a5fd0d184a
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>
134 lines
3 KiB
C
134 lines
3 KiB
C
/*
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* Copyright (c) 2020, 2021 Antony Pavlov <antonynpavlov@gmail.com>
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* Copyright (c) 2021 Remy Luisant <remy@luisant.ca>
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*
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* Based on riscv_machine_timer.c and xtensa_sys_timer.c
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <limits.h>
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#include <zephyr/device.h>
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#include <zephyr/drivers/timer/system_timer.h>
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#include <zephyr/irq.h>
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#include <zephyr/sys_clock.h>
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#include <zephyr/spinlock.h>
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#include <soc.h>
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#include <mips/mipsregs.h>
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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 INT_MAX
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#define MAX_TICKS ((MAX_CYC - CYC_PER_TICK) / CYC_PER_TICK)
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#define MIN_DELAY 1000
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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 uint32_t last_count;
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static ALWAYS_INLINE void set_cp0_compare(uint32_t time)
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{
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_mips_write_32bit_c0_register(CP0_COMPARE, time);
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}
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static ALWAYS_INLINE uint32_t get_cp0_count(void)
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{
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return _mips_read_32bit_c0_register(CP0_COUNT);
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}
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static void timer_isr(const void *arg)
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{
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ARG_UNUSED(arg);
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k_spinlock_key_t key = k_spin_lock(&lock);
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uint32_t now = get_cp0_count();
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uint32_t dticks = ((now - last_count) / CYC_PER_TICK);
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last_count = now;
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if (!TICKLESS) {
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uint32_t next = last_count + CYC_PER_TICK;
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if (next - now < MIN_DELAY) {
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next += CYC_PER_TICK;
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}
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set_cp0_compare(next);
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}
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k_spin_unlock(&lock, key);
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sys_clock_announce(TICKLESS ? dticks : 1);
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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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ARG_UNUSED(idle);
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if (!TICKLESS) {
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return;
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}
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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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uint32_t current_count = get_cp0_count();
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uint32_t delay_wanted = ticks * CYC_PER_TICK;
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/* Round up to next tick boundary. */
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uint32_t adj = (current_count - last_count) + (CYC_PER_TICK - 1);
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if (delay_wanted <= MAX_CYC - adj) {
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delay_wanted += adj;
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} else {
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delay_wanted = MAX_CYC;
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}
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delay_wanted = (delay_wanted / CYC_PER_TICK) * CYC_PER_TICK;
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if ((int32_t)(delay_wanted + last_count - current_count) < MIN_DELAY) {
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delay_wanted += CYC_PER_TICK;
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}
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set_cp0_compare(delay_wanted + last_count);
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k_spin_unlock(&lock, key);
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}
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uint32_t sys_clock_elapsed(void)
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{
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if (!TICKLESS) {
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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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uint32_t ticks_elapsed = (get_cp0_count() - last_count) / CYC_PER_TICK;
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k_spin_unlock(&lock, key);
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return ticks_elapsed;
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}
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uint32_t sys_clock_cycle_get_32(void)
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{
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return get_cp0_count();
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}
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static int sys_clock_driver_init(void)
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{
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IRQ_CONNECT(MIPS_MACHINE_TIMER_IRQ, 0, timer_isr, NULL, 0);
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last_count = get_cp0_count();
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/*
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* In a tickless system the first tick might possibly be pushed
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* much further into the future than is being done here.
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*/
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set_cp0_compare(last_count + CYC_PER_TICK);
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irq_enable(MIPS_MACHINE_TIMER_IRQ);
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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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