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Refactor integrated-timers

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This commit is contained in:
Dániel Buga
2024-11-26 23:54:21 +01:00
parent 406d377b75
commit 5a5495aac4
32 changed files with 611 additions and 1182 deletions
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3
embassy-nrf/Cargo.toml
View File

@@ -119,7 +119,7 @@ _nrf52 = ["_ppi"]
_nrf51 = ["_ppi"]
_nrf91 = []
_time-driver = ["dep:embassy-time-driver", "embassy-time-driver?/tick-hz-32_768"]
_time-driver = ["dep:embassy-time-driver", "embassy-time-driver?/tick-hz-32_768", "dep:embassy-time-queue-driver"]
# trustzone state.
_s = []
@@ -135,6 +135,7 @@ _nrf52832_anomaly_109 = []
[dependencies]
embassy-time-driver = { version = "0.1", path = "../embassy-time-driver", optional = true }
embassy-time-queue-driver = { version = "0.1", path = "../embassy-time-queue-driver", optional = true }
embassy-time = { version = "0.3.2", path = "../embassy-time", optional = true }
embassy-sync = { version = "0.6.1", path = "../embassy-sync" }
embassy-hal-internal = {version = "0.2.0", path = "../embassy-hal-internal", features = ["cortex-m", "prio-bits-3"] }

117
embassy-nrf/src/time_driver.rs
View File

@@ -1,11 +1,11 @@
use core::cell::Cell;
use core::sync::atomic::{compiler_fence, AtomicU32, AtomicU8, Ordering};
use core::{mem, ptr};
use core::sync::atomic::{compiler_fence, AtomicU32, Ordering};
use critical_section::CriticalSection;
use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
use embassy_sync::blocking_mutex::CriticalSectionMutex as Mutex;
use embassy_time_driver::{AlarmHandle, Driver};
use embassy_time_driver::Driver;
use embassy_time_queue_driver::GlobalTimerQueue;
use crate::interrupt::InterruptExt;
use crate::{interrupt, pac};
@@ -94,11 +94,6 @@ mod test {
struct AlarmState {
timestamp: Cell<u64>,
// This is really a Option<(fn(*mut ()), *mut ())>
// but fn pointers aren't allowed in const yet
callback: Cell<*const ()>,
ctx: Cell<*mut ()>,
}
unsafe impl Send for AlarmState {}
@@ -107,26 +102,20 @@ impl AlarmState {
const fn new() -> Self {
Self {
timestamp: Cell::new(u64::MAX),
callback: Cell::new(ptr::null()),
ctx: Cell::new(ptr::null_mut()),
}
}
}
const ALARM_COUNT: usize = 3;
struct RtcDriver {
/// Number of 2^23 periods elapsed since boot.
period: AtomicU32,
alarm_count: AtomicU8,
/// Timestamp at which to fire alarm. u64::MAX if no alarm is scheduled.
alarms: Mutex<[AlarmState; ALARM_COUNT]>,
alarms: Mutex<AlarmState>,
}
embassy_time_driver::time_driver_impl!(static DRIVER: RtcDriver = RtcDriver {
period: AtomicU32::new(0),
alarm_count: AtomicU8::new(0),
alarms: Mutex::const_new(CriticalSectionRawMutex::new(), [const {AlarmState::new()}; ALARM_COUNT]),
alarms: Mutex::const_new(CriticalSectionRawMutex::new(), AlarmState::new()),
});
impl RtcDriver {
@@ -169,13 +158,12 @@ impl RtcDriver {
self.next_period();
}
for n in 0..ALARM_COUNT {
if r.events_compare(n).read() == 1 {
r.events_compare(n).write_value(0);
critical_section::with(|cs| {
self.trigger_alarm(n, cs);
})
}
let n = 0;
if r.events_compare(n).read() == 1 {
r.events_compare(n).write_value(0);
critical_section::with(|cs| {
self.trigger_alarm(cs);
});
}
}
@@ -186,75 +174,33 @@ impl RtcDriver {
self.period.store(period, Ordering::Relaxed);
let t = (period as u64) << 23;
for n in 0..ALARM_COUNT {
let alarm = &self.alarms.borrow(cs)[n];
let at = alarm.timestamp.get();
let n = 0;
let alarm = &self.alarms.borrow(cs);
let at = alarm.timestamp.get();
if at < t + 0xc00000 {
// just enable it. `set_alarm` has already set the correct CC val.
r.intenset().write(|w| w.0 = compare_n(n));
}
if at < t + 0xc00000 {
// just enable it. `set_alarm` has already set the correct CC val.
r.intenset().write(|w| w.0 = compare_n(n));
}
})
}
fn get_alarm<'a>(&'a self, cs: CriticalSection<'a>, alarm: AlarmHandle) -> &'a AlarmState {
// safety: we're allowed to assume the AlarmState is created by us, and
// we never create one that's out of bounds.
unsafe { self.alarms.borrow(cs).get_unchecked(alarm.id() as usize) }
}
fn trigger_alarm(&self, n: usize, cs: CriticalSection) {
fn trigger_alarm(&self, cs: CriticalSection) {
let n = 0;
let r = rtc();
r.intenclr().write(|w| w.0 = compare_n(n));
let alarm = &self.alarms.borrow(cs)[n];
let alarm = &self.alarms.borrow(cs);
alarm.timestamp.set(u64::MAX);
// Call after clearing alarm, so the callback can set another alarm.
// safety:
// - we can ignore the possiblity of `f` being unset (null) because of the safety contract of `allocate_alarm`.
// - other than that we only store valid function pointers into alarm.callback
let f: fn(*mut ()) = unsafe { mem::transmute(alarm.callback.get()) };
f(alarm.ctx.get());
}
}
impl Driver for RtcDriver {
fn now(&self) -> u64 {
// `period` MUST be read before `counter`, see comment at the top for details.
let period = self.period.load(Ordering::Relaxed);
compiler_fence(Ordering::Acquire);
let counter = rtc().counter().read().0;
calc_now(period, counter)
TIMER_QUEUE_DRIVER.dispatch();
}
unsafe fn allocate_alarm(&self) -> Option<AlarmHandle> {
critical_section::with(|_| {
let id = self.alarm_count.load(Ordering::Relaxed);
if id < ALARM_COUNT as u8 {
self.alarm_count.store(id + 1, Ordering::Relaxed);
Some(AlarmHandle::new(id))
} else {
None
}
})
}
fn set_alarm_callback(&self, alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ()) {
fn set_alarm(&self, timestamp: u64) -> bool {
critical_section::with(|cs| {
let alarm = self.get_alarm(cs, alarm);
alarm.callback.set(callback as *const ());
alarm.ctx.set(ctx);
})
}
fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) -> bool {
critical_section::with(|cs| {
let n = alarm.id() as _;
let alarm = self.get_alarm(cs, alarm);
let n = 0;
let alarm = &self.alarms.borrow(cs);
alarm.timestamp.set(timestamp);
let r = rtc();
@@ -304,6 +250,16 @@ impl Driver for RtcDriver {
}
}
impl Driver for RtcDriver {
fn now(&self) -> u64 {
// `period` MUST be read before `counter`, see comment at the top for details.
let period = self.period.load(Ordering::Relaxed);
compiler_fence(Ordering::Acquire);
let counter = rtc().counter().read().0;
calc_now(period, counter)
}
}
#[cfg(feature = "_nrf54l")]
#[cfg(feature = "rt")]
#[interrupt]
@@ -321,3 +277,8 @@ fn RTC1() {
pub(crate) fn init(irq_prio: crate::interrupt::Priority) {
DRIVER.init(irq_prio)
}
embassy_time_queue_driver::timer_queue_impl!(
static TIMER_QUEUE_DRIVER: GlobalTimerQueue
= GlobalTimerQueue::new(|next_expiration| DRIVER.set_alarm(next_expiration))
);