sched: Move timer dispatch loop to board code

Rename sched_timer_kick() to sched_timer_dispatch() and move its loop
into its callers in the board code.  This eliminates the need to
export timer_try_set_next() from the board code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-03-27 16:38:01 -04:00
parent 7436ec093a
commit 6d05dd07f5
8 changed files with 63 additions and 50 deletions

View File

@ -58,9 +58,9 @@ Timer functions are scheduled by calling sched_add_timer() (located in
**src/sched.c**). The scheduler code will arrange for the given
function to be called at the requested clock time. Timer interrupts
are initially handled in an architecture specific interrupt handler
(eg, **src/avr/timer.c**), but this just calls sched_timer_kick()
located in **src/sched.c**. The timer interrupt leads to execution of
schedule timer functions. Timer functions always run with interrupts
(eg, **src/avr/timer.c**) which calls sched_timer_dispatch() located
in **src/sched.c**. The timer interrupt leads to execution of schedule
timer functions. Timer functions always run with interrupts
disabled. The timer functions should always complete within a few
micro-seconds. At completion of the timer event, the function may
choose to reschedule itself.

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@ -70,11 +70,6 @@ timer_repeat_set(uint16_t next)
TIFR1 = 1<<OCF1B;
}
ISR(TIMER1_COMPA_vect)
{
sched_timer_kick();
}
static void
timer_init(void)
{
@ -143,7 +138,7 @@ timer_periodic(void)
// Set the next timer wake time (in absolute clock ticks) or return 1
// if the next timer is too close to schedule. Caller must disable
// irqs.
uint8_t
static uint8_t
timer_try_set_next(unsigned int target)
{
uint16_t next = target;
@ -189,6 +184,19 @@ fail:
shutdown("Rescheduled timer in the past");
}
// Harware OCR1A interrupt handler
ISR(TIMER1_COMPA_vect)
{
for (;;) {
uint16_t next_waketime = sched_timer_dispatch();
// Schedule next timer event (or run next timer if it's ready)
uint8_t res = timer_try_set_next(next_waketime);
if (res)
break;
}
}
// Periodic background task that temporarily boosts priority of
// timers. This helps prioritize timers when tasks are idling.
static void

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@ -13,7 +13,6 @@ uint32_t timer_from_us(uint32_t us);
uint8_t timer_is_before(uint32_t time1, uint32_t time2);
uint32_t timer_read_time(void);
void timer_periodic(void);
uint8_t timer_try_set_next(unsigned int next);
size_t alloc_maxsize(size_t reqsize);

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@ -49,7 +49,7 @@ static uint32_t timer_repeat_until;
// Set the next timer wake time (in absolute clock ticks) or return 1
// if the next timer is too close to schedule. Caller must disable
// irqs.
uint8_t
static int
timer_try_set_next(unsigned int next)
{
uint32_t now = timer_read_time();
@ -84,6 +84,20 @@ fail:
shutdown("Rescheduled timer in the past");
}
// Invoke timers - called from board irq code.
void
timer_dispatch_many(void)
{
for (;;) {
uint32_t next_waketime = sched_timer_dispatch();
// Schedule next timer event (or run next timer if it's ready)
int res = timer_try_set_next(next_waketime);
if (res)
break;
}
}
// Periodic background task that temporarily boosts priority of
// timers. This helps prioritize timers when tasks are idling.
static void

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@ -10,6 +10,9 @@
#include "sam3x8e.h" // TC0
#include "sched.h" // sched_timer_kick
// From generic/timer.c
extern void timer_dispatch_many(void);
// IRQ handler
void __visible
TC0_Handler(void)
@ -17,7 +20,7 @@ TC0_Handler(void)
irq_disable();
uint32_t status = TC0->TC_CHANNEL[0].TC_SR; // read to clear irq pending
if (likely(status & TC_SR_CPAS))
sched_timer_kick();
timer_dispatch_many();
irq_enable();
}

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@ -135,39 +135,34 @@ sched_del_timer(struct timer *del)
irq_restore(flag);
}
// Invoke timers - called from board timer irq code.
void
sched_timer_kick(void)
// Invoke the next timer - called from board hardware irq code.
unsigned int
sched_timer_dispatch(void)
{
for (;;) {
// Invoke timer callback
struct timer *t = timer_list;
uint_fast8_t res;
uint32_t updated_waketime;
if (CONFIG_INLINE_STEPPER_HACK && likely(!t->func)) {
res = stepper_event(t);
updated_waketime = t->waketime;
} else {
res = t->func(t);
updated_waketime = t->waketime;
}
// Update timer_list (rescheduling current timer if necessary)
unsigned int next_waketime = updated_waketime;
if (unlikely(res == SF_DONE)) {
next_waketime = t->next->waketime;
timer_list = t->next;
} else if (!timer_is_before(updated_waketime, t->next->waketime)) {
next_waketime = t->next->waketime;
timer_list = t->next;
insert_timer(t, updated_waketime);
}
// Schedule next timer event (or run next timer if it's ready)
res = timer_try_set_next(next_waketime);
if (res)
break;
// Invoke timer callback
struct timer *t = timer_list;
uint_fast8_t res;
uint32_t updated_waketime;
if (CONFIG_INLINE_STEPPER_HACK && likely(!t->func)) {
res = stepper_event(t);
updated_waketime = t->waketime;
} else {
res = t->func(t);
updated_waketime = t->waketime;
}
// Update timer_list (rescheduling current timer if necessary)
unsigned int next_waketime = updated_waketime;
if (unlikely(res == SF_DONE)) {
next_waketime = t->next->waketime;
timer_list = t->next;
} else if (!timer_is_before(updated_waketime, t->next->waketime)) {
next_waketime = t->next->waketime;
timer_list = t->next;
insert_timer(t, updated_waketime);
}
return next_waketime;
}
// Shutdown all user timers on an emergency stop.

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@ -25,7 +25,7 @@ enum { SF_DONE=0, SF_RESCHEDULE=1 };
uint8_t sched_check_periodic(uint16_t time, uint16_t *pnext);
void sched_add_timer(struct timer*);
void sched_del_timer(struct timer *del);
void sched_timer_kick(void);
unsigned int sched_timer_dispatch(void);
uint8_t sched_is_shutdown(void);
uint16_t sched_shutdown_reason(void);
void sched_clear_shutdown(void);

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@ -75,12 +75,6 @@ timer_read_time(void)
return 0; // XXX
}
uint8_t
timer_try_set_next(unsigned int next)
{
return 1;
}
/****************************************************************
* Turn stdin/stdout into serial console