/* * Copyright (c) 2016-2018 Nordic Semiconductor ASA * Copyright (c) 2016 Vinayak Kariappa Chettimada * * SPDX-License-Identifier: Apache-2.0 */ #include #include #include #include "hal/cntr.h" #include "hal/ticker.h" #include "ticker.h" #define BT_DBG_ENABLED IS_ENABLED(CONFIG_BT_DEBUG_HCI_DRIVER) #define LOG_MODULE_NAME bt_ctlr_ticker #include "common/log.h" #include "hal/debug.h" /***************************************************************************** * Defines ****************************************************************************/ #define DOUBLE_BUFFER_SIZE 2 /***************************************************************************** * Types ****************************************************************************/ struct ticker_node { u8_t next; /* Next ticker node */ u8_t req; /* Request counter */ u8_t ack; /* Acknowledge counter. Imbalance * between req and ack indicates * ongoing operation */ u8_t force; /* If non-zero, node timeout should * be forced at next expiration */ u32_t ticks_periodic; /* If non-zero, interval * between expirations */ u32_t ticks_to_expire; /* Ticks until expiration */ ticker_timeout_func timeout_func;/* User timeout function */ void *context; /* Context delivered to timeout * function */ u32_t ticks_to_expire_minus; /* Negative drift correction */ u32_t ticks_slot; /* Air-time reservation for node */ u16_t lazy_periodic; /* Number of timeouts to allow * skipping */ u16_t lazy_current; /* Current number of timeouts * skipped = slave latency */ u32_t remainder_periodic; /* Sub-microsecond tick remainder * for each period */ u32_t remainder_current; /* Current sub-microsecond tick * remainder */ #if !defined(CONFIG_BT_TICKER_COMPATIBILITY_MODE) u8_t must_expire; /* Node must expire, even if it * collides with other nodes */ s8_t priority; /* Ticker node priority. 0 is default. * Lower value is higher priority */ #endif /* CONFIG_BT_TICKER_COMPATIBILITY_MODE */ }; /* Operations to be performed in ticker_job. * Possible values for field "op" in struct ticker_user_op */ #define TICKER_USER_OP_TYPE_NONE 0 #define TICKER_USER_OP_TYPE_IDLE_GET 1 #define TICKER_USER_OP_TYPE_SLOT_GET 2 #define TICKER_USER_OP_TYPE_PRIORITY_SET 3 #define TICKER_USER_OP_TYPE_START 4 #define TICKER_USER_OP_TYPE_UPDATE 5 #define TICKER_USER_OP_TYPE_STOP 6 /* User operation data structure for start opcode. Used for passing start * requests to ticker_job */ struct ticker_user_op_start { u32_t ticks_at_start; /* Anchor ticks (absolute) */ u32_t ticks_first; /* Initial timeout ticks */ u32_t ticks_periodic; /* Ticker period ticks */ u32_t remainder_periodic; /* Sub-microsecond tick remainder */ u16_t lazy; /* Periodic latency in number of * periods */ u32_t ticks_slot; /* Air-time reservation ticks */ ticker_timeout_func fp_timeout_func; /* Timeout callback function */ void *context; /* Context passed in timeout callback */ }; /* User operation data structure for update opcode. Used for passing update * requests to ticker_job */ struct ticker_user_op_update { u32_t ticks_drift_plus; /* Requested positive drift in ticks */ u32_t ticks_drift_minus; /* Requested negatice drift in ticks */ u32_t ticks_slot_plus; /* Number of ticks to add to slot * reservation (air-time) */ u32_t ticks_slot_minus; /* Number of ticks to subtract from * slot reservation (air-time) */ u16_t lazy; /* Slave latency: * 0: Do nothing * 1: latency = 0 * >1: latency = lazy - 1 */ u8_t force; /* Force update */ }; /* User operation data structure for slot_get opcode. Used for passing request * to get next ticker with slot ticks via ticker_job */ struct ticker_user_op_slot_get { u8_t *ticker_id; u32_t *ticks_current; u32_t *ticks_to_expire; }; /* User operation data structure for priority_set opcode. Used for passing * request to set ticker node priority via ticker_job */ struct ticker_user_op_priority_set { s8_t priority; /* Node priority. Defaults to 0 */ }; /* User operation top level data structure. Used for passing requests to * ticker_job */ struct ticker_user_op { u8_t op; /* User operation */ u8_t id; /* Ticker node id */ union { struct ticker_user_op_start start; struct ticker_user_op_update update; struct ticker_user_op_slot_get slot_get; struct ticker_user_op_priority_set priority_set; } params; /* User operation parameters */ u32_t status; /* Operation result */ ticker_op_func fp_op_func; /* Operation completion callback */ void *op_context; /* Context passed in completion callback */ }; /* User data structure for operations */ struct ticker_user { u8_t count_user_op; /* Number of user operation slots */ u8_t first; /* Slot index of first user operation */ u8_t middle; /* Slot index of last managed user op. * Updated by ticker_job_list_manage * for use in ticker_job_list_insert */ u8_t last; /* Slot index of last user operation */ struct ticker_user_op *user_op; /* Pointer to user operation array */ }; /* Ticker instance */ struct ticker_instance { struct ticker_node *nodes; /* Pointer to ticker nodes */ struct ticker_user *users; /* Pointer to user nodes */ u8_t count_node; /* Number of ticker nodes */ u8_t count_user; /* Number of user nodes */ u8_t ticks_elapsed_first; /* Index from which elapsed ticks count is * pulled */ u8_t ticks_elapsed_last; /* Index to which elapsed ticks count is * pushed */ u32_t ticks_elapsed[DOUBLE_BUFFER_SIZE]; /* Buffer for elapsed ticks */ u32_t ticks_current; /* Absolute ticks elapsed at last * ticker_job */ u32_t ticks_slot_previous; /* Number of ticks previously reserved by a * ticker node (active air-time) */ u8_t ticker_id_slot_previous; /* Id of previous slot reserving ticker * node */ u8_t ticker_id_head; /* Index of first ticker node (next to * expire) */ u8_t job_guard; /* Flag preventing ticker_worker from * running if ticker_job is active */ u8_t worker_trigger; /* Flag preventing ticker_job from starting * if ticker_worker was requested, and to * trigger ticker_worker at end of job, if * requested */ ticker_caller_id_get_cb_t caller_id_get_cb; /* Function for retrieving * the caller id from user * id */ ticker_sched_cb_t sched_cb; /* Function for scheduling * ticker_worker and * ticker_job */ ticker_trigger_set_cb_t trigger_set_cb; /* Function for setting * the trigger (compare * value) */ }; BUILD_ASSERT(sizeof(struct ticker_node) == TICKER_NODE_T_SIZE); BUILD_ASSERT(sizeof(struct ticker_user) == TICKER_USER_T_SIZE); BUILD_ASSERT(sizeof(struct ticker_user_op) == TICKER_USER_OP_T_SIZE); /***************************************************************************** * Global instances ****************************************************************************/ #define TICKER_INSTANCE_MAX 1 static struct ticker_instance _instance[TICKER_INSTANCE_MAX]; /***************************************************************************** * Static Functions ****************************************************************************/ /** * @brief Update elapsed index * * @param ticks_elapsed_index Pointer to current index * * @internal */ static inline void ticker_next_elapsed(u8_t *ticks_elapsed_index) { u8_t idx = *ticks_elapsed_index + 1; if (idx == DOUBLE_BUFFER_SIZE) { idx = 0U; } *ticks_elapsed_index = idx; } #if defined(CONFIG_BT_TICKER_COMPATIBILITY_MODE) /** * @brief Get ticker expiring in a specific slot * * @details Searches for a ticker which expires in a specific slot starting * at 'ticks_slot'. * * @param node Pointer to ticker node array * @param ticker_id_head Id of initial ticker node * @param ticks_slot Ticks indicating slot to get * * @return Id of ticker expiring within slot or TICKER_NULL * @internal */ static u8_t ticker_by_slot_get(struct ticker_node *node, u8_t ticker_id_head, u32_t ticks_slot) { while (ticker_id_head != TICKER_NULL) { struct ticker_node *ticker; u32_t ticks_to_expire; ticker = &node[ticker_id_head]; ticks_to_expire = ticker->ticks_to_expire; if (ticks_slot <= ticks_to_expire) { /* Next ticker expiration is outside the checked slot */ return TICKER_NULL; } if (ticker->ticks_slot) { /* This ticker node has slot defined and expires within * checked slot */ break; } ticks_slot -= ticks_to_expire; ticker_id_head = ticker->next; } return ticker_id_head; } #endif /* CONFIG_BT_TICKER_COMPATIBILITY_MODE */ /** * @brief Get next ticker with slot ticks * * @details Gets the next ticker which has slot ticks specified and * return the ticker id and accumulated ticks until expiration. If no * ticker nodes have slot ticks, the next ticker node is returned. * If no head id is provided (TICKER_NULL) the first node is returned. * * @param instance Pointer to ticker instance * @param ticker_id_head Pointer to id of first ticker node [in/out] * @param ticks_current Pointer to current ticks count [in/out] * @param ticks_to_expire Pointer to ticks to expire [in/out] * * @internal */ static void ticker_by_next_slot_get(struct ticker_instance *instance, u8_t *ticker_id_head, u32_t *ticks_current, u32_t *ticks_to_expire) { struct ticker_node *ticker; struct ticker_node *node; u32_t _ticks_to_expire; u8_t _ticker_id_head; node = instance->nodes; _ticker_id_head = *ticker_id_head; _ticks_to_expire = *ticks_to_expire; if ((_ticker_id_head == TICKER_NULL) || (*ticks_current != instance->ticks_current)) { /* Initialize with instance head */ _ticker_id_head = instance->ticker_id_head; *ticks_current = instance->ticks_current; _ticks_to_expire = 0U; } else { /* Get ticker id for next node */ ticker = &node[_ticker_id_head]; _ticker_id_head = ticker->next; } /* Find first ticker node with slot ticks */ while ((_ticker_id_head != TICKER_NULL) && ((ticker = &node[_ticker_id_head])->ticks_slot == 0U)) { /* Accumulate expire ticks */ _ticks_to_expire += ticker->ticks_to_expire; _ticker_id_head = ticker->next; } if (_ticker_id_head != TICKER_NULL) { /* Add ticks for found ticker */ _ticks_to_expire += ticker->ticks_to_expire; } *ticker_id_head = _ticker_id_head; *ticks_to_expire = _ticks_to_expire; } #if !defined(CONFIG_BT_TICKER_COMPATIBILITY_MODE) /** * @brief Enqueue ticker node * * @details Finds insertion point for new ticker node and inserts the * node in the linked node list. * * @param instance Pointer to ticker instance * @param id Ticker node id to enqueue * * @return Id of enqueued ticker node * @internal */ static u8_t ticker_enqueue(struct ticker_instance *instance, u8_t id) { struct ticker_node *ticker_current; struct ticker_node *ticker_new; u32_t ticks_to_expire_current; struct ticker_node *node; u32_t ticks_to_expire; u8_t previous; u8_t current; node = &instance->nodes[0]; ticker_new = &node[id]; ticks_to_expire = ticker_new->ticks_to_expire; current = instance->ticker_id_head; /* Find insertion point for new ticker node and adjust ticks_to_expire * relative to insertion point */ previous = TICKER_NULL; while ((current != TICKER_NULL) && (ticks_to_expire >= (ticks_to_expire_current = (ticker_current = &node[current])->ticks_to_expire))) { ticks_to_expire -= ticks_to_expire_current; /* Check for timeout in same tick - prioritize according to * latency */ if (ticks_to_expire == 0 && (ticker_new->lazy_current > ticker_current->lazy_current)) { ticks_to_expire = ticker_current->ticks_to_expire; break; } previous = current; current = ticker_current->next; } /* Link in new ticker node and adjust ticks_to_expire to relative value */ ticker_new->ticks_to_expire = ticks_to_expire; ticker_new->next = current; if (previous == TICKER_NULL) { instance->ticker_id_head = id; } else { node[previous].next = id; } if (current != TICKER_NULL) { node[current].ticks_to_expire -= ticks_to_expire; } return id; } #else /* !CONFIG_BT_TICKER_COMPATIBILITY_MODE */ /** * @brief Enqueue ticker node * * @details Finds insertion point for new ticker node and inserts the * node in the linked node list. However, if the new ticker node collides * with an existing node or the expiration is inside the previous slot, * the node is not inserted. * * @param instance Pointer to ticker instance * @param id Ticker node id to enqueue * * @return Id of enqueued ticker node, or id of previous- or colliding * ticker node if new node was not enqueued * @internal */ static u8_t ticker_enqueue(struct ticker_instance *instance, u8_t id) { struct ticker_node *ticker_current; struct ticker_node *ticker_new; u32_t ticks_to_expire_current; u8_t ticker_id_slot_previous; u32_t ticks_slot_previous; struct ticker_node *node; u32_t ticks_to_expire; u8_t previous; u8_t current; u8_t collide; node = &instance->nodes[0]; ticker_new = &node[id]; ticks_to_expire = ticker_new->ticks_to_expire; collide = ticker_id_slot_previous = TICKER_NULL; current = instance->ticker_id_head; previous = current; ticks_slot_previous = instance->ticks_slot_previous; /* Find insertion point for new ticker node and adjust ticks_to_expire * relative to insertion point */ while ((current != TICKER_NULL) && (ticks_to_expire > (ticks_to_expire_current = (ticker_current = &node[current])->ticks_to_expire))) { ticks_to_expire -= ticks_to_expire_current; if (ticker_current->ticks_slot != 0U) { ticks_slot_previous = ticker_current->ticks_slot; ticker_id_slot_previous = current; } else { if (ticks_slot_previous > ticks_to_expire_current) { ticks_slot_previous -= ticks_to_expire_current; } else { ticks_slot_previous = 0U; } } previous = current; current = ticker_current->next; } /* Check for collision for new ticker node at insertion point */ collide = ticker_by_slot_get(&node[0], current, ticks_to_expire + ticker_new->ticks_slot); if ((ticker_new->ticks_slot == 0U) || ((ticks_slot_previous <= ticks_to_expire) && (collide == TICKER_NULL))) { /* New ticker node has no slot ticks or there is no collision - * link it in and adjust ticks_to_expire to relative value */ ticker_new->ticks_to_expire = ticks_to_expire; ticker_new->next = current; if (previous == current) { instance->ticker_id_head = id; } else { node[previous].next = id; } if (current != TICKER_NULL) { node[current].ticks_to_expire -= ticks_to_expire; } } else { /* Collision - no ticker node insertion, set id to that of * colliding node */ if (ticks_slot_previous > ticks_to_expire) { id = ticker_id_slot_previous; } else { id = collide; } } return id; } #endif /* !CONFIG_BT_TICKER_COMPATIBILITY_MODE */ /** * @brief Dequeue ticker node * * @details Finds extraction point for ticker node to be dequeued, unlinks * the node and adjusts the links and ticks_to_expire. Returns the ticks * until expiration for dequeued ticker node. * * @param instance Pointer to ticker instance * @param id Ticker node id to dequeue * * @return Total ticks until expiration for dequeued ticker node, or 0 if * node was not found * @internal */ static u32_t ticker_dequeue(struct ticker_instance *instance, u8_t id) { struct ticker_node *ticker_current; struct ticker_node *node; u8_t previous; u32_t timeout; u8_t current; u32_t total; /* Find the ticker's position in ticker node list while accumulating * ticks_to_expire */ node = &instance->nodes[0]; previous = instance->ticker_id_head; current = previous; total = 0U; ticker_current = 0; while (current != TICKER_NULL) { ticker_current = &node[current]; if (current == id) { break; } total += ticker_current->ticks_to_expire; previous = current; current = ticker_current->next; } if (current == TICKER_NULL) { /* Ticker not in active list */ return 0; } if (previous == current) { /* Ticker is the first in the list */ instance->ticker_id_head = ticker_current->next; } /* Remaining timeout between next timeout */ timeout = ticker_current->ticks_to_expire; /* Link previous ticker with next of this ticker * i.e. removing the ticker from list */ node[previous].next = ticker_current->next; /* If this is not the last ticker, increment the * next ticker by this ticker timeout */ if (ticker_current->next != TICKER_NULL) { node[ticker_current->next].ticks_to_expire += timeout; } return (total + timeout); } #if !defined(CONFIG_BT_TICKER_COMPATIBILITY_MODE) /** * @brief Resolve ticker node collision * * @details Evaluates the provided ticker node against other queued nodes * and returns non-zero if the ticker node collides and should be skipped. * The following rules are checked: * 1) If the periodic latency is not yet exhausted, node is skipped * 2) If the node has highest possible priority, node is never skipped * 2) If the node will starve next node due to slot reservation * overlap, node is skipped if: * a) Next node has higher priority than current node * b) Next node has more accumulated latency than the current node * c) Next node is 'older' than current node and has same priority * d) Next node has force flag set, and the current does not * * @param nodes Pointer to ticker node array * @param ticker Pointer to ticker to resolve * * @return 0 if no collision was detected. 1 if ticker node collides * with other ticker node of higher composite priority * @internal */ static u8_t ticker_resolve_collision(struct ticker_node *nodes, struct ticker_node *ticker) { u8_t skipped = 0; s32_t lazy_current = ticker->lazy_current; if (ticker->lazy_periodic > lazy_current) { /* Programmed latency must be respected */ skipped = 1; } else if ((ticker->priority != TICKER_PRIORITY_CRITICAL) && (ticker->next != TICKER_NULL)) { /* Check if this ticker node will starve next node which has * latency or higher priority */ if (lazy_current >= ticker->lazy_periodic) { lazy_current -= ticker->lazy_periodic; } u8_t id_head = ticker->next; u32_t acc_ticks_to_expire = 0; /* Age is time since last expiry */ u32_t current_age = ticker->ticks_periodic + (lazy_current * ticker->ticks_periodic); while (id_head != TICKER_NULL) { struct ticker_node *ticker_next = &nodes[id_head]; /* We only care about nodes with slot reservation */ if (ticker_next->ticks_slot == 0) { id_head = ticker_next->next; continue; } /* Accumulate ticks_to_expire for each node */ acc_ticks_to_expire += ticker_next->ticks_to_expire; s32_t lazy_next = ticker_next->lazy_current; u8_t lazy_next_periodic_skip = ticker_next->lazy_periodic > lazy_next; if (!lazy_next_periodic_skip) { lazy_next -= ticker_next->lazy_periodic; } /* Is the current and next node equal in priority? */ u8_t equal_priority = ticker->priority == ticker_next->priority; /* Age is time since last expiry */ u32_t next_age = (ticker_next->ticks_periodic == 0U ? 0U : (ticker_next->ticks_periodic - ticker_next->ticks_to_expire)) + (lazy_next * ticker_next->ticks_periodic); /* Was the current node scheduled earlier? */ u8_t current_is_older = current_age > next_age; /* Was next node scheduled earlier (legacy priority)? */ u8_t next_is_older = next_age > current_age; /* Is force requested for next node (e.g. update) - * more so than for current node? */ u8_t next_force = (ticker_next->force > ticker->force); /* Does next node have critical priority and should * always be scheduled? */ u8_t next_is_critical = ticker_next->priority == TICKER_PRIORITY_CRITICAL; /* Does next node have higher priority? */ u8_t next_has_priority = (lazy_next - ticker_next->priority) > (lazy_current - ticker->priority); /* Check if next node is within this reservation slot * and wins conflict resolution */ if (!lazy_next_periodic_skip && (acc_ticks_to_expire < ticker->ticks_slot) && (next_force || next_is_critical || (next_has_priority && !current_is_older) || (equal_priority && next_is_older))) { skipped = 1; break; } id_head = ticker_next->next; } } return skipped; } #endif /* !CONFIG_BT_TICKER_COMPATIBILITY_MODE */ /** * @brief Ticker worker * * @details Runs as upper half of ticker operation, triggered by a compare * match from the underlaying counter HAL, via the ticker_trigger function. * Traverses ticker nodes to find tickers expired since last job * execution. Expired (requested) ticker nodes have their timeout callback * functions called. Finally, a ticker job is enqueued. Invoked from the * ticker worker mayfly context (TICKER_MAYFLY_CALL_ID_WORKER) * * @param param Pointer to ticker instance * */ void ticker_worker(void *param) { struct ticker_instance *instance = param; struct ticker_node *node; u32_t ticks_elapsed; u32_t ticks_expired; u8_t ticker_id_head; /* Defer worker if job running */ instance->worker_trigger = 1U; if (instance->job_guard) { return; } /* If no tickers queued (active), do nothing */ if (instance->ticker_id_head == TICKER_NULL) { instance->worker_trigger = 0U; return; } /* Get ticks elapsed since last job execution */ ticks_elapsed = ticker_ticks_diff_get(cntr_cnt_get(), instance->ticks_current); /* Initialize actual elapsed ticks being consumed */ ticks_expired = 0U; /* Auto variable containing the head of tickers expiring */ ticker_id_head = instance->ticker_id_head; #if !defined(CONFIG_BT_TICKER_COMPATIBILITY_MODE) /* Check if the previous ticker node which had air-time, is still * active and has this time slot reserved */ u8_t slot_reserved = 0; if (instance->ticker_id_slot_previous != TICKER_NULL) { if (instance->ticks_slot_previous > ticks_elapsed) { /* This node intersects reserved slot */ slot_reserved = 1; } } #endif /* !CONFIG_BT_TICKER_COMPATIBILITY_MODE */ /* Expire all tickers within ticks_elapsed and collect ticks_expired */ node = &instance->nodes[0]; while (ticker_id_head != TICKER_NULL) { struct ticker_node *ticker; u32_t ticks_to_expire; u8_t must_expire_skip; ticker = &node[ticker_id_head]; /* Stop if ticker did not expire */ ticks_to_expire = ticker->ticks_to_expire; if (ticks_elapsed < ticks_to_expire) { break; } /* Decrement ticks_elapsed and collect expired ticks */ ticks_elapsed -= ticks_to_expire; ticks_expired += ticks_to_expire; /* Move to next ticker node */ ticker_id_head = ticker->next; must_expire_skip = 0U; #if !defined(CONFIG_BT_TICKER_COMPATIBILITY_MODE) /* Check if node has slot reservation and resolve any collision * with other ticker nodes */ if (ticker->ticks_slot != 0U && (slot_reserved || ticker_resolve_collision(node, ticker))) { ticker->lazy_current++; if ((ticker->must_expire == 0U) || (ticker->lazy_periodic >= ticker->lazy_current)) { /* Not a must-expire case or this is programmed * latency. Skip this ticker node */ continue; } /* Continue but perform shallow expiry */ must_expire_skip = 1U; } #endif /* !CONFIG_BT_TICKER_COMPATIBILITY_MODE */ /* Skip if not scheduled to execute */ if (((ticker->req - ticker->ack) & 0xff) != 1U) { continue; } /* Scheduled timeout is acknowledged to be complete */ ticker->ack--; if (ticker->timeout_func) { u32_t ticks_at_expire; ticks_at_expire = (instance->ticks_current + ticks_expired - ticker->ticks_to_expire_minus) & HAL_TICKER_CNTR_MASK; DEBUG_TICKER_TASK(1); /* Invoke the timeout callback */ ticker->timeout_func(ticks_at_expire, ticker->remainder_current, must_expire_skip ? TICKER_LAZY_MUST_EXPIRE : ticker->lazy_current, ticker->context); DEBUG_TICKER_TASK(0); #if !defined(CONFIG_BT_TICKER_COMPATIBILITY_MODE) if (must_expire_skip == 0U) { /* Reset latency to periodic offset */ ticker->lazy_current = 0U; ticker->force = 0U; if (ticker->ticks_slot != 0U) { /* Any further nodes will be skipped */ slot_reserved = 1U; } } #endif /* !CONFIG_BT_TICKER_COMPATIBILITY_MODE */ } } /* Queue the elapsed ticks */ if (instance->ticks_elapsed_first == instance->ticks_elapsed_last) { ticker_next_elapsed(&instance->ticks_elapsed_last); } instance->ticks_elapsed[instance->ticks_elapsed_last] = ticks_expired; instance->worker_trigger = 0U; /* Enqueue the ticker job with chain=1 (do not inline) */ instance->sched_cb(TICKER_CALL_ID_WORKER, TICKER_CALL_ID_JOB, 1, instance); } /** * @brief Prepare ticker node expiration * * @details Calculates the number of ticks until next expiration, taking * into consideration any negative drift correction. * * @param ticker Pointer to ticker node * @param ticks_current Current number of ticks (elapsed) * @param ticks_at_start Number of ticks at start (anchor) * * @internal */ static void ticks_to_expire_prep(struct ticker_node *ticker, u32_t ticks_current, u32_t ticks_at_start) { u32_t ticks_to_expire = ticker->ticks_to_expire; u32_t ticks_to_expire_minus = ticker->ticks_to_expire_minus; /* Calculate ticks to expire for this new node */ if (!((ticks_at_start - ticks_current) & BIT(HAL_TICKER_CNTR_MSBIT))) { /* Most significant bit is 0 so ticks_at_start lies ahead of * ticks_current: ticks_at_start >= ticks_current */ ticks_to_expire += ticker_ticks_diff_get(ticks_at_start, ticks_current); } else { /* ticks_current > ticks_at_start */ u32_t delta_current_start; delta_current_start = ticker_ticks_diff_get(ticks_current, ticks_at_start); if (ticks_to_expire > delta_current_start) { /* There's still time until expiration - subtract * elapsed time */ ticks_to_expire -= delta_current_start; } else { /* Ticker node should have expired (we're late). * Add 'lateness' to negative drift correction * (ticks_to_expire_minus) and set ticks_to_expire * to 0 */ ticks_to_expire_minus += (delta_current_start - ticks_to_expire); ticks_to_expire = 0U; } } /* Handle negative drift correction */ if (ticks_to_expire > ticks_to_expire_minus) { ticks_to_expire -= ticks_to_expire_minus; ticks_to_expire_minus = 0U; } else { ticks_to_expire_minus -= ticks_to_expire; ticks_to_expire = 0U; } /* Update ticker */ ticker->ticks_to_expire = ticks_to_expire; ticker->ticks_to_expire_minus = ticks_to_expire_minus; } /** * @brief Increment remainder * * @details Calculates whether the remainder should increments expiration time * for above-microsecond precision counter HW. The remainder enables improved * ticker precision, but is disabled for for sub-microsecond precision * configurations. * * @param ticker Pointer to ticker node * * @return Returns 1 to indicate increment is due, otherwise 0 * @internal */ static u8_t ticker_remainder_inc(struct ticker_node *ticker) { #ifdef HAL_TICKER_REMAINDER_RANGE ticker->remainder_current += ticker->remainder_periodic; if ((ticker->remainder_current < BIT(31)) && (ticker->remainder_current > (HAL_TICKER_REMAINDER_RANGE >> 1))) { ticker->remainder_current -= HAL_TICKER_REMAINDER_RANGE; return 1; } return 0; #else return 0; #endif } #if defined(CONFIG_BT_TICKER_COMPATIBILITY_MODE) /** * @brief Decrement remainder * * @details Calculates whether the remainder should decrements expiration time * for above-microsecond precision counter HW. The remainder enables improved * ticker precision, but is disabled for for sub-microsecond precision * configurations. * * @param ticker Pointer to ticker node * * @return Returns 1 to indicate decrement is due, otherwise 0 * @internal */ static u8_t ticker_remainder_dec(struct ticker_node *ticker) { #ifdef HAL_TICKER_REMAINDER_RANGE u8_t decrement = 0U; if ((ticker->remainder_current >= BIT(31)) || (ticker->remainder_current <= (HAL_TICKER_REMAINDER_RANGE >> 1))) { decrement++; ticker->remainder_current += HAL_TICKER_REMAINDER_RANGE; } ticker->remainder_current -= ticker->remainder_periodic; return decrement; #else return 0; #endif } #endif /* CONFIG_BT_TICKER_COMPATIBILITY_MODE */ /** * @brief Invoke user operation callback * * @param user_op Pointer to user operation struct * @param status User operation status to pass to callback * * @internal */ static void ticker_job_op_cb(struct ticker_user_op *user_op, u32_t status) { user_op->op = TICKER_USER_OP_TYPE_NONE; user_op->status = status; if (user_op->fp_op_func) { user_op->fp_op_func(user_op->status, user_op->op_context); } } /** * @brief Update and insert ticker node * * @details Update ticker node with parameters passed in user operation. * After update, the ticker is inserted in front as new head. * * @param ticker Pointer to ticker node * @param user_op Pointer to user operation * @param ticks_current Current ticker instance ticks * @param ticks_elapsed Expired ticks at time of call * @param insert_head Pointer to current head (id). Contains id * from user operation upon exit * @internal */ static inline void ticker_job_node_update(struct ticker_node *ticker, struct ticker_user_op *user_op, u32_t ticks_current, u32_t ticks_elapsed, u8_t *insert_head) { u32_t ticks_to_expire = ticker->ticks_to_expire; u32_t ticks_now; ticks_now = cntr_cnt_get(); ticks_elapsed += ticker_ticks_diff_get(ticks_now, ticks_current); if (ticks_to_expire > ticks_elapsed) { ticks_to_expire -= ticks_elapsed; } else { ticker->ticks_to_expire_minus += ticks_elapsed - ticks_to_expire; ticks_to_expire = 0U; } /* Update ticks_to_expire from latency (lazy) input */ if ((ticker->ticks_periodic != 0U) && (user_op->params.update.lazy != 0U)) { user_op->params.update.lazy--; #if defined(CONFIG_BT_TICKER_COMPATIBILITY_MODE) while ((ticks_to_expire > ticker->ticks_periodic) && (ticker->lazy_current > user_op->params.update.lazy)) { ticks_to_expire -= ticker->ticks_periodic + ticker_remainder_dec(ticker); ticker->lazy_current--; } while (ticker->lazy_current < user_op->params.update.lazy) { ticks_to_expire += ticker->ticks_periodic + ticker_remainder_inc(ticker); ticker->lazy_current++; } #endif /* CONFIG_BT_TICKER_COMPATIBILITY_MODE */ ticker->lazy_periodic = user_op->params.update.lazy; } /* Update ticks_to_expire from drift input */ ticker->ticks_to_expire = ticks_to_expire + user_op->params.update.ticks_drift_plus; ticker->ticks_to_expire_minus += user_op->params.update.ticks_drift_minus; ticks_to_expire_prep(ticker, ticks_current, ticks_now); /* Update ticks_slot parameter from plus/minus input */ ticker->ticks_slot += user_op->params.update.ticks_slot_plus; if (ticker->ticks_slot > user_op->params.update.ticks_slot_minus) { ticker->ticks_slot -= user_op->params.update.ticks_slot_minus; } else { ticker->ticks_slot = 0U; } /* Update force parameter */ if (user_op->params.update.force != 0U) { ticker->force = user_op->params.update.force; } ticker->next = *insert_head; *insert_head = user_op->id; } /** * @brief Manage user update operation * * @details Called by ticker_job to execute an update request, or set node * as done if request is not update. Invokes user operation callback before * exit. * * @param instance Pointer to ticker instance * @param ticker Pointer to ticker node * @param user_op Pointer to user operation * @param ticks_elapsed Expired ticks at time of call * @param insert_head Pointer to current head (id). For update operation, * contains operation id upon exit * @internal */ static inline void ticker_job_node_manage(struct ticker_instance *instance, struct ticker_node *ticker, struct ticker_user_op *user_op, u32_t ticks_elapsed, u8_t *insert_head) { /* Remove ticker node from list */ ticker->ticks_to_expire = ticker_dequeue(instance, user_op->id); /* Handle update of ticker by re-inserting it back. */ if (user_op->op == TICKER_USER_OP_TYPE_UPDATE) { ticker_job_node_update(ticker, user_op, instance->ticks_current, ticks_elapsed, insert_head); /* Set schedule status of node * as updating. */ ticker->req++; } else { /* Reset schedule status of node */ ticker->req = ticker->ack; if (instance->ticker_id_slot_previous == user_op->id) { u32_t ticks_now = cntr_cnt_get(); u32_t ticks_used; instance->ticker_id_slot_previous = TICKER_NULL; ticks_used = ticks_elapsed + ticker_ticks_diff_get(ticks_now, instance->ticks_current); instance->ticks_slot_previous = MIN(ticker->ticks_slot, ticks_used); } } /* op success, @todo update may fail during * actual insert! need to design that yet. */ ticker_job_op_cb(user_op, TICKER_STATUS_SUCCESS); } /** * @brief Manage user operations list * * @details Called by ticker_job to execute requested user operations. A * number of operation may be queued since last ticker_job. Only update and * stop operations are handled. Start is handled implicitly by inserting * the ticker node in ticker_job_list_insert. * * @param instance Pointer to ticker instance * @param ticks_elapsed Expired ticks at time of call * @param insert_head Pointer to current head (id). For update operation, * contains operation id upon exit * @return Returns 1 if operations is pending, 0 if all operations are done. * @internal */ static inline u8_t ticker_job_list_manage(struct ticker_instance *instance, u32_t ticks_elapsed, u8_t *insert_head) { u8_t pending; struct ticker_node *node; struct ticker_user *users; u8_t count_user; pending = 0U; node = &instance->nodes[0]; users = &instance->users[0]; count_user = instance->count_user; /* Traverse users - highest id first */ while (count_user--) { struct ticker_user *user; struct ticker_user_op *user_ops; user = &users[count_user]; user_ops = &user->user_op[0]; /* Traverse user operation queue - middle to last (with wrap). * This operation updates user->middle to be the past the last * processed user operation. This is used later by * ticker_job_list_insert, for handling user->first to middle. */ while (user->middle != user->last) { struct ticker_user_op *user_op; struct ticker_node *ticker; u8_t state; u8_t prev; u8_t middle; user_op = &user_ops[user->middle]; /* Increment index and handle wrapping */ prev = user->middle; middle = user->middle + 1; if (middle == user->count_user_op) { middle = 0U; } user->middle = middle; ticker = &node[user_op->id]; /* if op is start, then skip update and stop ops */ if (user_op->op < TICKER_USER_OP_TYPE_UPDATE) { continue; } /* determine the ticker state */ state = (ticker->req - ticker->ack) & 0xff; /* if not started or update not required, * set status and continue. */ if ((user_op->op > TICKER_USER_OP_TYPE_STOP) || (state == 0U) || ((user_op->op == TICKER_USER_OP_TYPE_UPDATE) && (user_op->params.update.ticks_drift_plus == 0U) && (user_op->params.update.ticks_drift_minus == 0U) && (user_op->params.update.ticks_slot_plus == 0U) && (user_op->params.update.ticks_slot_minus == 0U) && (user_op->params.update.lazy == 0U) && (user_op->params.update.force == 0U))) { ticker_job_op_cb(user_op, TICKER_STATUS_FAILURE); continue; } /* Delete node, if not expired */ if (state == 1U) { ticker_job_node_manage(instance, ticker, user_op, ticks_elapsed, insert_head); } else { /* Update on expired node requested, defering * update until bottom half finishes. */ /* sched job to run after worker bottom half. */ instance->sched_cb(TICKER_CALL_ID_JOB, TICKER_CALL_ID_JOB, 1, instance); /* Update the index upto which management is * complete. */ user->middle = prev; pending = 1U; break; } } } return pending; } /** * @brief Handle ticker node expirations * * @details Called by ticker_job to schedule next expirations. Expired ticker * nodes are removed from the active list, and re-inserted if periodic. * * @param instance Pointer to ticker instance * @param ticks_previous Absolute ticks at ticker_job start * @param ticks_elapsed Expired ticks at time of call * @param insert_head Pointer to current head (id). Updated if nodes are * re-inserted * @internal */ static inline void ticker_job_worker_bh(struct ticker_instance *instance, u32_t ticks_previous, u32_t ticks_elapsed, u8_t *insert_head) { struct ticker_node *node; u32_t ticks_expired; node = &instance->nodes[0]; ticks_expired = 0U; while (instance->ticker_id_head != TICKER_NULL) { struct ticker_node *ticker; u32_t ticks_to_expire; u8_t id_expired; /* auto variable for current ticker node */ id_expired = instance->ticker_id_head; ticker = &node[id_expired]; /* Do nothing if ticker did not expire */ ticks_to_expire = ticker->ticks_to_expire; if (ticks_elapsed < ticks_to_expire) { ticker->ticks_to_expire -= ticks_elapsed; break; } /* decrement ticks_elapsed and collect expired ticks */ ticks_elapsed -= ticks_to_expire; ticks_expired += ticks_to_expire; #if !defined(CONFIG_BT_TICKER_COMPATIBILITY_MODE) if (ticker->lazy_current != 0U) { instance->ticker_id_slot_previous = TICKER_NULL; instance->ticks_slot_previous = 0U; } else #endif /* !CONFIG_BT_TICKER_COMPATIBILITY_MODE */ { /* decrement ticks_slot_previous */ if (instance->ticks_slot_previous > ticks_to_expire) { instance->ticks_slot_previous -= ticks_to_expire; } else { instance->ticker_id_slot_previous = TICKER_NULL; instance->ticks_slot_previous = 0U; } /* save current ticks_slot_previous */ if (ticker->ticks_slot != 0U) { instance->ticker_id_slot_previous = id_expired; instance->ticks_slot_previous = ticker->ticks_slot; } } /* ticker expired, set ticks_to_expire zero */ ticker->ticks_to_expire = 0U; /* remove the expired ticker from head */ instance->ticker_id_head = ticker->next; /* ticker will be restarted if periodic */ if (ticker->ticks_periodic != 0U) { #if !defined(CONFIG_BT_TICKER_COMPATIBILITY_MODE) /* Reload ticks_to_expire with one period */ ticker->ticks_to_expire = ticker->ticks_periodic; ticker->ticks_to_expire += ticker_remainder_inc(ticker); ticks_to_expire_prep(ticker, instance->ticks_current, (ticks_previous + ticks_expired)); #else /* !CONFIG_BT_TICKER_COMPATIBILITY_MODE */ u32_t count; /* Prepare for next interval */ ticks_to_expire = 0U; count = 1 + ticker->lazy_periodic; while (count--) { ticks_to_expire += ticker->ticks_periodic; ticks_to_expire += ticker_remainder_inc(ticker); } ticker->ticks_to_expire = ticks_to_expire; ticks_to_expire_prep(ticker, instance->ticks_current, (ticks_previous + ticks_expired)); /* Reset latency to periodic offset */ ticker->lazy_current = ticker->lazy_periodic; ticker->force = 0U; #endif /* !CONFIG_BT_TICKER_COMPATIBILITY_MODE */ /* Add to insert list */ ticker->next = *insert_head; *insert_head = id_expired; /* set schedule status of node as restarting. */ ticker->req++; } else { /* reset schedule status of node */ ticker->req = ticker->ack; } } } /** * @brief Prepare ticker node start * * @details Called by ticker_job to prepare ticker node start operation. * * @param ticker Pointer to ticker node * @param user_op Pointer to user operation * @param ticks_current Expired ticks at time of call * * @internal */ static inline void ticker_job_op_start(struct ticker_node *ticker, struct ticker_user_op *user_op, u32_t ticks_current) { struct ticker_user_op_start *start = (void *)&user_op->params.start; #if defined(CONFIG_BT_TICKER_COMPATIBILITY_MODE) /* Must expire is not supported in compatibility mode */ LL_ASSERT(start->lazy != TICKER_LAZY_MUST_EXPIRE); #else ticker->must_expire = (start->lazy == TICKER_LAZY_MUST_EXPIRE) ? 1U : 0U; #endif /* CONFIG_BT_TICKER_COMPATIBILITY_MODE */ ticker->ticks_periodic = start->ticks_periodic; ticker->remainder_periodic = start->remainder_periodic; ticker->lazy_periodic = (start->lazy == TICKER_LAZY_MUST_EXPIRE) ? 0U : start->lazy; ticker->ticks_slot = start->ticks_slot; ticker->timeout_func = start->fp_timeout_func; ticker->context = start->context; ticker->ticks_to_expire = start->ticks_first; ticker->ticks_to_expire_minus = 0U; ticks_to_expire_prep(ticker, ticks_current, start->ticks_at_start); ticker->remainder_current = 0U; ticker->lazy_current = 0U; ticker->force = 1U; } #if !defined(CONFIG_BT_TICKER_COMPATIBILITY_MODE) /** * @brief Insert new ticker node * * @details Called by ticker_job to insert a new ticker node. If node collides * with existing ticker nodes, either the new node is postponed, or colliding * node is un-scheduled. Decision is based on latency and the force-state of * individual nodes. * * @param instance Pointer to ticker instance * @param id_insert Id of ticker to insert * @param ticker Pointer to ticker node to insert * @param insert_head Pointer to current head. Updated if colliding nodes * are un-scheduled * @internal */ static inline u32_t ticker_job_insert(struct ticker_instance *instance, u8_t id_insert, struct ticker_node *ticker, u8_t *insert_head) { ARG_UNUSED(insert_head); /* Prepare to insert */ ticker->next = TICKER_NULL; /* Enqueue the ticker node */ (void)ticker_enqueue(instance, id_insert); /* Inserted/Scheduled */ ticker->req = ticker->ack + 1; return TICKER_STATUS_SUCCESS; } #else /* !CONFIG_BT_TICKER_COMPATIBILITY_MODE */ /** * @brief Insert new ticker node * * @details Called by ticker_job to insert a new ticker node. If node collides * with existing ticker nodes, either the new node is postponed, or colliding * node is un-scheduled. Decision is based on latency and the force-state of * individual nodes. * * @param instance Pointer to ticker instance * @param id_insert Id of ticker to insert * @param ticker Pointer to ticker node to insert * @param insert_head Pointer to current head. Updated if colliding nodes * are un-scheduled * @internal */ static inline u32_t ticker_job_insert(struct ticker_instance *instance, u8_t id_insert, struct ticker_node *ticker, u8_t *insert_head) { struct ticker_node *node = &instance->nodes[0]; u8_t id_collide; u16_t skip; /* Prepare to insert */ ticker->next = TICKER_NULL; /* No. of times ticker has skipped its interval */ if (ticker->lazy_current > ticker->lazy_periodic) { skip = ticker->lazy_current - ticker->lazy_periodic; } else { skip = 0U; } /* If insert collides, remove colliding or advance to next interval */ while (id_insert != (id_collide = ticker_enqueue(instance, id_insert))) { /* Check for collision */ if (id_collide != TICKER_NULL) { struct ticker_node *ticker_collide = &node[id_collide]; u16_t skip_collide; /* No. of times colliding ticker has skipped its * interval. */ if (ticker_collide->lazy_current > ticker_collide->lazy_periodic) { skip_collide = ticker_collide->lazy_current - ticker_collide->lazy_periodic; } else { skip_collide = 0U; } /* Check if colliding node should be un-scheduled */ if (ticker_collide->ticks_periodic && skip_collide <= skip && ticker_collide->force < ticker->force) { /* Dequeue and get the reminder of ticks * to expire. */ ticker_collide->ticks_to_expire = ticker_dequeue(instance, id_collide); /* Unschedule node */ ticker_collide->req = ticker_collide->ack; /* Enqueue for re-insertion */ ticker_collide->next = *insert_head; *insert_head = id_collide; continue; } } /* occupied, try next interval */ if (ticker->ticks_periodic != 0U) { ticker->ticks_to_expire += ticker->ticks_periodic + ticker_remainder_inc(ticker); ticker->lazy_current++; /* Remove any accumulated drift (possibly added due to * ticker job execution latencies). */ if (ticker->ticks_to_expire > ticker->ticks_to_expire_minus) { ticker->ticks_to_expire -= ticker->ticks_to_expire_minus; ticker->ticks_to_expire_minus = 0U; } else { ticker->ticks_to_expire_minus -= ticker->ticks_to_expire; ticker->ticks_to_expire = 0U; } } else { return TICKER_STATUS_FAILURE; } } /* Inserted/Scheduled */ ticker->req = ticker->ack + 1; return TICKER_STATUS_SUCCESS; } #endif /* !CONFIG_BT_TICKER_COMPATIBILITY_MODE */ /** * @brief Insert and start ticker nodes for all users * * @details Called by ticker_job to prepare, insert and start ticker nodes * for all users. Specifying insert_head to other than TICKER_NULL causes * that ticker node to be inserted first. * * @param instance Pointer to ticker instance * @param insert_head Id of ticker node to insert, or TICKER_NULL if only * handle user operation inserts * @internal */ static inline void ticker_job_list_insert(struct ticker_instance *instance, u8_t insert_head) { struct ticker_node *node; struct ticker_user *users; u8_t count_user; node = &instance->nodes[0]; users = &instance->users[0]; count_user = instance->count_user; /* Iterate through all user ids */ while (count_user--) { struct ticker_user_op *user_ops; struct ticker_user *user; u8_t user_ops_first; user = &users[count_user]; user_ops = (void *)&user->user_op[0]; user_ops_first = user->first; /* Traverse user operation queue - first to middle (wrap) */ while ((insert_head != TICKER_NULL) || (user_ops_first != user->middle)) { struct ticker_user_op *user_op; struct ticker_node *ticker; u8_t id_insert; u32_t status; if (insert_head != TICKER_NULL) { /* Prepare insert of ticker node specified by * insert_head */ id_insert = insert_head; ticker = &node[id_insert]; insert_head = ticker->next; user_op = NULL; } else { /* Prepare insert of any ticker nodes requested * via user operation TICKER_USER_OP_TYPE_START */ u8_t first; user_op = &user_ops[user_ops_first]; first = user_ops_first + 1; if (first == user->count_user_op) { first = 0U; } user_ops_first = first; id_insert = user_op->id; ticker = &node[id_insert]; if (user_op->op != TICKER_USER_OP_TYPE_START) { /* User operation is not start - skip * to next operation */ continue; } if (((ticker->req - ticker->ack) & 0xff) != 0U) { ticker_job_op_cb(user_op, TICKER_STATUS_FAILURE); continue; } /* Prepare ticker for start */ ticker_job_op_start(ticker, user_op, instance->ticks_current); } /* Insert ticker node */ status = ticker_job_insert(instance, id_insert, ticker, &insert_head); if (user_op) { ticker_job_op_cb(user_op, status); } } } } /** * @brief Perform inquiry for specific user operation * * @param instance Pointer to ticker instance * @param uop Pointer to user operation * * @internal */ static inline void ticker_job_op_inquire(struct ticker_instance *instance, struct ticker_user_op *uop) { ticker_op_func fp_op_func; fp_op_func = NULL; switch (uop->op) { case TICKER_USER_OP_TYPE_SLOT_GET: ticker_by_next_slot_get(instance, uop->params.slot_get.ticker_id, uop->params.slot_get.ticks_current, uop->params.slot_get.ticks_to_expire); /* Fall-through */ case TICKER_USER_OP_TYPE_IDLE_GET: uop->status = TICKER_STATUS_SUCCESS; fp_op_func = uop->fp_op_func; break; #if !defined(CONFIG_BT_TICKER_COMPATIBILITY_MODE) case TICKER_USER_OP_TYPE_PRIORITY_SET: if (uop->id < instance->count_node) { struct ticker_node *node = instance->nodes; node[uop->id].priority = uop->params.priority_set.priority; uop->status = TICKER_STATUS_SUCCESS; } else { uop->status = TICKER_STATUS_FAILURE; } fp_op_func = uop->fp_op_func; break; #endif default: /* do nothing for other ops */ break; } if (fp_op_func) { fp_op_func(uop->status, uop->op_context); } } /** * @brief Check for pending inquiries for all users * * @details Run through all user operation lists, checking for pending * inquiries. Currently only two types of inquiries are supported: * TICKER_USER_OP_TYPE_SLOT_GET and TICKER_USER_OP_TYPE_IDLE_GET. The * function also supports user operation TICKER_USER_OP_TYPE_PRIORITY_SET. * This operation modifies the user->first index, indicating user operations * are complete. * * @param instance Pointer to ticker instance * * @internal */ static inline void ticker_job_list_inquire(struct ticker_instance *instance) { struct ticker_user *users; u8_t count_user; users = &instance->users[0]; count_user = instance->count_user; /* Traverse user operation queue - first to last (with wrap) */ while (count_user--) { struct ticker_user_op *user_op; struct ticker_user *user; user = &users[count_user]; user_op = &user->user_op[0]; while (user->first != user->last) { u8_t first; ticker_job_op_inquire(instance, &user_op[user->first]); first = user->first + 1; if (first == user->count_user_op) { first = 0U; } user->first = first; } } } /** * @brief Update counter compare value (trigger) * * @details Updates trigger to the match next expiring ticker node. The * function takes into consideration that it may be preempted in the process, * and makes sure - by iteration - that compare value is set in the future * (with a margin). * * @param instance Pointer to ticker instance * @param ticker_id_old_head Previous ticker_id_head * * @internal */ static inline void ticker_job_compare_update(struct ticker_instance *instance, u8_t ticker_id_old_head) { struct ticker_node *ticker; u32_t ticks_to_expire; u32_t ctr_post; u32_t ctr; u32_t cc; u32_t i; if (instance->ticker_id_head == TICKER_NULL) { if (cntr_stop() == 0) { instance->ticks_slot_previous = 0U; } return; } /* Check if this is the first update. If so, start the counter */ if (ticker_id_old_head == TICKER_NULL) { u32_t ticks_current; ticks_current = cntr_cnt_get(); if (cntr_start() == 0) { instance->ticks_current = ticks_current; } } ticker = &instance->nodes[instance->ticker_id_head]; ticks_to_expire = ticker->ticks_to_expire; /* Iterate few times, if required, to ensure that compare is * correctly set to a future value. This is required in case * the operation is pre-empted and current h/w counter runs * ahead of compare value to be set. */ i = 10U; do { u32_t ticks_elapsed; LL_ASSERT(i); i--; ctr = cntr_cnt_get(); cc = instance->ticks_current; ticks_elapsed = ticker_ticks_diff_get(ctr, cc) + HAL_TICKER_CNTR_CMP_OFFSET_MIN + HAL_TICKER_CNTR_SET_LATENCY; cc += MAX(ticks_elapsed, ticks_to_expire); cc &= HAL_TICKER_CNTR_MASK; instance->trigger_set_cb(cc); ctr_post = cntr_cnt_get(); } while ((ticker_ticks_diff_get(ctr_post, ctr) + HAL_TICKER_CNTR_CMP_OFFSET_MIN) > ticker_ticks_diff_get(cc, ctr)); } /** * @brief Ticker job * * @details Runs the bottom half of the ticker, after ticker nodes have elapsed * or user operations requested. The ticker_job is responsible for removing and * re-inserting ticker nodes, based on next elapsing and periodicity of the * nodes. The ticker_job is also responsible for processing user operations, * i.e. requests for start, update, stop etc. * Invoked from the ticker job mayfly context (TICKER_MAYFLY_CALL_ID_JOB). * * @param param Pointer to ticker instance * * @internal */ void ticker_job(void *param) { struct ticker_instance *instance = param; u8_t ticker_id_old_head; u8_t insert_head; u32_t ticks_elapsed; u32_t ticks_previous; u8_t flag_elapsed; u8_t pending; u8_t flag_compare_update; DEBUG_TICKER_JOB(1); /* Defer worker, as job is now running */ if (instance->worker_trigger) { DEBUG_TICKER_JOB(0); return; } instance->job_guard = 1U; /* Back up the previous known tick */ ticks_previous = instance->ticks_current; /* Update current tick with the elapsed value from queue, and dequeue */ if (instance->ticks_elapsed_first != instance->ticks_elapsed_last) { ticker_next_elapsed(&instance->ticks_elapsed_first); ticks_elapsed = instance->ticks_elapsed[instance->ticks_elapsed_first]; instance->ticks_current += ticks_elapsed; instance->ticks_current &= HAL_TICKER_CNTR_MASK; flag_elapsed = 1U; } else { /* No elapsed value in queue */ flag_elapsed = 0U; ticks_elapsed = 0U; } /* Initialise internal re-insert list */ insert_head = TICKER_NULL; /* Initialise flag used to update next compare value */ flag_compare_update = 0U; /* Remember the old head, so as to decide if new compare needs to be * set. */ ticker_id_old_head = instance->ticker_id_head; /* Manage user operations (updates and deletions) in ticker list */ pending = ticker_job_list_manage(instance, ticks_elapsed, &insert_head); /* Detect change in head of the list */ if (instance->ticker_id_head != ticker_id_old_head) { flag_compare_update = 1U; } /* Handle expired tickers */ if (flag_elapsed) { ticker_job_worker_bh(instance, ticks_previous, ticks_elapsed, &insert_head); /* detect change in head of the list */ if (instance->ticker_id_head != ticker_id_old_head) { flag_compare_update = 1U; } } /* Handle insertions */ ticker_job_list_insert(instance, insert_head); /* detect change in head of the list */ if (instance->ticker_id_head != ticker_id_old_head) { flag_compare_update = 1U; } /* Process any list inquiries */ if (!pending) { /* Handle inquiries */ ticker_job_list_inquire(instance); } /* Permit worker job to run */ instance->job_guard = 0U; /* update compare if head changed */ if (flag_compare_update) { ticker_job_compare_update(instance, ticker_id_old_head); } /* trigger worker if deferred */ if (instance->worker_trigger) { instance->sched_cb(TICKER_CALL_ID_JOB, TICKER_CALL_ID_WORKER, 1, instance); } DEBUG_TICKER_JOB(0); } /***************************************************************************** * Public Interface ****************************************************************************/ /** * @brief Initialize ticker instance * * @details Called by ticker instance client once to initialize the ticker. * * @param instance_index Index of ticker instance * @param count_node Number of ticker nodes in node array * @param node Pointer to ticker node array * @param count_user Number of users in user array * @param user Pointer to user array of size count_user * @param count_op Number of user operations in user_op array * @param user_op Pointer to user operations array of size count_op * @param caller_id_get_cb Pointer to function for retrieving caller_id from * user id * @param sched_cb Pointer to function for scheduling ticker_worker * and ticker_job * @param trigger_set_cb Pointer to function for setting the compare trigger * ticks value * * @return TICKER_STATUS_SUCCESS if initialization was successful, otherwise * TICKER_STATUS_FAILURE */ u32_t ticker_init(u8_t instance_index, u8_t count_node, void *node, u8_t count_user, void *user, u8_t count_op, void *user_op, ticker_caller_id_get_cb_t caller_id_get_cb, ticker_sched_cb_t sched_cb, ticker_trigger_set_cb_t trigger_set_cb) { struct ticker_instance *instance = &_instance[instance_index]; struct ticker_user_op *user_op_ = (void *)user_op; struct ticker_user *users; if (instance_index >= TICKER_INSTANCE_MAX) { return TICKER_STATUS_FAILURE; } instance->count_node = count_node; instance->nodes = node; #if !defined(CONFIG_BT_TICKER_COMPATIBILITY_MODE) while (count_node--) { instance->nodes[count_node].priority = 0; } #endif /* !CONFIG_BT_TICKER_COMPATIBILITY_MODE */ instance->count_user = count_user; instance->users = user; /** @todo check if enough ticker_user_op supplied */ users = &instance->users[0]; while (count_user--) { users[count_user].user_op = user_op_; user_op_ += users[count_user].count_user_op; count_op -= users[count_user].count_user_op; } if (count_op) { return TICKER_STATUS_FAILURE; } instance->caller_id_get_cb = caller_id_get_cb; instance->sched_cb = sched_cb; instance->trigger_set_cb = trigger_set_cb; instance->ticker_id_head = TICKER_NULL; instance->ticker_id_slot_previous = TICKER_NULL; instance->ticks_slot_previous = 0U; instance->ticks_current = 0U; instance->ticks_elapsed_first = 0U; instance->ticks_elapsed_last = 0U; return TICKER_STATUS_SUCCESS; } /** * @brief Check if ticker instance is initialized * * @param instance_index Index of ticker instance * * @return true if ticker instance is initialized, false otherwise */ bool ticker_is_initialized(u8_t instance_index) { return !!(_instance[instance_index].count_node); } /** * @brief Trigger the ticker worker * * @details Schedules the ticker_worker upper half by invoking the * corresponding mayfly. * * @param instance_index Index of ticker instance */ void ticker_trigger(u8_t instance_index) { struct ticker_instance *instance; DEBUG_TICKER_ISR(1); instance = &_instance[instance_index]; if (instance->sched_cb) { instance->sched_cb(TICKER_CALL_ID_TRIGGER, TICKER_CALL_ID_WORKER, 1, instance); } DEBUG_TICKER_ISR(0); } /** * @brief Start a ticker node * * @details Creates a new user operation of type TICKER_USER_OP_TYPE_START and * schedules the ticker_job. * * @param instance_index Index of ticker instance * @param user_id Ticker user id. Used for indexing user operations * and mapping to mayfly caller id * @param ticker_id Id of ticker node * @param ticks_anchor Absolute tick count as anchor point for * ticks_first * @param ticks_first Initial number of ticks before first timeout * @param ticks_periodic Number of ticks for a peridic ticker node. If 0, * ticker node is treated as one-shot * @param remainder_periodic Periodic ticks fraction * @param lazy Number of periods to skip (latency). A value of 1 * causes skipping every other timeout * @param ticks_slot Slot reservation ticks for node (air-time) * @param fp_timeout_func Function pointer of function to call at timeout * @param context Context passed in timeout call * @param fp_op_func Function pointer of user operation completion * function * @param op_context Context passed in operation completion call * * @return TICKER_STATUS_BUSY if start was successful but not yet completed. * TICKER_STATUS_FAILURE is returned if there are no more user operations * available, and TICKER_STATUS_SUCCESS is returned if ticker_job gets to * run before exiting ticker_start */ u32_t ticker_start(u8_t instance_index, u8_t user_id, u8_t ticker_id, u32_t ticks_anchor, u32_t ticks_first, u32_t ticks_periodic, u32_t remainder_periodic, u16_t lazy, u32_t ticks_slot, ticker_timeout_func fp_timeout_func, void *context, ticker_op_func fp_op_func, void *op_context) { struct ticker_instance *instance = &_instance[instance_index]; struct ticker_user_op *user_op; struct ticker_user *user; u8_t last; user = &instance->users[user_id]; last = user->last + 1; if (last >= user->count_user_op) { last = 0U; } if (last == user->first) { return TICKER_STATUS_FAILURE; } user_op = &user->user_op[user->last]; user_op->op = TICKER_USER_OP_TYPE_START; user_op->id = ticker_id; user_op->params.start.ticks_at_start = ticks_anchor; user_op->params.start.ticks_first = ticks_first; user_op->params.start.ticks_periodic = ticks_periodic; user_op->params.start.remainder_periodic = remainder_periodic; user_op->params.start.ticks_slot = ticks_slot; user_op->params.start.lazy = lazy; user_op->params.start.fp_timeout_func = fp_timeout_func; user_op->params.start.context = context; user_op->status = TICKER_STATUS_BUSY; user_op->fp_op_func = fp_op_func; user_op->op_context = op_context; user->last = last; instance->sched_cb(instance->caller_id_get_cb(user_id), TICKER_CALL_ID_JOB, 0, instance); return user_op->status; } /** * @brief Update a ticker node * * @details Creates a new user operation of type TICKER_USER_OP_TYPE_UPDATE and * schedules the ticker_job. * * @param instance_index Index of ticker instance * @param user_id Ticker user id. Used for indexing user operations * and mapping to mayfly caller id * @param ticker_id Id of ticker node * @param ticks_drift_plus Number of ticks to add for drift compensation * @param ticks_drift_minus Number of ticks to subtract for drift compensation * @param ticks_slot_plus Number of ticks to add to slot reservation * @param ticks_slot_minus Number of ticks to add subtract from slot * reservation * @param lazy Number of periods to skip (latency). A value of 0 * means no action. 1 means no latency (normal). A * value >1 means latency = lazy - 1 * @param force Force update to take effect immediately. With * force = 0, update is scheduled to take effect as * soon as possible * @param fp_op_func Function pointer of user operation completion * function * @param op_context Context passed in operation completion call * * @return TICKER_STATUS_BUSY if update was successful but not yet completed. * TICKER_STATUS_FAILURE is returned if there are no more user operations * available, and TICKER_STATUS_SUCCESS is returned if ticker_job gets to run * before exiting ticker_update */ u32_t ticker_update(u8_t instance_index, u8_t user_id, u8_t ticker_id, u32_t ticks_drift_plus, u32_t ticks_drift_minus, u32_t ticks_slot_plus, u32_t ticks_slot_minus, u16_t lazy, u8_t force, ticker_op_func fp_op_func, void *op_context) { struct ticker_instance *instance = &_instance[instance_index]; struct ticker_user_op *user_op; struct ticker_user *user; u8_t last; user = &instance->users[user_id]; last = user->last + 1; if (last >= user->count_user_op) { last = 0U; } if (last == user->first) { return TICKER_STATUS_FAILURE; } user_op = &user->user_op[user->last]; user_op->op = TICKER_USER_OP_TYPE_UPDATE; user_op->id = ticker_id; user_op->params.update.ticks_drift_plus = ticks_drift_plus; user_op->params.update.ticks_drift_minus = ticks_drift_minus; user_op->params.update.ticks_slot_plus = ticks_slot_plus; user_op->params.update.ticks_slot_minus = ticks_slot_minus; user_op->params.update.lazy = lazy; user_op->params.update.force = force; user_op->status = TICKER_STATUS_BUSY; user_op->fp_op_func = fp_op_func; user_op->op_context = op_context; user->last = last; instance->sched_cb(instance->caller_id_get_cb(user_id), TICKER_CALL_ID_JOB, 0, instance); return user_op->status; } /** * @brief Stop a ticker node * * @details Creates a new user operation of type TICKER_USER_OP_TYPE_STOP and * schedules the ticker_job. * * @param instance_index Index of ticker instance * @param user_id Ticker user id. Used for indexing user operations * and mapping to mayfly caller id * @param fp_op_func Function pointer of user operation completion * function * @param op_context Context passed in operation completion call * * @return TICKER_STATUS_BUSY if stop was successful but not yet completed. * TICKER_STATUS_FAILURE is returned if there are no more user operations * available, and TICKER_STATUS_SUCCESS is returned if ticker_job gets to run * before exiting ticker_stop */ u32_t ticker_stop(u8_t instance_index, u8_t user_id, u8_t ticker_id, ticker_op_func fp_op_func, void *op_context) { struct ticker_instance *instance = &_instance[instance_index]; struct ticker_user_op *user_op; struct ticker_user *user; u8_t last; user = &instance->users[user_id]; last = user->last + 1; if (last >= user->count_user_op) { last = 0U; } if (last == user->first) { return TICKER_STATUS_FAILURE; } user_op = &user->user_op[user->last]; user_op->op = TICKER_USER_OP_TYPE_STOP; user_op->id = ticker_id; user_op->status = TICKER_STATUS_BUSY; user_op->fp_op_func = fp_op_func; user_op->op_context = op_context; user->last = last; instance->sched_cb(instance->caller_id_get_cb(user_id), TICKER_CALL_ID_JOB, 0, instance); return user_op->status; } /** * @brief Get next ticker node slot * * @details Gets the next ticker which has slot ticks specified and * return the ticker id and accumulated ticks until expiration. If no * ticker nodes have slot ticks, the next ticker node is returned. * If no head id is provided (TICKER_NULL) the first node is returned. * * @param instance_index Index of ticker instance * @param user_id Ticker user id. Used for indexing user operations * and mapping to mayfly caller id * @param ticker_id Pointer to id of ticker node * @param ticks_current Pointer to current ticks count * @param ticks_to_expire Pointer to ticks to expire * @param fp_op_func Function pointer of user operation completion * function * @param op_context Context passed in operation completion call * * @return TICKER_STATUS_BUSY if request was successful but not yet completed. * TICKER_STATUS_FAILURE is returned if there are no more user operations * available, and TICKER_STATUS_SUCCESS is returned if ticker_job gets to run * before exiting ticker_next_slot_get */ u32_t ticker_next_slot_get(u8_t instance_index, u8_t user_id, u8_t *ticker_id, u32_t *ticks_current, u32_t *ticks_to_expire, ticker_op_func fp_op_func, void *op_context) { struct ticker_instance *instance = &_instance[instance_index]; struct ticker_user_op *user_op; struct ticker_user *user; u8_t last; user = &instance->users[user_id]; last = user->last + 1; if (last >= user->count_user_op) { last = 0U; } if (last == user->first) { return TICKER_STATUS_FAILURE; } user_op = &user->user_op[user->last]; user_op->op = TICKER_USER_OP_TYPE_SLOT_GET; user_op->id = TICKER_NULL; user_op->params.slot_get.ticker_id = ticker_id; user_op->params.slot_get.ticks_current = ticks_current; user_op->params.slot_get.ticks_to_expire = ticks_to_expire; user_op->status = TICKER_STATUS_BUSY; user_op->fp_op_func = fp_op_func; user_op->op_context = op_context; user->last = last; instance->sched_cb(instance->caller_id_get_cb(user_id), TICKER_CALL_ID_JOB, 0, instance); return user_op->status; } /** * @brief Get a callback at the end of ticker job execution * * @details Operation completion callback is called at the end of the * ticker_job execution. The user operation is immutable. * * @param instance_index Index of ticker instance * @param user_id Ticker user id. Used for indexing user operations * and mapping to mayfly caller id * @param fp_op_func Function pointer of user operation completion * function * @param op_context Context passed in operation completion call * * @return TICKER_STATUS_BUSY if request was successful but not yet completed. * TICKER_STATUS_FAILURE is returned if there are no more user operations * available, and TICKER_STATUS_SUCCESS is returned if ticker_job gets to run * before exiting ticker_job_idle_get */ u32_t ticker_job_idle_get(u8_t instance_index, u8_t user_id, ticker_op_func fp_op_func, void *op_context) { struct ticker_instance *instance = &_instance[instance_index]; struct ticker_user_op *user_op; struct ticker_user *user; u8_t last; user = &instance->users[user_id]; last = user->last + 1; if (last >= user->count_user_op) { last = 0U; } if (last == user->first) { return TICKER_STATUS_FAILURE; } user_op = &user->user_op[user->last]; user_op->op = TICKER_USER_OP_TYPE_IDLE_GET; user_op->id = TICKER_NULL; user_op->status = TICKER_STATUS_BUSY; user_op->fp_op_func = fp_op_func; user_op->op_context = op_context; user->last = last; instance->sched_cb(instance->caller_id_get_cb(user_id), TICKER_CALL_ID_JOB, 0, instance); return user_op->status; } #if !defined(CONFIG_BT_TICKER_COMPATIBILITY_MODE) /** * @brief Set ticker node priority * * @param instance_index Index of ticker instance * @param user_id Ticker user id. Used for indexing user operations * and mapping to mayfly caller id * @param ticker_id Id of ticker node to set priority on * @param priority Priority to set. Range [-128..127], default is 0. * Lover value equals higher priority. Setting * priority to -128 (TICKER_PRIORITY_CRITICAL) makes * the node win all collision challenges. Only one * node can have this priority assigned. * @param fp_op_func Function pointer of user operation completion * function * @param op_context Context passed in operation completion call * * @return TICKER_STATUS_BUSY if request was successful but not yet completed. * TICKER_STATUS_FAILURE is returned if there are no more user operations * available, and TICKER_STATUS_SUCCESS is returned if ticker_job gets to run * before exiting ticker_priority_set */ u32_t ticker_priority_set(u8_t instance_index, u8_t user_id, u8_t ticker_id, s8_t priority, ticker_op_func fp_op_func, void *op_context) { struct ticker_instance *instance = &_instance[instance_index]; struct ticker_user_op *user_op; struct ticker_user *user; u8_t last; user = &instance->users[user_id]; last = user->last + 1; if (last >= user->count_user_op) { last = 0U; } if (last == user->first) { return TICKER_STATUS_FAILURE; } user_op = &user->user_op[user->last]; user_op->op = TICKER_USER_OP_TYPE_PRIORITY_SET; user_op->id = ticker_id; user_op->params.priority_set.priority = priority; user_op->status = TICKER_STATUS_BUSY; user_op->fp_op_func = fp_op_func; user_op->op_context = op_context; user->last = last; instance->sched_cb(instance->caller_id_get_cb(user_id), TICKER_CALL_ID_JOB, 0, instance); return user_op->status; } #endif /* !CONFIG_BT_TICKER_COMPATIBILITY_MODE */ /** * @brief Schedule ticker job * * @param instance_index Index of ticker instance * @param user_id Ticker user id. Maps to mayfly caller id */ void ticker_job_sched(u8_t instance_index, u8_t user_id) { struct ticker_instance *instance = &_instance[instance_index]; instance->sched_cb(instance->caller_id_get_cb(user_id), TICKER_CALL_ID_JOB, 0, instance); } /** * @brief Get current absolute tick count * * @return Absolute tick count */ u32_t ticker_ticks_now_get(void) { return cntr_cnt_get(); } /** * @brief Get diffence between two tick counts * * @details Subtract two counts and truncate to correct HW dependent counter * bit width * * @param ticks_now Highest tick count (now) * @param ticks_old Tick count to subtract from ticks_now */ u32_t ticker_ticks_diff_get(u32_t ticks_now, u32_t ticks_old) { return ((ticks_now - ticks_old) & HAL_TICKER_CNTR_MASK); }