", 4096, NULL, 5, NULL, 0);
// dport_task is used here to interrupt the esp_timer_impl_set_alarm function.
// To interrupt it we can use an interrupt with 4 or 5 levels which will run on CPU0.
// Instead, an interrupt we use the dport workaround which has 4 interrupt level for stall CPU0.
xTaskCreatePinnedToCore(dport_task, "dport_task", 4096, NULL, 5, NULL, 1);
const esp_timer_create_args_t periodic_timer_args = {
.callback = &timer_callback,
};
esp_timer_handle_t periodic_timer[max_timers];
printf("timers created\n");
esp_timer_create(&periodic_timer_args, &periodic_timer[0]);
esp_timer_start_periodic(periodic_timer[0], 9000);
esp_timer_create(&periodic_timer_args, &periodic_timer[1]);
esp_timer_start_periodic(periodic_timer[1], 9000);
vTaskDelay(60 * 1000 / portTICK_PERIOD_MS);
task_stop = true;
esp_timer_stop(periodic_timer[0]);
esp_timer_delete(periodic_timer[0]);
esp_timer_stop(periodic_timer[1]);
esp_timer_delete(periodic_timer[1]);
printf("timers deleted\n");
vTaskDelay(1000 / portTICK_PERIOD_MS);
TEST_ASSERT(time_jumped == false);
}
static esp_timer_handle_t oneshot_timer;
static void oneshot_timer_callback(void* arg)
{
esp_timer_start_once(oneshot_timer, 5000);
}
static const esp_timer_create_args_t oneshot_timer_args = {
.callback = &oneshot_timer_callback,
};
TEST_CASE("esp_timer_impl_set_alarm and using start_once do not lead that the System time jumps back", "[esp_timer][timeout=62]")
{
time_jumped = false;
task_stop = false;
xTaskCreatePinnedToCore(task_check_time, "task_check_time", 4096, NULL, 5, NULL, 0);
// dport_task is used here to interrupt the esp_timer_impl_set_alarm function.
// To interrupt it we can use an interrupt with 4 or 5 levels which will run on CPU0.
// Instead, an interrupt we use the dport workaround which has 4 interrupt level for stall CPU0.
xTaskCreatePinnedToCore(dport_task, "dport_task", 4096, NULL, 5, NULL, 1);
const esp_timer_create_args_t periodic_timer_args = {
.callback = &timer_callback,
};
esp_timer_handle_t periodic_timer;
esp_timer_create(&periodic_timer_args, &periodic_timer);
esp_timer_start_periodic(periodic_timer, 5000);
esp_timer_create(&oneshot_timer_args, &oneshot_timer);
esp_timer_start_once(oneshot_timer, 9990);
printf("timers created\n");
vTaskDelay(60 * 1000 / portTICK_PERIOD_MS);
task_stop = true;
esp_timer_stop(oneshot_timer);
esp_timer_delete(oneshot_timer);
printf("timers deleted\n");
vTaskDelay(1000 / portTICK_PERIOD_MS);
TEST_ASSERT(time_jumped == false);
}
#endif // !defined(CONFIG_FREERTOS_UNICORE) && defined(CONFIG_ESP32_DPORT_WORKAROUND)