518 lines
14 KiB
C
518 lines
14 KiB
C
// Copyright 2017 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <sys/param.h>
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#include <string.h>
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#include "esp_types.h"
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#include "esp_attr.h"
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#include "esp_err.h"
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#include "esp_timer.h"
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#include "esp_task.h"
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#include "esp_log.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "freertos/xtensa_api.h"
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#include "sdkconfig.h"
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#include "esp_timer_impl.h"
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#ifdef CONFIG_ESP_TIMER_PROFILING
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#define WITH_PROFILING 1
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#endif
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#ifndef NDEBUG
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// Enable built-in checks in queue.h in debug builds
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#define INVARIANTS
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#endif
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#include "rom/queue.h"
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#define TIMER_EVENT_QUEUE_SIZE 16
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struct esp_timer {
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uint64_t alarm;
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uint64_t period;
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esp_timer_cb_t callback;
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void* arg;
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#if WITH_PROFILING
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const char* name;
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size_t times_triggered;
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size_t times_armed;
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uint64_t total_callback_run_time;
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#endif // WITH_PROFILING
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LIST_ENTRY(esp_timer) list_entry;
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};
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static bool is_initialized();
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static esp_err_t timer_insert(esp_timer_handle_t timer);
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static esp_err_t timer_remove(esp_timer_handle_t timer);
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static bool timer_armed(esp_timer_handle_t timer);
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static void timer_list_lock();
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static void timer_list_unlock();
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#if WITH_PROFILING
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static void timer_insert_inactive(esp_timer_handle_t timer);
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static void timer_remove_inactive(esp_timer_handle_t timer);
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#endif // WITH_PROFILING
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static const char* TAG = "esp_timer";
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// list of currently armed timers
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static LIST_HEAD(esp_timer_list, esp_timer) s_timers =
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LIST_HEAD_INITIALIZER(s_timers);
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#if WITH_PROFILING
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// list of unarmed timers, used only to be able to dump statistics about
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// all the timers
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static LIST_HEAD(esp_inactive_timer_list, esp_timer) s_inactive_timers =
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LIST_HEAD_INITIALIZER(s_timers);
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// used to keep track of the timer when executing the callback
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static esp_timer_handle_t s_timer_in_callback;
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#endif
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// task used to dispatch timer callbacks
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static TaskHandle_t s_timer_task;
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// counting semaphore used to notify the timer task from ISR
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static SemaphoreHandle_t s_timer_semaphore;
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// mutex which protects timers from deletion during callback execution
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static SemaphoreHandle_t s_timer_delete_mutex;
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#if CONFIG_SPIRAM_USE_MALLOC
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// memory for s_timer_semaphore and s_timer_delete_mutex
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static StaticQueue_t s_timer_semaphore_memory;
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static StaticQueue_t s_timer_delete_mutex_memory;
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#endif
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// lock protecting s_timers, s_inactive_timers, s_timer_in_callback
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static portMUX_TYPE s_timer_lock = portMUX_INITIALIZER_UNLOCKED;
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esp_err_t esp_timer_create(const esp_timer_create_args_t* args,
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esp_timer_handle_t* out_handle)
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{
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if (!is_initialized()) {
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return ESP_ERR_INVALID_STATE;
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}
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if (args->callback == NULL) {
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return ESP_ERR_INVALID_ARG;
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}
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esp_timer_handle_t result = (esp_timer_handle_t) calloc(1, sizeof(*result));
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if (result == NULL) {
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return ESP_ERR_NO_MEM;
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}
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result->callback = args->callback;
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result->arg = args->arg;
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#if WITH_PROFILING
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result->name = args->name;
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timer_insert_inactive(result);
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#endif
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*out_handle = result;
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return ESP_OK;
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}
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esp_err_t IRAM_ATTR esp_timer_start_once(esp_timer_handle_t timer, uint64_t timeout_us)
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{
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if (!is_initialized() || timer_armed(timer)) {
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return ESP_ERR_INVALID_STATE;
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}
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timer->alarm = esp_timer_get_time() + timeout_us;
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timer->period = 0;
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#if WITH_PROFILING
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timer->times_armed++;
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#endif
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return timer_insert(timer);
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}
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esp_err_t IRAM_ATTR esp_timer_start_periodic(esp_timer_handle_t timer, uint64_t period_us)
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{
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if (!is_initialized() || timer_armed(timer)) {
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return ESP_ERR_INVALID_STATE;
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}
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period_us = MAX(period_us, esp_timer_impl_get_min_period_us());
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timer->alarm = esp_timer_get_time() + period_us;
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timer->period = period_us;
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#if WITH_PROFILING
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timer->times_armed++;
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#endif
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return timer_insert(timer);
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}
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esp_err_t IRAM_ATTR esp_timer_stop(esp_timer_handle_t timer)
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{
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if (!is_initialized() || !timer_armed(timer)) {
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return ESP_ERR_INVALID_STATE;
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}
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return timer_remove(timer);
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}
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esp_err_t esp_timer_delete(esp_timer_handle_t timer)
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{
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if (timer == NULL) {
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return ESP_ERR_INVALID_ARG;
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}
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if (timer_armed(timer)) {
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return ESP_ERR_INVALID_STATE;
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}
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xSemaphoreTakeRecursive(s_timer_delete_mutex, portMAX_DELAY);
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#if WITH_PROFILING
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if (timer == s_timer_in_callback) {
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s_timer_in_callback = NULL;
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}
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timer_remove_inactive(timer);
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#endif
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free(timer);
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xSemaphoreGiveRecursive(s_timer_delete_mutex);
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return ESP_OK;
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}
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static IRAM_ATTR esp_err_t timer_insert(esp_timer_handle_t timer)
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{
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timer_list_lock();
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#if WITH_PROFILING
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timer_remove_inactive(timer);
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#endif
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esp_timer_handle_t it, last = NULL;
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if (LIST_FIRST(&s_timers) == NULL) {
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LIST_INSERT_HEAD(&s_timers, timer, list_entry);
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} else {
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LIST_FOREACH(it, &s_timers, list_entry) {
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if (timer->alarm < it->alarm) {
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LIST_INSERT_BEFORE(it, timer, list_entry);
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break;
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}
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last = it;
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}
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if (it == NULL) {
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assert(last);
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LIST_INSERT_AFTER(last, timer, list_entry);
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}
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}
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if (timer == LIST_FIRST(&s_timers)) {
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esp_timer_impl_set_alarm(timer->alarm);
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}
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timer_list_unlock();
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return ESP_OK;
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}
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static IRAM_ATTR esp_err_t timer_remove(esp_timer_handle_t timer)
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{
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timer_list_lock();
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LIST_REMOVE(timer, list_entry);
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timer->alarm = 0;
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timer->period = 0;
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#if WITH_PROFILING
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timer_insert_inactive(timer);
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#endif
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timer_list_unlock();
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return ESP_OK;
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}
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#if WITH_PROFILING
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static IRAM_ATTR void timer_insert_inactive(esp_timer_handle_t timer)
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{
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/* May be locked or not, depending on where this is called from.
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* Lock recursively.
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*/
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timer_list_lock();
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esp_timer_handle_t head = LIST_FIRST(&s_inactive_timers);
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if (head == NULL) {
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LIST_INSERT_HEAD(&s_inactive_timers, timer, list_entry);
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} else {
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/* Insert as head element as this is the fastest thing to do.
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* Removal is O(1) anyway.
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*/
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LIST_INSERT_BEFORE(head, timer, list_entry);
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}
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timer_list_unlock();
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}
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static IRAM_ATTR void timer_remove_inactive(esp_timer_handle_t timer)
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{
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timer_list_lock();
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LIST_REMOVE(timer, list_entry);
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timer_list_unlock();
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}
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#endif // WITH_PROFILING
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static IRAM_ATTR bool timer_armed(esp_timer_handle_t timer)
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{
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return timer->alarm > 0;
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}
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static IRAM_ATTR void timer_list_lock()
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{
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portENTER_CRITICAL(&s_timer_lock);
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}
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static IRAM_ATTR void timer_list_unlock()
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{
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portEXIT_CRITICAL(&s_timer_lock);
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}
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static void timer_process_alarm(esp_timer_dispatch_t dispatch_method)
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{
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/* unused, provision to allow running callbacks from ISR */
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(void) dispatch_method;
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xSemaphoreTakeRecursive(s_timer_delete_mutex, portMAX_DELAY);
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timer_list_lock();
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uint64_t now = esp_timer_impl_get_time();
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esp_timer_handle_t it = LIST_FIRST(&s_timers);
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while (it != NULL &&
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it->alarm < now) {
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LIST_REMOVE(it, list_entry);
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if (it->period > 0) {
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it->alarm += it->period;
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timer_insert(it);
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} else {
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it->alarm = 0;
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#if WITH_PROFILING
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timer_insert_inactive(it);
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#endif
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}
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#if WITH_PROFILING
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uint64_t callback_start = now;
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s_timer_in_callback = it;
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#endif
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esp_timer_cb_t callback = it->callback;
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void* arg = it->arg;
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timer_list_unlock();
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(*callback)(arg);
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timer_list_lock();
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now = esp_timer_impl_get_time();
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#if WITH_PROFILING
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/* The callback might have deleted the timer.
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* If this happens, esp_timer_delete will set s_timer_in_callback
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* to NULL.
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*/
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if (s_timer_in_callback) {
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s_timer_in_callback->times_triggered++;
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s_timer_in_callback->total_callback_run_time += now - callback_start;
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}
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#endif
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it = LIST_FIRST(&s_timers);
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}
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esp_timer_handle_t first = LIST_FIRST(&s_timers);
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if (first) {
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esp_timer_impl_set_alarm(first->alarm);
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}
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timer_list_unlock();
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xSemaphoreGiveRecursive(s_timer_delete_mutex);
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}
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static void timer_task(void* arg)
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{
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while (true){
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int res = xSemaphoreTake(s_timer_semaphore, portMAX_DELAY);
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assert(res == pdTRUE);
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timer_process_alarm(ESP_TIMER_TASK);
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}
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}
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static void IRAM_ATTR timer_alarm_handler(void* arg)
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{
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int need_yield;
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if (xSemaphoreGiveFromISR(s_timer_semaphore, &need_yield) != pdPASS) {
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ESP_EARLY_LOGD(TAG, "timer queue overflow");
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return;
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}
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if (need_yield == pdTRUE) {
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portYIELD_FROM_ISR();
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}
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}
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static IRAM_ATTR bool is_initialized()
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{
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return s_timer_task != NULL;
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}
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esp_err_t esp_timer_init(void)
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{
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esp_err_t err;
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if (is_initialized()) {
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return ESP_ERR_INVALID_STATE;
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}
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#if CONFIG_SPIRAM_USE_MALLOC
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memset(&s_timer_semaphore_memory, 0, sizeof(StaticQueue_t));
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s_timer_semaphore = xSemaphoreCreateCountingStatic(TIMER_EVENT_QUEUE_SIZE, 0, &s_timer_semaphore_memory);
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#else
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s_timer_semaphore = xSemaphoreCreateCounting(TIMER_EVENT_QUEUE_SIZE, 0);
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#endif
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if (!s_timer_semaphore) {
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err = ESP_ERR_NO_MEM;
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goto out;
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}
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#if CONFIG_SPIRAM_USE_MALLOC
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memset(&s_timer_delete_mutex_memory, 0, sizeof(StaticQueue_t));
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s_timer_delete_mutex = xSemaphoreCreateRecursiveMutexStatic(&s_timer_delete_mutex_memory);
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#else
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s_timer_delete_mutex = xSemaphoreCreateRecursiveMutex();
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#endif
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if (!s_timer_delete_mutex) {
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err = ESP_ERR_NO_MEM;
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goto out;
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}
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int ret = xTaskCreatePinnedToCore(&timer_task, "esp_timer",
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ESP_TASK_TIMER_STACK, NULL, ESP_TASK_TIMER_PRIO, &s_timer_task, PRO_CPU_NUM);
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if (ret != pdPASS) {
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err = ESP_ERR_NO_MEM;
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goto out;
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}
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err = esp_timer_impl_init(&timer_alarm_handler);
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if (err != ESP_OK) {
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goto out;
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}
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return ESP_OK;
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out:
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if (s_timer_task) {
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vTaskDelete(s_timer_task);
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s_timer_task = NULL;
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}
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if (s_timer_semaphore) {
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vSemaphoreDelete(s_timer_semaphore);
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s_timer_semaphore = NULL;
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}
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if (s_timer_delete_mutex) {
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vSemaphoreDelete(s_timer_delete_mutex);
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s_timer_delete_mutex = NULL;
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}
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return ESP_ERR_NO_MEM;
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}
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esp_err_t esp_timer_deinit(void)
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{
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if (!is_initialized()) {
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return ESP_ERR_INVALID_STATE;
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}
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/* Check if there are any active timers */
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if (!LIST_EMPTY(&s_timers)) {
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return ESP_ERR_INVALID_STATE;
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}
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/* We can only check if there are any timers which are not deleted if
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* profiling is enabled.
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*/
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#if WITH_PROFILING
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if (!LIST_EMPTY(&s_inactive_timers)) {
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return ESP_ERR_INVALID_STATE;
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}
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#endif
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esp_timer_impl_deinit();
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vTaskDelete(s_timer_task);
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s_timer_task = NULL;
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vSemaphoreDelete(s_timer_semaphore);
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s_timer_semaphore = NULL;
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return ESP_OK;
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}
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static void print_timer_info(esp_timer_handle_t t, char** dst, size_t* dst_size)
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{
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size_t cb = snprintf(*dst, *dst_size,
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#if WITH_PROFILING
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"%-12s %12lld %12lld %9d %9d %12lld\n",
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t->name, t->period, t->alarm,
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t->times_armed, t->times_triggered, t->total_callback_run_time);
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/* keep this in sync with the format string, used in esp_timer_dump */
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#define TIMER_INFO_LINE_LEN 78
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#else
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"timer@%p %12lld %12lld\n", t, t->period, t->alarm);
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#define TIMER_INFO_LINE_LEN 46
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#endif
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*dst += cb;
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*dst_size -= cb;
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}
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esp_err_t esp_timer_dump(FILE* stream)
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{
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/* Since timer lock is a critical section, we don't want to print directly
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* to stdout, since that may cause a deadlock if stdout is interrupt-driven
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* (via the UART driver). Allocate sufficiently large chunk of memory first,
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* print to it, then dump this memory to stdout.
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*/
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esp_timer_handle_t it;
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/* First count the number of timers */
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size_t timer_count = 0;
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timer_list_lock();
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LIST_FOREACH(it, &s_timers, list_entry) {
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++timer_count;
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}
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#if WITH_PROFILING
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LIST_FOREACH(it, &s_inactive_timers, list_entry) {
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++timer_count;
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}
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#endif
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timer_list_unlock();
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/* Allocate the memory for this number of timers. Since we have unlocked,
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* we may find that there are more timers. There's no bulletproof solution
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* for this (can't allocate from a critical section), but we allocate
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* slightly more and the output will be truncated if that is not enough.
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*/
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size_t buf_size = TIMER_INFO_LINE_LEN * (timer_count + 3);
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char* print_buf = calloc(1, buf_size + 1);
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if (print_buf == NULL) {
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return ESP_ERR_NO_MEM;
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}
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/* Print to the buffer */
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timer_list_lock();
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char* pos = print_buf;
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LIST_FOREACH(it, &s_timers, list_entry) {
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print_timer_info(it, &pos, &buf_size);
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}
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#if WITH_PROFILING
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LIST_FOREACH(it, &s_inactive_timers, list_entry) {
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print_timer_info(it, &pos, &buf_size);
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}
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#endif
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timer_list_unlock();
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/* Print the buffer */
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fputs(print_buf, stream);
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free(print_buf);
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return ESP_OK;
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}
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int64_t IRAM_ATTR esp_timer_get_next_alarm()
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{
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int64_t next_alarm = INT64_MAX;
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timer_list_lock();
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esp_timer_handle_t it = LIST_FIRST(&s_timers);
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if (it) {
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next_alarm = it->alarm;
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}
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timer_list_unlock();
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return next_alarm;
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}
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|
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int64_t IRAM_ATTR esp_timer_get_time()
|
|
{
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return (int64_t) esp_timer_impl_get_time();
|
|
}
|