mbed official / mbed-dev

mbed library sources. Supersedes mbed-src.

Dependents:   Nucleo_Hello_Encoder BLE_iBeaconScan AM1805_DEMO DISCO-F429ZI_ExportTemplate1 ... more

hal/mbed_ticker_api.c@188:bcfe06ba3d64, 2018-11-08 (annotated)

Committer:
AnnaBridge
Date:
Thu Nov 08 11:46:34 2018 +0000
Revision:
188:bcfe06ba3d64
Parent:
187:0387e8f68319
Child:
189:f392fc9709a3
mbed-dev library. Release version 164

Who changed what in which revision?

UserRevisionLine numberNew contents of line
<> 149:156823d33999 1 /* mbed Microcontroller Library
<> 149:156823d33999 2 * Copyright (c) 2015 ARM Limited
<> 149:156823d33999 3 *
<> 149:156823d33999 4 * Licensed under the Apache License, Version 2.0 (the "License");
<> 149:156823d33999 5 * you may not use this file except in compliance with the License.
<> 149:156823d33999 6 * You may obtain a copy of the License at
<> 149:156823d33999 7 *
<> 149:156823d33999 8 * http://www.apache.org/licenses/LICENSE-2.0
<> 149:156823d33999 9 *
<> 149:156823d33999 10 * Unless required by applicable law or agreed to in writing, software
<> 149:156823d33999 11 * distributed under the License is distributed on an "AS IS" BASIS,
<> 149:156823d33999 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
<> 149:156823d33999 13 * See the License for the specific language governing permissions and
<> 149:156823d33999 14 * limitations under the License.
<> 149:156823d33999 15 */
AnnaBridge 167:e84263d55307 16 #include <stdio.h>
<> 149:156823d33999 17 #include <stddef.h>
<> 149:156823d33999 18 #include "hal/ticker_api.h"
<> 160:d5399cc887bb 19 #include "platform/mbed_critical.h"
AnnaBridge 188:bcfe06ba3d64 20 #include "platform/mbed_assert.h"
<> 149:156823d33999 21
AnnaBridge 167:e84263d55307 22 static void schedule_interrupt(const ticker_data_t *const ticker);
AnnaBridge 167:e84263d55307 23 static void update_present_time(const ticker_data_t *const ticker);
AnnaBridge 167:e84263d55307 24
AnnaBridge 167:e84263d55307 25 /*
AnnaBridge 187:0387e8f68319 26 * Initialize a ticker instance.
AnnaBridge 167:e84263d55307 27 */
AnnaBridge 167:e84263d55307 28 static void initialize(const ticker_data_t *ticker)
AnnaBridge 167:e84263d55307 29 {
AnnaBridge 187:0387e8f68319 30 // return if the queue has already been initialized, in that case the
AnnaBridge 167:e84263d55307 31 // interface used by the queue is already initialized.
AnnaBridge 187:0387e8f68319 32 if (ticker->queue->initialized) {
AnnaBridge 167:e84263d55307 33 return;
AnnaBridge 167:e84263d55307 34 }
AnnaBridge 188:bcfe06ba3d64 35 if (ticker->queue->suspended) {
AnnaBridge 188:bcfe06ba3d64 36 return;
AnnaBridge 188:bcfe06ba3d64 37 }
<> 149:156823d33999 38
AnnaBridge 167:e84263d55307 39 ticker->interface->init();
Anna Bridge 180:96ed750bd169 40
Anna Bridge 180:96ed750bd169 41 const ticker_info_t *info = ticker->interface->get_info();
Anna Bridge 180:96ed750bd169 42 uint32_t frequency = info->frequency;
Anna Bridge 180:96ed750bd169 43 if (info->frequency == 0) {
Anna Bridge 180:96ed750bd169 44 MBED_ASSERT(0);
Anna Bridge 180:96ed750bd169 45 frequency = 1000000;
Anna Bridge 180:96ed750bd169 46 }
Anna Bridge 180:96ed750bd169 47
Anna Bridge 186:707f6e361f3e 48 uint8_t frequency_shifts = 0;
Anna Bridge 186:707f6e361f3e 49 for (uint8_t i = 31; i > 0; --i) {
AnnaBridge 188:bcfe06ba3d64 50 if ((1U << i) == frequency) {
Anna Bridge 186:707f6e361f3e 51 frequency_shifts = i;
Anna Bridge 186:707f6e361f3e 52 break;
Anna Bridge 186:707f6e361f3e 53 }
Anna Bridge 186:707f6e361f3e 54 }
Anna Bridge 186:707f6e361f3e 55
Anna Bridge 180:96ed750bd169 56 uint32_t bits = info->bits;
Anna Bridge 180:96ed750bd169 57 if ((info->bits > 32) || (info->bits < 4)) {
Anna Bridge 180:96ed750bd169 58 MBED_ASSERT(0);
Anna Bridge 180:96ed750bd169 59 bits = 32;
Anna Bridge 180:96ed750bd169 60 }
Anna Bridge 180:96ed750bd169 61 uint32_t max_delta = 0x7 << (bits - 4); // 7/16th
Anna Bridge 180:96ed750bd169 62 uint64_t max_delta_us =
AnnaBridge 187:0387e8f68319 63 ((uint64_t)max_delta * 1000000 + frequency - 1) / frequency;
Anna Bridge 180:96ed750bd169 64
AnnaBridge 167:e84263d55307 65 ticker->queue->event_handler = NULL;
AnnaBridge 167:e84263d55307 66 ticker->queue->head = NULL;
Anna Bridge 180:96ed750bd169 67 ticker->queue->tick_last_read = ticker->interface->read();
Anna Bridge 180:96ed750bd169 68 ticker->queue->tick_remainder = 0;
Anna Bridge 180:96ed750bd169 69 ticker->queue->frequency = frequency;
Anna Bridge 186:707f6e361f3e 70 ticker->queue->frequency_shifts = frequency_shifts;
Anna Bridge 180:96ed750bd169 71 ticker->queue->bitmask = ((uint64_t)1 << bits) - 1;
Anna Bridge 180:96ed750bd169 72 ticker->queue->max_delta = max_delta;
Anna Bridge 180:96ed750bd169 73 ticker->queue->max_delta_us = max_delta_us;
AnnaBridge 167:e84263d55307 74 ticker->queue->present_time = 0;
AnnaBridge 187:0387e8f68319 75 ticker->queue->dispatching = false;
AnnaBridge 188:bcfe06ba3d64 76 ticker->queue->suspended = false;
AnnaBridge 167:e84263d55307 77 ticker->queue->initialized = true;
AnnaBridge 187:0387e8f68319 78
AnnaBridge 167:e84263d55307 79 update_present_time(ticker);
AnnaBridge 167:e84263d55307 80 schedule_interrupt(ticker);
AnnaBridge 167:e84263d55307 81 }
AnnaBridge 167:e84263d55307 82
AnnaBridge 167:e84263d55307 83 /**
AnnaBridge 187:0387e8f68319 84 * Set the event handler function of a ticker instance.
AnnaBridge 167:e84263d55307 85 */
AnnaBridge 167:e84263d55307 86 static void set_handler(const ticker_data_t *const ticker, ticker_event_handler handler)
AnnaBridge 167:e84263d55307 87 {
AnnaBridge 167:e84263d55307 88 ticker->queue->event_handler = handler;
<> 149:156823d33999 89 }
<> 149:156823d33999 90
AnnaBridge 167:e84263d55307 91 /*
AnnaBridge 167:e84263d55307 92 * Convert a 32 bit timestamp into a 64 bit timestamp.
AnnaBridge 167:e84263d55307 93 *
AnnaBridge 187:0387e8f68319 94 * A 64 bit timestamp is used as the point of time of reference while the
AnnaBridge 187:0387e8f68319 95 * timestamp to convert is relative to this point of time.
AnnaBridge 187:0387e8f68319 96 *
AnnaBridge 187:0387e8f68319 97 * The lower 32 bits of the timestamp returned will be equal to the timestamp to
AnnaBridge 187:0387e8f68319 98 * convert.
AnnaBridge 167:e84263d55307 99 *
AnnaBridge 187:0387e8f68319 100 * If the timestamp to convert is less than the lower 32 bits of the time
AnnaBridge 187:0387e8f68319 101 * reference then the timestamp to convert is seen as an overflowed value and
AnnaBridge 187:0387e8f68319 102 * the upper 32 bit of the timestamp returned will be equal to the upper 32 bit
AnnaBridge 187:0387e8f68319 103 * of the reference point + 1.
AnnaBridge 187:0387e8f68319 104 * Otherwise, the upper 32 bit returned will be equal to the upper 32 bit of the
AnnaBridge 187:0387e8f68319 105 * reference point.
AnnaBridge 167:e84263d55307 106 *
AnnaBridge 167:e84263d55307 107 * @param ref: The 64 bit timestamp of reference.
AnnaBridge 167:e84263d55307 108 * @param timestamp: The timestamp to convert.
AnnaBridge 167:e84263d55307 109 */
AnnaBridge 167:e84263d55307 110 static us_timestamp_t convert_timestamp(us_timestamp_t ref, timestamp_t timestamp)
AnnaBridge 167:e84263d55307 111 {
AnnaBridge 167:e84263d55307 112 bool overflow = timestamp < ((timestamp_t) ref) ? true : false;
AnnaBridge 167:e84263d55307 113
AnnaBridge 167:e84263d55307 114 us_timestamp_t result = (ref & ~((us_timestamp_t)UINT32_MAX)) | timestamp;
AnnaBridge 187:0387e8f68319 115 if (overflow) {
AnnaBridge 187:0387e8f68319 116 result += (1ULL << 32);
AnnaBridge 167:e84263d55307 117 }
AnnaBridge 167:e84263d55307 118
AnnaBridge 167:e84263d55307 119 return result;
AnnaBridge 167:e84263d55307 120 }
AnnaBridge 167:e84263d55307 121
AnnaBridge 167:e84263d55307 122 /**
AnnaBridge 167:e84263d55307 123 * Update the present timestamp value of a ticker.
AnnaBridge 167:e84263d55307 124 */
AnnaBridge 167:e84263d55307 125 static void update_present_time(const ticker_data_t *const ticker)
Anna Bridge 180:96ed750bd169 126 {
Anna Bridge 180:96ed750bd169 127 ticker_event_queue_t *queue = ticker->queue;
AnnaBridge 188:bcfe06ba3d64 128 if (queue->suspended) {
AnnaBridge 188:bcfe06ba3d64 129 return;
AnnaBridge 188:bcfe06ba3d64 130 }
Anna Bridge 180:96ed750bd169 131 uint32_t ticker_time = ticker->interface->read();
Anna Bridge 180:96ed750bd169 132 if (ticker_time == ticker->queue->tick_last_read) {
Anna Bridge 180:96ed750bd169 133 // No work to do
Anna Bridge 180:96ed750bd169 134 return;
Anna Bridge 180:96ed750bd169 135 }
Anna Bridge 180:96ed750bd169 136
Anna Bridge 180:96ed750bd169 137 uint64_t elapsed_ticks = (ticker_time - queue->tick_last_read) & queue->bitmask;
Anna Bridge 180:96ed750bd169 138 queue->tick_last_read = ticker_time;
Anna Bridge 180:96ed750bd169 139
Anna Bridge 180:96ed750bd169 140 uint64_t elapsed_us;
Anna Bridge 180:96ed750bd169 141 if (1000000 == queue->frequency) {
Anna Bridge 180:96ed750bd169 142 // Optimized for 1MHz
Anna Bridge 180:96ed750bd169 143
Anna Bridge 180:96ed750bd169 144 elapsed_us = elapsed_ticks;
Anna Bridge 186:707f6e361f3e 145 } else if (0 != queue->frequency_shifts) {
Anna Bridge 186:707f6e361f3e 146 // Optimized for frequencies divisible by 2
Anna Bridge 180:96ed750bd169 147 uint64_t us_x_ticks = elapsed_ticks * 1000000;
Anna Bridge 186:707f6e361f3e 148 elapsed_us = us_x_ticks >> queue->frequency_shifts;
Anna Bridge 180:96ed750bd169 149
Anna Bridge 180:96ed750bd169 150 // Update remainder
Anna Bridge 186:707f6e361f3e 151 queue->tick_remainder += us_x_ticks - (elapsed_us << queue->frequency_shifts);
Anna Bridge 180:96ed750bd169 152 if (queue->tick_remainder >= queue->frequency) {
Anna Bridge 180:96ed750bd169 153 elapsed_us += 1;
Anna Bridge 180:96ed750bd169 154 queue->tick_remainder -= queue->frequency;
Anna Bridge 180:96ed750bd169 155 }
Anna Bridge 180:96ed750bd169 156 } else {
Anna Bridge 180:96ed750bd169 157 // General case
Anna Bridge 180:96ed750bd169 158
Anna Bridge 180:96ed750bd169 159 uint64_t us_x_ticks = elapsed_ticks * 1000000;
Anna Bridge 180:96ed750bd169 160 elapsed_us = us_x_ticks / queue->frequency;
Anna Bridge 180:96ed750bd169 161
Anna Bridge 180:96ed750bd169 162 // Update remainder
Anna Bridge 180:96ed750bd169 163 queue->tick_remainder += us_x_ticks - elapsed_us * queue->frequency;
Anna Bridge 180:96ed750bd169 164 if (queue->tick_remainder >= queue->frequency) {
Anna Bridge 180:96ed750bd169 165 elapsed_us += 1;
Anna Bridge 180:96ed750bd169 166 queue->tick_remainder -= queue->frequency;
Anna Bridge 180:96ed750bd169 167 }
Anna Bridge 180:96ed750bd169 168 }
Anna Bridge 180:96ed750bd169 169
Anna Bridge 180:96ed750bd169 170 // Update current time
Anna Bridge 180:96ed750bd169 171 queue->present_time += elapsed_us;
Anna Bridge 180:96ed750bd169 172 }
Anna Bridge 180:96ed750bd169 173
Anna Bridge 180:96ed750bd169 174 /**
AnnaBridge 188:bcfe06ba3d64 175 * Given the absolute timestamp compute the hal tick timestamp rounded up.
Anna Bridge 180:96ed750bd169 176 */
AnnaBridge 188:bcfe06ba3d64 177 static timestamp_t compute_tick_round_up(const ticker_data_t *const ticker, us_timestamp_t timestamp)
Anna Bridge 180:96ed750bd169 178 {
Anna Bridge 180:96ed750bd169 179 ticker_event_queue_t *queue = ticker->queue;
Anna Bridge 180:96ed750bd169 180 us_timestamp_t delta_us = timestamp - queue->present_time;
Anna Bridge 180:96ed750bd169 181
Anna Bridge 180:96ed750bd169 182 timestamp_t delta = ticker->queue->max_delta;
Anna Bridge 180:96ed750bd169 183 if (delta_us <= ticker->queue->max_delta_us) {
Anna Bridge 180:96ed750bd169 184 // Checking max_delta_us ensures the operation will not overflow
Anna Bridge 180:96ed750bd169 185
Anna Bridge 180:96ed750bd169 186 if (1000000 == queue->frequency) {
Anna Bridge 180:96ed750bd169 187 // Optimized for 1MHz
Anna Bridge 180:96ed750bd169 188
Anna Bridge 180:96ed750bd169 189 delta = delta_us;
Anna Bridge 180:96ed750bd169 190 if (delta > ticker->queue->max_delta) {
Anna Bridge 180:96ed750bd169 191 delta = ticker->queue->max_delta;
Anna Bridge 180:96ed750bd169 192 }
Anna Bridge 186:707f6e361f3e 193 } else if (0 != queue->frequency_shifts) {
Anna Bridge 186:707f6e361f3e 194 // Optimized frequencies divisible by 2
Anna Bridge 180:96ed750bd169 195
AnnaBridge 188:bcfe06ba3d64 196 delta = ((delta_us << ticker->queue->frequency_shifts) + 1000000 - 1) / 1000000;
Anna Bridge 180:96ed750bd169 197 if (delta > ticker->queue->max_delta) {
Anna Bridge 180:96ed750bd169 198 delta = ticker->queue->max_delta;
Anna Bridge 180:96ed750bd169 199 }
Anna Bridge 180:96ed750bd169 200 } else {
Anna Bridge 180:96ed750bd169 201 // General case
Anna Bridge 180:96ed750bd169 202
AnnaBridge 188:bcfe06ba3d64 203 delta = (delta_us * queue->frequency + 1000000 - 1) / 1000000;
Anna Bridge 180:96ed750bd169 204 if (delta > ticker->queue->max_delta) {
Anna Bridge 180:96ed750bd169 205 delta = ticker->queue->max_delta;
Anna Bridge 180:96ed750bd169 206 }
Anna Bridge 180:96ed750bd169 207 }
Anna Bridge 180:96ed750bd169 208 }
Anna Bridge 180:96ed750bd169 209 return (queue->tick_last_read + delta) & queue->bitmask;
Anna Bridge 180:96ed750bd169 210 }
Anna Bridge 180:96ed750bd169 211
Anna Bridge 180:96ed750bd169 212 /**
Anna Bridge 180:96ed750bd169 213 * Return 1 if the tick has incremented to or past match_tick, otherwise 0.
Anna Bridge 180:96ed750bd169 214 */
Anna Bridge 180:96ed750bd169 215 int _ticker_match_interval_passed(timestamp_t prev_tick, timestamp_t cur_tick, timestamp_t match_tick)
Anna Bridge 180:96ed750bd169 216 {
Anna Bridge 180:96ed750bd169 217 if (match_tick > prev_tick) {
Anna Bridge 180:96ed750bd169 218 return (cur_tick >= match_tick) || (cur_tick < prev_tick);
Anna Bridge 180:96ed750bd169 219 } else {
Anna Bridge 180:96ed750bd169 220 return (cur_tick < prev_tick) && (cur_tick >= match_tick);
Anna Bridge 180:96ed750bd169 221 }
AnnaBridge 167:e84263d55307 222 }
AnnaBridge 167:e84263d55307 223
AnnaBridge 167:e84263d55307 224 /**
AnnaBridge 187:0387e8f68319 225 * Compute the time when the interrupt has to be triggered and schedule it.
AnnaBridge 187:0387e8f68319 226 *
AnnaBridge 187:0387e8f68319 227 * If there is no event in the queue or the next event to execute is in more
Anna Bridge 180:96ed750bd169 228 * than ticker.queue.max_delta ticks from now then the ticker irq will be
Anna Bridge 180:96ed750bd169 229 * scheduled in ticker.queue.max_delta ticks. Otherwise the irq will be
Anna Bridge 180:96ed750bd169 230 * scheduled to happen when the running counter reach the timestamp of the
Anna Bridge 180:96ed750bd169 231 * first event in the queue.
AnnaBridge 187:0387e8f68319 232 *
AnnaBridge 187:0387e8f68319 233 * @note If there is no event in the queue then the interrupt is scheduled to
Anna Bridge 180:96ed750bd169 234 * in ticker.queue.max_delta. This is necessary to keep track
AnnaBridge 167:e84263d55307 235 * of the timer overflow.
AnnaBridge 167:e84263d55307 236 */
AnnaBridge 167:e84263d55307 237 static void schedule_interrupt(const ticker_data_t *const ticker)
AnnaBridge 167:e84263d55307 238 {
Anna Bridge 180:96ed750bd169 239 ticker_event_queue_t *queue = ticker->queue;
AnnaBridge 188:bcfe06ba3d64 240 if (queue->suspended || ticker->queue->dispatching) {
AnnaBridge 187:0387e8f68319 241 // Don't schedule the next interrupt until dispatching is
AnnaBridge 187:0387e8f68319 242 // finished. This prevents repeated calls to interface->set_interrupt
AnnaBridge 187:0387e8f68319 243 return;
AnnaBridge 187:0387e8f68319 244 }
AnnaBridge 187:0387e8f68319 245
AnnaBridge 167:e84263d55307 246 update_present_time(ticker);
AnnaBridge 167:e84263d55307 247
AnnaBridge 167:e84263d55307 248 if (ticker->queue->head) {
AnnaBridge 167:e84263d55307 249 us_timestamp_t present = ticker->queue->present_time;
Anna Bridge 180:96ed750bd169 250 us_timestamp_t match_time = ticker->queue->head->timestamp;
AnnaBridge 167:e84263d55307 251
AnnaBridge 167:e84263d55307 252 // if the event at the head of the queue is in the past then schedule
AnnaBridge 167:e84263d55307 253 // it immediately.
Anna Bridge 180:96ed750bd169 254 if (match_time <= present) {
AnnaBridge 174:b96e65c34a4d 255 ticker->interface->fire_interrupt();
AnnaBridge 174:b96e65c34a4d 256 return;
AnnaBridge 167:e84263d55307 257 }
Anna Bridge 180:96ed750bd169 258
AnnaBridge 188:bcfe06ba3d64 259 timestamp_t match_tick = compute_tick_round_up(ticker, match_time);
AnnaBridge 188:bcfe06ba3d64 260
AnnaBridge 188:bcfe06ba3d64 261 // The same tick should never occur since match_tick is rounded up.
AnnaBridge 188:bcfe06ba3d64 262 // If the same tick is returned scheduling will not work correctly.
AnnaBridge 188:bcfe06ba3d64 263 MBED_ASSERT(match_tick != queue->tick_last_read);
AnnaBridge 182:a56a73fd2a6f 264
Anna Bridge 180:96ed750bd169 265 ticker->interface->set_interrupt(match_tick);
Anna Bridge 180:96ed750bd169 266 timestamp_t cur_tick = ticker->interface->read();
AnnaBridge 167:e84263d55307 267
Anna Bridge 180:96ed750bd169 268 if (_ticker_match_interval_passed(queue->tick_last_read, cur_tick, match_tick)) {
Anna Bridge 180:96ed750bd169 269 ticker->interface->fire_interrupt();
Anna Bridge 180:96ed750bd169 270 }
Anna Bridge 180:96ed750bd169 271 } else {
Anna Bridge 180:96ed750bd169 272 uint32_t match_tick =
AnnaBridge 187:0387e8f68319 273 (queue->tick_last_read + queue->max_delta) & queue->bitmask;
Anna Bridge 180:96ed750bd169 274 ticker->interface->set_interrupt(match_tick);
AnnaBridge 174:b96e65c34a4d 275 }
AnnaBridge 167:e84263d55307 276 }
AnnaBridge 167:e84263d55307 277
AnnaBridge 167:e84263d55307 278 void ticker_set_handler(const ticker_data_t *const ticker, ticker_event_handler handler)
AnnaBridge 167:e84263d55307 279 {
AnnaBridge 167:e84263d55307 280 initialize(ticker);
AnnaBridge 181:57724642e740 281
AnnaBridge 181:57724642e740 282 core_util_critical_section_enter();
AnnaBridge 167:e84263d55307 283 set_handler(ticker, handler);
AnnaBridge 181:57724642e740 284 core_util_critical_section_exit();
AnnaBridge 167:e84263d55307 285 }
AnnaBridge 167:e84263d55307 286
AnnaBridge 167:e84263d55307 287 void ticker_irq_handler(const ticker_data_t *const ticker)
AnnaBridge 167:e84263d55307 288 {
AnnaBridge 181:57724642e740 289 core_util_critical_section_enter();
AnnaBridge 181:57724642e740 290
AnnaBridge 167:e84263d55307 291 ticker->interface->clear_interrupt();
AnnaBridge 188:bcfe06ba3d64 292 if (ticker->queue->suspended) {
AnnaBridge 188:bcfe06ba3d64 293 core_util_critical_section_exit();
AnnaBridge 188:bcfe06ba3d64 294 return;
AnnaBridge 188:bcfe06ba3d64 295 }
<> 149:156823d33999 296
<> 149:156823d33999 297 /* Go through all the pending TimerEvents */
AnnaBridge 187:0387e8f68319 298 ticker->queue->dispatching = true;
<> 149:156823d33999 299 while (1) {
AnnaBridge 167:e84263d55307 300 if (ticker->queue->head == NULL) {
AnnaBridge 167:e84263d55307 301 break;
<> 149:156823d33999 302 }
<> 149:156823d33999 303
AnnaBridge 187:0387e8f68319 304 // update the current timestamp used by the queue
AnnaBridge 167:e84263d55307 305 update_present_time(ticker);
AnnaBridge 167:e84263d55307 306
AnnaBridge 187:0387e8f68319 307 if (ticker->queue->head->timestamp <= ticker->queue->present_time) {
<> 149:156823d33999 308 // This event was in the past:
<> 149:156823d33999 309 // point to the following one and execute its handler
AnnaBridge 167:e84263d55307 310 ticker_event_t *p = ticker->queue->head;
AnnaBridge 167:e84263d55307 311 ticker->queue->head = ticker->queue->head->next;
AnnaBridge 167:e84263d55307 312 if (ticker->queue->event_handler != NULL) {
AnnaBridge 167:e84263d55307 313 (*ticker->queue->event_handler)(p->id); // NOTE: the handler can set new events
<> 149:156823d33999 314 }
<> 149:156823d33999 315 /* Note: We continue back to examining the head because calling the
<> 149:156823d33999 316 * event handler may have altered the chain of pending events. */
<> 149:156823d33999 317 } else {
AnnaBridge 167:e84263d55307 318 break;
AnnaBridge 187:0387e8f68319 319 }
<> 149:156823d33999 320 }
AnnaBridge 187:0387e8f68319 321 ticker->queue->dispatching = false;
AnnaBridge 167:e84263d55307 322
AnnaBridge 167:e84263d55307 323 schedule_interrupt(ticker);
AnnaBridge 181:57724642e740 324
AnnaBridge 181:57724642e740 325 core_util_critical_section_exit();
<> 149:156823d33999 326 }
<> 149:156823d33999 327
AnnaBridge 167:e84263d55307 328 void ticker_insert_event(const ticker_data_t *const ticker, ticker_event_t *obj, timestamp_t timestamp, uint32_t id)
AnnaBridge 167:e84263d55307 329 {
<> 149:156823d33999 330 core_util_critical_section_enter();
<> 149:156823d33999 331
AnnaBridge 167:e84263d55307 332 // update the current timestamp
AnnaBridge 167:e84263d55307 333 update_present_time(ticker);
AnnaBridge 167:e84263d55307 334 us_timestamp_t absolute_timestamp = convert_timestamp(
AnnaBridge 187:0387e8f68319 335 ticker->queue->present_time,
AnnaBridge 187:0387e8f68319 336 timestamp
AnnaBridge 187:0387e8f68319 337 );
AnnaBridge 167:e84263d55307 338
AnnaBridge 167:e84263d55307 339 // defer to ticker_insert_event_us
AnnaBridge 167:e84263d55307 340 ticker_insert_event_us(
AnnaBridge 187:0387e8f68319 341 ticker,
AnnaBridge 167:e84263d55307 342 obj, absolute_timestamp, id
AnnaBridge 167:e84263d55307 343 );
AnnaBridge 181:57724642e740 344
AnnaBridge 181:57724642e740 345 core_util_critical_section_exit();
AnnaBridge 167:e84263d55307 346 }
AnnaBridge 167:e84263d55307 347
AnnaBridge 167:e84263d55307 348 void ticker_insert_event_us(const ticker_data_t *const ticker, ticker_event_t *obj, us_timestamp_t timestamp, uint32_t id)
AnnaBridge 167:e84263d55307 349 {
AnnaBridge 167:e84263d55307 350 core_util_critical_section_enter();
AnnaBridge 167:e84263d55307 351
AnnaBridge 167:e84263d55307 352 // update the current timestamp
AnnaBridge 167:e84263d55307 353 update_present_time(ticker);
AnnaBridge 167:e84263d55307 354
<> 149:156823d33999 355 // initialise our data
<> 149:156823d33999 356 obj->timestamp = timestamp;
<> 149:156823d33999 357 obj->id = id;
<> 149:156823d33999 358
<> 149:156823d33999 359 /* Go through the list until we either reach the end, or find
<> 149:156823d33999 360 an element this should come before (which is possibly the
<> 149:156823d33999 361 head). */
AnnaBridge 167:e84263d55307 362 ticker_event_t *prev = NULL, *p = ticker->queue->head;
<> 149:156823d33999 363 while (p != NULL) {
<> 149:156823d33999 364 /* check if we come before p */
AnnaBridge 167:e84263d55307 365 if (timestamp < p->timestamp) {
<> 149:156823d33999 366 break;
<> 149:156823d33999 367 }
<> 149:156823d33999 368 /* go to the next element */
<> 149:156823d33999 369 prev = p;
<> 149:156823d33999 370 p = p->next;
<> 149:156823d33999 371 }
AnnaBridge 187:0387e8f68319 372
<> 162:e13f6fdb2ac4 373 /* if we're at the end p will be NULL, which is correct */
<> 162:e13f6fdb2ac4 374 obj->next = p;
<> 162:e13f6fdb2ac4 375
<> 149:156823d33999 376 /* if prev is NULL we're at the head */
<> 149:156823d33999 377 if (prev == NULL) {
AnnaBridge 167:e84263d55307 378 ticker->queue->head = obj;
Anna Bridge 186:707f6e361f3e 379 schedule_interrupt(ticker);
<> 149:156823d33999 380 } else {
<> 149:156823d33999 381 prev->next = obj;
<> 149:156823d33999 382 }
<> 149:156823d33999 383
<> 149:156823d33999 384 core_util_critical_section_exit();
<> 149:156823d33999 385 }
<> 149:156823d33999 386
AnnaBridge 167:e84263d55307 387 void ticker_remove_event(const ticker_data_t *const ticker, ticker_event_t *obj)
AnnaBridge 167:e84263d55307 388 {
<> 149:156823d33999 389 core_util_critical_section_enter();
<> 149:156823d33999 390
<> 149:156823d33999 391 // remove this object from the list
AnnaBridge 167:e84263d55307 392 if (ticker->queue->head == obj) {
<> 149:156823d33999 393 // first in the list, so just drop me
AnnaBridge 167:e84263d55307 394 ticker->queue->head = obj->next;
AnnaBridge 167:e84263d55307 395 schedule_interrupt(ticker);
<> 149:156823d33999 396 } else {
<> 149:156823d33999 397 // find the object before me, then drop me
AnnaBridge 187:0387e8f68319 398 ticker_event_t *p = ticker->queue->head;
<> 149:156823d33999 399 while (p != NULL) {
<> 149:156823d33999 400 if (p->next == obj) {
<> 149:156823d33999 401 p->next = obj->next;
<> 149:156823d33999 402 break;
<> 149:156823d33999 403 }
<> 149:156823d33999 404 p = p->next;
<> 149:156823d33999 405 }
<> 149:156823d33999 406 }
<> 149:156823d33999 407
<> 149:156823d33999 408 core_util_critical_section_exit();
<> 149:156823d33999 409 }
<> 149:156823d33999 410
AnnaBridge 167:e84263d55307 411 timestamp_t ticker_read(const ticker_data_t *const ticker)
<> 149:156823d33999 412 {
AnnaBridge 167:e84263d55307 413 return ticker_read_us(ticker);
AnnaBridge 167:e84263d55307 414 }
AnnaBridge 167:e84263d55307 415
AnnaBridge 167:e84263d55307 416 us_timestamp_t ticker_read_us(const ticker_data_t *const ticker)
AnnaBridge 167:e84263d55307 417 {
AnnaBridge 175:af195413fb11 418 initialize(ticker);
AnnaBridge 181:57724642e740 419
AnnaBridge 181:57724642e740 420 core_util_critical_section_enter();
AnnaBridge 167:e84263d55307 421 update_present_time(ticker);
AnnaBridge 181:57724642e740 422 core_util_critical_section_exit();
AnnaBridge 181:57724642e740 423
AnnaBridge 167:e84263d55307 424 return ticker->queue->present_time;
<> 149:156823d33999 425 }
<> 149:156823d33999 426
<> 149:156823d33999 427 int ticker_get_next_timestamp(const ticker_data_t *const data, timestamp_t *timestamp)
<> 149:156823d33999 428 {
<> 149:156823d33999 429 int ret = 0;
<> 149:156823d33999 430
<> 149:156823d33999 431 /* if head is NULL, there are no pending events */
<> 149:156823d33999 432 core_util_critical_section_enter();
<> 149:156823d33999 433 if (data->queue->head != NULL) {
<> 149:156823d33999 434 *timestamp = data->queue->head->timestamp;
<> 149:156823d33999 435 ret = 1;
<> 149:156823d33999 436 }
<> 149:156823d33999 437 core_util_critical_section_exit();
<> 149:156823d33999 438
<> 149:156823d33999 439 return ret;
<> 149:156823d33999 440 }
AnnaBridge 188:bcfe06ba3d64 441
AnnaBridge 188:bcfe06ba3d64 442 void ticker_suspend(const ticker_data_t *const ticker)
AnnaBridge 188:bcfe06ba3d64 443 {
AnnaBridge 188:bcfe06ba3d64 444 core_util_critical_section_enter();
AnnaBridge 188:bcfe06ba3d64 445
AnnaBridge 188:bcfe06ba3d64 446 ticker->queue->suspended = true;
AnnaBridge 188:bcfe06ba3d64 447
AnnaBridge 188:bcfe06ba3d64 448 core_util_critical_section_exit();
AnnaBridge 188:bcfe06ba3d64 449 }
AnnaBridge 188:bcfe06ba3d64 450
AnnaBridge 188:bcfe06ba3d64 451 void ticker_resume(const ticker_data_t *const ticker)
AnnaBridge 188:bcfe06ba3d64 452 {
AnnaBridge 188:bcfe06ba3d64 453 core_util_critical_section_enter();
AnnaBridge 188:bcfe06ba3d64 454
AnnaBridge 188:bcfe06ba3d64 455 ticker->queue->suspended = false;
AnnaBridge 188:bcfe06ba3d64 456 if (ticker->queue->initialized) {
AnnaBridge 188:bcfe06ba3d64 457 ticker->queue->tick_last_read = ticker->interface->read();
AnnaBridge 188:bcfe06ba3d64 458
AnnaBridge 188:bcfe06ba3d64 459 update_present_time(ticker);
AnnaBridge 188:bcfe06ba3d64 460 schedule_interrupt(ticker);
AnnaBridge 188:bcfe06ba3d64 461 } else {
AnnaBridge 188:bcfe06ba3d64 462 initialize(ticker);
AnnaBridge 188:bcfe06ba3d64 463 }
AnnaBridge 188:bcfe06ba3d64 464
AnnaBridge 188:bcfe06ba3d64 465 core_util_critical_section_exit();
AnnaBridge 188:bcfe06ba3d64 466 }