556 lines
18 KiB
C
556 lines
18 KiB
C
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/****************************************************************************
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(c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
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www.systec-electronic.com
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Project: openPOWERLINK
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Description: target specific implementation of
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high resolution timer module for X86 under Linux
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The Linux kernel has to be compiled with high resolution
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timers enabled. This is done by configuring the kernel
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with CONFIG_HIGH_RES_TIMERS enabled.
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License:
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions
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are met:
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1. Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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3. Neither the name of SYSTEC electronic GmbH nor the names of its
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contributors may be used to endorse or promote products derived
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from this software without prior written permission. For written
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permission, please contact info@systec-electronic.com.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.
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Severability Clause:
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If a provision of this License is or becomes illegal, invalid or
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unenforceable in any jurisdiction, that shall not affect:
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1. the validity or enforceability in that jurisdiction of any other
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provision of this License; or
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2. the validity or enforceability in other jurisdictions of that or
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any other provision of this License.
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-------------------------------------------------------------------------
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$RCSfile: TimerHighReskX86.c,v $
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$Author: D.Krueger $
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$Revision: 1.4 $ $Date: 2008/04/17 21:38:01 $
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$State: Exp $
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Build Environment:
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GNU
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-------------------------------------------------------------------------
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Revision History:
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****************************************************************************/
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#include "EplInc.h"
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#include "kernel/EplTimerHighResk.h"
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#include "Benchmark.h"
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//#include <linux/config.h>
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#include <linux/module.h>
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#include <linux/kernel.h>
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#include <linux/hrtimer.h>
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/***************************************************************************/
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/* */
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/* */
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/* G L O B A L D E F I N I T I O N S */
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/* */
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/* */
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/***************************************************************************/
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//---------------------------------------------------------------------------
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// const defines
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//---------------------------------------------------------------------------
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#define TIMER_COUNT 2 /* max 15 timers selectable */
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#define TIMER_MIN_VAL_SINGLE 5000 /* min 5us */
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#define TIMER_MIN_VAL_CYCLE 100000 /* min 100us */
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#define PROVE_OVERRUN
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#ifndef CONFIG_HIGH_RES_TIMERS
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#error "Kernel symbol CONFIG_HIGH_RES_TIMERS is required."
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#endif
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// TracePoint support for realtime-debugging
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#ifdef _DBG_TRACE_POINTS_
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void PUBLIC TgtDbgSignalTracePoint (BYTE bTracePointNumber_p);
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void PUBLIC TgtDbgPostTraceValue (DWORD dwTraceValue_p);
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#define TGT_DBG_SIGNAL_TRACE_POINT(p) TgtDbgSignalTracePoint(p)
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#define TGT_DBG_POST_TRACE_VALUE(v) TgtDbgPostTraceValue(v)
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#else
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#define TGT_DBG_SIGNAL_TRACE_POINT(p)
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#define TGT_DBG_POST_TRACE_VALUE(v)
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#endif
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#define HRT_DBG_POST_TRACE_VALUE(Event_p, uiNodeId_p, wErrorCode_p) \
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TGT_DBG_POST_TRACE_VALUE((0xE << 28) | (Event_p << 24) \
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| (uiNodeId_p << 16) | wErrorCode_p)
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#define TIMERHDL_MASK 0x0FFFFFFF
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#define TIMERHDL_SHIFT 28
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#define HDL_TO_IDX(Hdl) ((Hdl >> TIMERHDL_SHIFT) - 1)
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#define HDL_INIT(Idx) ((Idx + 1) << TIMERHDL_SHIFT)
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#define HDL_INC(Hdl) (((Hdl + 1) & TIMERHDL_MASK) \
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| (Hdl & ~TIMERHDL_MASK))
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//---------------------------------------------------------------------------
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// modul global types
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//---------------------------------------------------------------------------
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typedef struct
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{
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tEplTimerEventArg m_EventArg;
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tEplTimerkCallback m_pfnCallback;
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struct hrtimer m_Timer;
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BOOL m_fContinuously;
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unsigned long long m_ullPeriod;
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} tEplTimerHighReskTimerInfo;
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typedef struct
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{
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tEplTimerHighReskTimerInfo m_aTimerInfo[TIMER_COUNT];
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} tEplTimerHighReskInstance;
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//---------------------------------------------------------------------------
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// local vars
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//---------------------------------------------------------------------------
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static tEplTimerHighReskInstance EplTimerHighReskInstance_l;
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//---------------------------------------------------------------------------
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// local function prototypes
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//---------------------------------------------------------------------------
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enum hrtimer_restart EplTimerHighReskCallback (struct hrtimer* pTimer_p);
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//=========================================================================//
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// //
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// P U B L I C F U N C T I O N S //
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// //
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//=========================================================================//
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//---------------------------------------------------------------------------
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//
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// Function: EplTimerHighReskInit()
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//
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// Description: initializes the high resolution timer module.
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//
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// Parameters: void
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//
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// Return: tEplKernel = error code
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//
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// State: not tested
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//
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//---------------------------------------------------------------------------
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tEplKernel PUBLIC EplTimerHighReskInit(void)
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{
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tEplKernel Ret;
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Ret = EplTimerHighReskAddInstance();
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return Ret;
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}
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//---------------------------------------------------------------------------
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//
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// Function: EplTimerHighReskAddInstance()
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//
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// Description: initializes the high resolution timer module.
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//
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// Parameters: void
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//
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// Return: tEplKernel = error code
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//
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// State: not tested
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//
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//---------------------------------------------------------------------------
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tEplKernel PUBLIC EplTimerHighReskAddInstance(void)
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{
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tEplKernel Ret;
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unsigned int uiIndex;
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Ret = kEplSuccessful;
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EPL_MEMSET(&EplTimerHighReskInstance_l, 0, sizeof (EplTimerHighReskInstance_l));
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#ifndef CONFIG_HIGH_RES_TIMERS
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printk("EplTimerHighResk: Kernel symbol CONFIG_HIGH_RES_TIMERS is required.\n");
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Ret = kEplNoResource;
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return Ret;
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#endif
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/*
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* Initialize hrtimer structures for all usable timers.
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*/
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for (uiIndex = 0; uiIndex < TIMER_COUNT; uiIndex++)
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{
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tEplTimerHighReskTimerInfo* pTimerInfo;
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struct hrtimer* pTimer;
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pTimerInfo = &EplTimerHighReskInstance_l.m_aTimerInfo[uiIndex];
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pTimer = &pTimerInfo->m_Timer;
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hrtimer_init(pTimer, CLOCK_MONOTONIC, HRTIMER_MODE_ABS);
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pTimer->function = EplTimerHighReskCallback;
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/*
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* We use HRTIMER_CB_SOFTIRQ here.
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* HRTIMER_CB_IRQSAFE is critical as the callback function
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* would be called with IRQs disabled.
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*/
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pTimer->cb_mode = HRTIMER_CB_SOFTIRQ;
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}
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return Ret;
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}
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//---------------------------------------------------------------------------
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//
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// Function: EplTimerHighReskDelInstance()
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//
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// Description: shuts down the high resolution timer module.
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//
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// Parameters: void
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//
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// Return: tEplKernel = error code
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//
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// State: not tested
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//
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//---------------------------------------------------------------------------
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tEplKernel PUBLIC EplTimerHighReskDelInstance(void)
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{
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tEplTimerHighReskTimerInfo* pTimerInfo;
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tEplKernel Ret;
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unsigned int uiIndex;
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Ret = kEplSuccessful;
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for (uiIndex = 0; uiIndex < TIMER_COUNT; uiIndex++)
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{
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pTimerInfo = &EplTimerHighReskInstance_l.m_aTimerInfo[0];
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pTimerInfo->m_pfnCallback = NULL;
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pTimerInfo->m_EventArg.m_TimerHdl = 0;
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/*
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* In this case we can not just try to cancel the timer.
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* We actually have to wait until its callback function
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* has returned.
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*/
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hrtimer_cancel(&pTimerInfo->m_Timer);
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}
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return Ret;
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}
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//---------------------------------------------------------------------------
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//
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// Function: EplTimerHighReskModifyTimerNs()
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//
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// Description: modifies the timeout of the timer with the specified handle.
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// If the handle the pointer points to is zero, the timer must
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// be created first.
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// If it is not possible to stop the old timer,
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// this function always assures that the old timer does not
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// trigger the callback function with the same handle as the new
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// timer. That means the callback function must check the passed
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// handle with the one returned by this function. If these are
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// unequal, the call can be discarded.
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//
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// Parameters: pTimerHdl_p = pointer to timer handle
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// ullTimeNs_p = relative timeout in [ns]
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// pfnCallback_p = callback function, which is called mutual
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// exclusive with the Edrv callback functions
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// (Rx and Tx).
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// ulArgument_p = user-specific argument
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// fContinuously_p = if TRUE, callback function will be called
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// continuously;
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// otherwise, it is a oneshot timer.
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//
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// Return: tEplKernel = error code
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//
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// State: not tested
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//
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//---------------------------------------------------------------------------
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tEplKernel PUBLIC EplTimerHighReskModifyTimerNs(tEplTimerHdl* pTimerHdl_p,
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unsigned long long ullTimeNs_p,
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tEplTimerkCallback pfnCallback_p,
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unsigned long ulArgument_p,
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BOOL fContinuously_p)
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{
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tEplKernel Ret;
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unsigned int uiIndex;
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tEplTimerHighReskTimerInfo* pTimerInfo;
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ktime_t RelTime;
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Ret = kEplSuccessful;
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// check pointer to handle
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if(pTimerHdl_p == NULL)
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{
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Ret = kEplTimerInvalidHandle;
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goto Exit;
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}
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if (*pTimerHdl_p == 0)
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{ // no timer created yet
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// search free timer info structure
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pTimerInfo = &EplTimerHighReskInstance_l.m_aTimerInfo[0];
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for (uiIndex = 0; uiIndex < TIMER_COUNT; uiIndex++, pTimerInfo++)
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{
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if (pTimerInfo->m_EventArg.m_TimerHdl == 0)
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{ // free structure found
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break;
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}
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}
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if (uiIndex >= TIMER_COUNT)
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{ // no free structure found
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Ret = kEplTimerNoTimerCreated;
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goto Exit;
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}
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pTimerInfo->m_EventArg.m_TimerHdl = HDL_INIT(uiIndex);
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}
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else
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{
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uiIndex = HDL_TO_IDX(*pTimerHdl_p);
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if (uiIndex >= TIMER_COUNT)
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{ // invalid handle
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Ret = kEplTimerInvalidHandle;
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goto Exit;
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}
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pTimerInfo = &EplTimerHighReskInstance_l.m_aTimerInfo[uiIndex];
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}
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/*
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* increment timer handle
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* (if timer expires right after this statement, the user
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* would detect an unknown timer handle and discard it)
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*/
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pTimerInfo->m_EventArg.m_TimerHdl = HDL_INC(pTimerInfo->m_EventArg.m_TimerHdl);
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*pTimerHdl_p = pTimerInfo->m_EventArg.m_TimerHdl;
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// reject too small time values
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if ( (fContinuously_p && (ullTimeNs_p < TIMER_MIN_VAL_CYCLE))
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|| (!fContinuously_p && (ullTimeNs_p < TIMER_MIN_VAL_SINGLE)) )
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{
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Ret = kEplTimerNoTimerCreated;
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goto Exit;
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}
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pTimerInfo->m_EventArg.m_ulArg = ulArgument_p;
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pTimerInfo->m_pfnCallback = pfnCallback_p;
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pTimerInfo->m_fContinuously = fContinuously_p;
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pTimerInfo->m_ullPeriod = ullTimeNs_p;
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/*
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* HRTIMER_MODE_REL does not influence general handling of this timer.
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* It only sets relative mode for this start operation.
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* -> Expire time is calculated by: Now + RelTime
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* hrtimer_start also skips pending timer events.
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* The state HRTIMER_STATE_CALLBACK is ignored.
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* We have to cope with that in our callback function.
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*/
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RelTime = ktime_add_ns(ktime_set(0,0), ullTimeNs_p);
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hrtimer_start(&pTimerInfo->m_Timer, RelTime, HRTIMER_MODE_REL);
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Exit:
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return Ret;
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}
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//---------------------------------------------------------------------------
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//
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// Function: EplTimerHighReskDeleteTimer()
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//
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// Description: deletes the timer with the specified handle. Afterward the
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// handle is set to zero.
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//
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// Parameters: pTimerHdl_p = pointer to timer handle
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//
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// Return: tEplKernel = error code
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//
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// State: not tested
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//
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//---------------------------------------------------------------------------
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tEplKernel PUBLIC EplTimerHighReskDeleteTimer(tEplTimerHdl* pTimerHdl_p)
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{
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tEplKernel Ret = kEplSuccessful;
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unsigned int uiIndex;
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tEplTimerHighReskTimerInfo* pTimerInfo;
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// check pointer to handle
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if(pTimerHdl_p == NULL)
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{
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Ret = kEplTimerInvalidHandle;
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goto Exit;
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}
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if (*pTimerHdl_p == 0)
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{ // no timer created yet
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goto Exit;
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}
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else
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{
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uiIndex = HDL_TO_IDX(*pTimerHdl_p);
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if (uiIndex >= TIMER_COUNT)
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{ // invalid handle
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Ret = kEplTimerInvalidHandle;
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goto Exit;
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}
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pTimerInfo = &EplTimerHighReskInstance_l.m_aTimerInfo[uiIndex];
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if (pTimerInfo->m_EventArg.m_TimerHdl != *pTimerHdl_p)
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{ // invalid handle
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goto Exit;
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}
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}
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*pTimerHdl_p = 0;
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pTimerInfo->m_EventArg.m_TimerHdl = 0;
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pTimerInfo->m_pfnCallback = NULL;
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/*
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* Three return cases of hrtimer_try_to_cancel have to be tracked:
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* 1 - timer has been removed
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* 0 - timer was not active
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* We need not do anything. hrtimer timers just consist of
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|
* a hrtimer struct, which we might enqueue in the hrtimers
|
||
|
* event list by calling hrtimer_start().
|
||
|
* If a timer is not enqueued, it is not present in hrtimers.
|
||
|
* -1 - callback function is running
|
||
|
* In this case we have to ensure that the timer is not
|
||
|
* continuously restarted. This has been done by clearing
|
||
|
* its handle.
|
||
|
*/
|
||
|
hrtimer_try_to_cancel(&pTimerInfo->m_Timer);
|
||
|
|
||
|
Exit:
|
||
|
return Ret;
|
||
|
|
||
|
}
|
||
|
|
||
|
|
||
|
|
||
|
//---------------------------------------------------------------------------
|
||
|
//
|
||
|
// Function: EplTimerHighReskCallback()
|
||
|
//
|
||
|
// Description: Callback function commonly used for all timers.
|
||
|
//
|
||
|
// Parameters: pTimer_p = pointer to hrtimer
|
||
|
//
|
||
|
// Return:
|
||
|
//
|
||
|
// State: not tested
|
||
|
//
|
||
|
//---------------------------------------------------------------------------
|
||
|
|
||
|
enum hrtimer_restart EplTimerHighReskCallback (struct hrtimer* pTimer_p)
|
||
|
{
|
||
|
unsigned int uiIndex;
|
||
|
tEplTimerHighReskTimerInfo* pTimerInfo;
|
||
|
tEplTimerHdl OrgTimerHdl;
|
||
|
enum hrtimer_restart Ret;
|
||
|
|
||
|
BENCHMARK_MOD_24_SET(4);
|
||
|
|
||
|
Ret = HRTIMER_NORESTART;
|
||
|
pTimerInfo = container_of(pTimer_p, tEplTimerHighReskTimerInfo, m_Timer);
|
||
|
uiIndex = HDL_TO_IDX(pTimerInfo->m_EventArg.m_TimerHdl);
|
||
|
if (uiIndex >= TIMER_COUNT)
|
||
|
{ // invalid handle
|
||
|
goto Exit;
|
||
|
}
|
||
|
|
||
|
/*
|
||
|
* We store the timer handle before calling the callback function
|
||
|
* as the timer can be modified inside it.
|
||
|
*/
|
||
|
OrgTimerHdl = pTimerInfo->m_EventArg.m_TimerHdl;
|
||
|
|
||
|
if (pTimerInfo->m_pfnCallback != NULL)
|
||
|
{
|
||
|
pTimerInfo->m_pfnCallback(&pTimerInfo->m_EventArg);
|
||
|
}
|
||
|
|
||
|
if (pTimerInfo->m_fContinuously)
|
||
|
{
|
||
|
ktime_t Interval;
|
||
|
#ifdef PROVE_OVERRUN
|
||
|
ktime_t Now;
|
||
|
unsigned long Overruns;
|
||
|
#endif
|
||
|
|
||
|
if (OrgTimerHdl != pTimerInfo->m_EventArg.m_TimerHdl)
|
||
|
{
|
||
|
/* modified timer has already been restarted */
|
||
|
goto Exit;
|
||
|
}
|
||
|
|
||
|
#ifdef PROVE_OVERRUN
|
||
|
Now = ktime_get();
|
||
|
Interval = ktime_add_ns(ktime_set(0,0), pTimerInfo->m_ullPeriod);
|
||
|
Overruns = hrtimer_forward(pTimer_p, Now, Interval);
|
||
|
if (Overruns > 1)
|
||
|
{
|
||
|
printk("EplTimerHighResk: Continuous timer (handle 0x%lX) had to skip %lu interval(s)!\n", pTimerInfo->m_EventArg.m_TimerHdl, Overruns-1);
|
||
|
}
|
||
|
#else
|
||
|
pTimer_p->expires = ktime_add_ns(pTimer_p->expires,
|
||
|
pTimerInfo->m_ullPeriod);
|
||
|
#endif
|
||
|
|
||
|
Ret = HRTIMER_RESTART;
|
||
|
}
|
||
|
|
||
|
Exit:
|
||
|
BENCHMARK_MOD_24_RESET(4);
|
||
|
return Ret;
|
||
|
}
|
||
|
|