2021-04-13 00:39:04 +02:00
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/*
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* Copyright (c) 2021 Espressif Systems (Shanghai) Co., Ltd.
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <soc/soc_caps.h>
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#include <soc/soc.h>
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#include <soc/interrupt_core0_reg.h>
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#include <soc/periph_defs.h>
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#include <soc/system_reg.h>
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#include <hal/systimer_hal.h>
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#include <hal/systimer_ll.h>
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2024-03-05 15:19:27 +01:00
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#include <esp_private/systimer.h>
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2021-04-13 00:39:04 +02:00
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#include <rom/ets_sys.h>
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#include <esp_attr.h>
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2022-05-06 10:25:46 +02:00
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#include <zephyr/drivers/interrupt_controller/intc_esp32c3.h>
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#include <zephyr/drivers/timer/system_timer.h>
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#include <zephyr/sys_clock.h>
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2021-04-13 00:39:04 +02:00
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#include <soc.h>
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2023-08-28 13:15:43 +02:00
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#include <zephyr/init.h>
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2022-10-05 17:29:57 +02:00
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#include <zephyr/spinlock.h>
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2021-04-13 00:39:04 +02:00
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2021-07-27 02:35:48 +02:00
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#define CYC_PER_TICK ((uint32_t)((uint64_t)sys_clock_hw_cycles_per_sec() \
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/ (uint64_t)CONFIG_SYS_CLOCK_TICKS_PER_SEC))
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#define MAX_CYC 0xffffffffu
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#define MAX_TICKS ((MAX_CYC - CYC_PER_TICK) / CYC_PER_TICK)
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2022-12-21 14:24:52 +01:00
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#define MIN_DELAY 1
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2021-07-27 02:35:48 +02:00
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2022-06-28 23:58:40 +02:00
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#if defined(CONFIG_TEST)
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const int32_t z_sys_timer_irq_for_test = DT_IRQN(DT_NODELABEL(systimer0));
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#endif
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2021-07-27 02:35:48 +02:00
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#define TICKLESS IS_ENABLED(CONFIG_TICKLESS_KERNEL)
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static struct k_spinlock lock;
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static uint64_t last_count;
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2022-08-15 19:50:59 +02:00
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/* Systimer HAL layer object */
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static systimer_hal_context_t systimer_hal;
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2021-07-27 02:35:48 +02:00
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static void set_systimer_alarm(uint64_t time)
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{
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2022-08-15 19:50:59 +02:00
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systimer_hal_select_alarm_mode(&systimer_hal,
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2024-03-05 15:19:27 +01:00
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SYSTIMER_ALARM_OS_TICK_CORE0, SYSTIMER_ALARM_MODE_ONESHOT);
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2022-08-15 19:50:59 +02:00
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2022-12-21 14:24:52 +01:00
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systimer_counter_value_t alarm = {.val = time};
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2024-03-05 15:19:27 +01:00
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systimer_ll_enable_alarm(systimer_hal.dev, SYSTIMER_ALARM_OS_TICK_CORE0, false);
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systimer_ll_set_alarm_target(systimer_hal.dev, SYSTIMER_ALARM_OS_TICK_CORE0, alarm.val);
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systimer_ll_apply_alarm_value(systimer_hal.dev, SYSTIMER_ALARM_OS_TICK_CORE0);
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systimer_ll_enable_alarm(systimer_hal.dev, SYSTIMER_ALARM_OS_TICK_CORE0, true);
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systimer_ll_enable_alarm_int(systimer_hal.dev, SYSTIMER_ALARM_OS_TICK_CORE0, true);
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2021-07-27 02:35:48 +02:00
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}
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2022-08-15 19:50:59 +02:00
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static uint64_t get_systimer_alarm(void)
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2021-07-27 02:35:48 +02:00
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{
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2024-03-05 15:19:27 +01:00
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return systimer_hal_get_counter_value(&systimer_hal, SYSTIMER_COUNTER_OS_TICK);
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2021-07-27 02:35:48 +02:00
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}
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2021-04-13 00:39:04 +02:00
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static void sys_timer_isr(const void *arg)
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{
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2021-06-14 16:19:33 +02:00
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ARG_UNUSED(arg);
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2024-03-05 15:19:27 +01:00
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systimer_ll_clear_alarm_int(systimer_hal.dev, SYSTIMER_ALARM_OS_TICK_CORE0);
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2021-07-27 02:35:48 +02:00
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k_spinlock_key_t key = k_spin_lock(&lock);
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2022-08-15 19:50:59 +02:00
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uint64_t now = get_systimer_alarm();
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2021-07-27 02:35:48 +02:00
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2023-03-09 13:16:42 +01:00
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uint64_t dticks = (uint64_t)((now - last_count) / CYC_PER_TICK);
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2021-07-27 02:35:48 +02:00
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2023-03-09 13:16:42 +01:00
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last_count += dticks * CYC_PER_TICK;
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2021-07-27 02:35:48 +02:00
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if (!TICKLESS) {
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uint64_t next = last_count + CYC_PER_TICK;
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if ((int64_t)(next - now) < MIN_DELAY) {
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next += CYC_PER_TICK;
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}
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set_systimer_alarm(next);
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}
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k_spin_unlock(&lock, key);
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2023-03-09 13:16:42 +01:00
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sys_clock_announce(dticks);
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2021-04-13 00:39:04 +02:00
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}
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void sys_clock_set_timeout(int32_t ticks, bool idle)
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{
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2021-06-14 16:19:33 +02:00
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ARG_UNUSED(idle);
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2021-07-27 02:35:48 +02:00
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#if defined(CONFIG_TICKLESS_KERNEL)
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ticks = ticks == K_TICKS_FOREVER ? MAX_TICKS : ticks;
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ticks = CLAMP(ticks - 1, 0, (int32_t)MAX_TICKS);
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k_spinlock_key_t key = k_spin_lock(&lock);
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2022-08-15 19:50:59 +02:00
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uint64_t now = get_systimer_alarm();
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2021-07-27 02:35:48 +02:00
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uint32_t adj, cyc = ticks * CYC_PER_TICK;
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/* Round up to next tick boundary. */
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adj = (uint32_t)(now - last_count) + (CYC_PER_TICK - 1);
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if (cyc <= MAX_CYC - adj) {
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cyc += adj;
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} else {
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cyc = MAX_CYC;
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}
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cyc = (cyc / CYC_PER_TICK) * CYC_PER_TICK;
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if ((int32_t)(cyc + last_count - now) < MIN_DELAY) {
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cyc += CYC_PER_TICK;
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}
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set_systimer_alarm(cyc + last_count);
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k_spin_unlock(&lock, key);
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#endif
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2021-04-13 00:39:04 +02:00
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}
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uint32_t sys_clock_elapsed(void)
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{
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2021-07-27 02:35:48 +02:00
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if (!IS_ENABLED(CONFIG_TICKLESS_KERNEL)) {
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return 0;
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}
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k_spinlock_key_t key = k_spin_lock(&lock);
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2022-08-15 19:50:59 +02:00
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uint32_t ret = ((uint32_t)get_systimer_alarm() - (uint32_t)last_count) / CYC_PER_TICK;
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2021-07-27 02:35:48 +02:00
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k_spin_unlock(&lock, key);
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return ret;
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2021-04-13 00:39:04 +02:00
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}
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uint32_t sys_clock_cycle_get_32(void)
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{
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2022-08-15 19:50:59 +02:00
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return (uint32_t)get_systimer_alarm();
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2021-04-13 00:39:04 +02:00
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}
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2021-10-30 02:10:35 +02:00
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uint64_t sys_clock_cycle_get_64(void)
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{
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2022-08-15 19:50:59 +02:00
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return get_systimer_alarm();
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2021-10-30 02:10:35 +02:00
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}
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2021-11-04 12:51:39 +01:00
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init: remove the need for a dummy device pointer in SYS_INIT functions
The init infrastructure, found in `init.h`, is currently used by:
- `SYS_INIT`: to call functions before `main`
- `DEVICE_*`: to initialize devices
They are all sorted according to an initialization level + a priority.
`SYS_INIT` calls are really orthogonal to devices, however, the required
function signature requires a `const struct device *dev` as a first
argument. The only reason for that is because the same init machinery is
used by devices, so we have something like:
```c
struct init_entry {
int (*init)(const struct device *dev);
/* only set by DEVICE_*, otherwise NULL */
const struct device *dev;
}
```
As a result, we end up with such weird/ugly pattern:
```c
static int my_init(const struct device *dev)
{
/* always NULL! add ARG_UNUSED to avoid compiler warning */
ARG_UNUSED(dev);
...
}
```
This is really a result of poor internals isolation. This patch proposes
a to make init entries more flexible so that they can accept sytem
initialization calls like this:
```c
static int my_init(void)
{
...
}
```
This is achieved using a union:
```c
union init_function {
/* for SYS_INIT, used when init_entry.dev == NULL */
int (*sys)(void);
/* for DEVICE*, used when init_entry.dev != NULL */
int (*dev)(const struct device *dev);
};
struct init_entry {
/* stores init function (either for SYS_INIT or DEVICE*)
union init_function init_fn;
/* stores device pointer for DEVICE*, NULL for SYS_INIT. Allows
* to know which union entry to call.
*/
const struct device *dev;
}
```
This solution **does not increase ROM usage**, and allows to offer clean
public APIs for both SYS_INIT and DEVICE*. Note that however, init
machinery keeps a coupling with devices.
**NOTE**: This is a breaking change! All `SYS_INIT` functions will need
to be converted to the new signature. See the script offered in the
following commit.
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
init: convert SYS_INIT functions to the new signature
Conversion scripted using scripts/utils/migrate_sys_init.py.
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
manifest: update projects for SYS_INIT changes
Update modules with updated SYS_INIT calls:
- hal_ti
- lvgl
- sof
- TraceRecorderSource
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
tests: devicetree: devices: adjust test
Adjust test according to the recently introduced SYS_INIT
infrastructure.
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
tests: kernel: threads: adjust SYS_INIT call
Adjust to the new signature: int (*init_fn)(void);
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
2022-10-19 09:33:44 +02:00
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static int sys_clock_driver_init(void)
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2021-11-04 12:51:39 +01:00
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{
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esp_intr_alloc(DT_IRQN(DT_NODELABEL(systimer0)),
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0,
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sys_timer_isr,
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NULL,
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NULL);
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2022-08-15 19:50:59 +02:00
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systimer_hal_init(&systimer_hal);
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systimer_hal_connect_alarm_counter(&systimer_hal,
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2024-03-05 15:19:27 +01:00
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SYSTIMER_ALARM_OS_TICK_CORE0, SYSTIMER_COUNTER_OS_TICK);
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2021-11-04 12:51:39 +01:00
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2024-03-05 15:19:27 +01:00
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systimer_hal_enable_counter(&systimer_hal, SYSTIMER_COUNTER_OS_TICK);
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systimer_hal_counter_can_stall_by_cpu(&systimer_hal, SYSTIMER_COUNTER_OS_TICK, 0, true);
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2022-08-15 19:50:59 +02:00
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last_count = get_systimer_alarm();
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set_systimer_alarm(last_count + CYC_PER_TICK);
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2021-11-04 12:51:39 +01:00
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return 0;
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}
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SYS_INIT(sys_clock_driver_init, PRE_KERNEL_2,
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CONFIG_SYSTEM_CLOCK_INIT_PRIORITY);
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