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drivers/timer: Rework the nRF RTC driver.

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This is a reworked version of the previous RTC driver. The main
changed is related to the handling _timer_idle_exit() on non-RTC
wake-ups. The previous version didn't announce the elapsed time
to the kernel in _timer_idle_exit(). Additionally, the driver now
makes sure never to announce more idle ticks than the kernel asked
for, since the kernel does not handle negative deltas in its timeout
queues.

Change-Id: I312a357a7ce8f0c22adf5153731064b92870e47e
Signed-off-by: Wojciech Bober <wojciech.bober@nordicsemi.no>
Signed-off-by: Øyvind Hovdsveen <oyvind.hovdsveen@nordicsemi.no>
Signed-off-by: Carles Cufi <carles.cufi@nordicsemi.no>
This commit is contained in:
Wojciech Bober 2017-02-13 16:31:53 +01:00 • committed by Anas Nashif
commit 923560a959
1 changed files with 242 additions and 107 deletions
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349
drivers/timer/nrf_rtc_timer.c
View file

@ -1,5 +1,5 @@
/*
* Copyright (c) 2016 Nordic Semiconductor ASA
* Copyright (c) 2016-2017 Nordic Semiconductor ASA
*
* SPDX-License-Identifier: Apache-2.0
*/
@ -10,130 +10,257 @@
#include <drivers/clock_control/nrf5_clock_control.h>
#include <arch/arm/cortex_m/cmsis.h>
#define RTC_TICKS ((uint32_t)(((((uint64_t)1000000UL / \
/*
* Convenience defines.
*/
#define SYS_CLOCK_RTC NRF_RTC1
#define RTC_COUNTER SYS_CLOCK_RTC->COUNTER
#define RTC_CC_VALUE SYS_CLOCK_RTC->CC[0]
#define RTC_CC_EVENT SYS_CLOCK_RTC->EVENTS_COMPARE[0]
/* Minimum delta between current counter and CC register that the RTC is able
* to handle
*/
#define RTC_MIN_DELTA 2
#define RTC_MASK 0x00FFFFFF
/* Maximum difference for RTC counter values used. Half the maximum value is
* selected to be able to detect overflow (a negative value has the same
* representation as a large positive value).
*/
#define RTC_HALF (RTC_MASK / 2)
#define RTC_TICKS_PER_SYS_TICK ((uint32_t)((((uint64_t)1000000UL / \
CONFIG_SYS_CLOCK_TICKS_PER_SEC) * \
1000000000UL) / 30517578125UL)) & 0x00FFFFFF)
1000000000UL) / 30517578125UL) & RTC_MASK)
extern int64_t _sys_clock_tick_count;
extern int32_t _sys_idle_elapsed_ticks;
static uint32_t rtc_clock_tick_count;
/*
* rtc_past holds the value of RTC_COUNTER at the time the last sys tick was
* announced, in RTC ticks. It is therefore always a multiple of
* RTC_TICKS_PER_SYS_TICK.
*/
static uint32_t rtc_past;
#ifdef CONFIG_TICKLESS_IDLE
static uint8_t volatile isr_req;
static uint8_t isr_ack;
/*
* Holds the maximum sys ticks the kernel expects to see in the next
* _sys_clock_tick_announce().
*/
static uint32_t allowed_idle_sys_ticks;
#endif /* CONFIG_TICKLESS_IDLE */
static uint32_t rtc_compare_set(uint32_t rtc_ticks)
/*
* Set RTC Counter Compare (CC) register to a given value in RTC ticks.
*/
static void rtc_compare_set(uint32_t rtc_ticks)
{
uint32_t prev, cc, elapsed_ticks;
uint8_t retry = 10;
uint32_t rtc_now;
prev = NRF_RTC1->COUNTER;
/* Try to set CC value. We assume the procedure is always successful. */
RTC_CC_VALUE = rtc_ticks;
rtc_now = RTC_COUNTER;
do {
/* Assert if retries failed to set compare in the future */
__ASSERT_NO_MSG(retry);
retry--;
/* update with elapsed ticks from h/w */
elapsed_ticks = (prev - rtc_clock_tick_count) & 0x00FFFFFF;
/* setup next RTC compare event by ticks */
cc = (rtc_clock_tick_count + elapsed_ticks + rtc_ticks) &
0x00FFFFFF;
NRF_RTC1->CC[0] = cc;
prev = NRF_RTC1->COUNTER;
} while (((cc - prev) & 0x00FFFFFF) < 3);
#ifdef CONFIG_TICKLESS_IDLE
/* If system clock ticks have elapsed, pend RTC IRQ which will
* call announce
/* The following checks if the CC register was set to a valid value.
* The first test checks if the distance between the current RTC counter
* and the value (in the future) set in the CC register is too small to
* guarantee a compare event being triggered.
* The second test checks if the current RTC counter is higher than the
* value written to the CC register, i.e. the CC value is in the past,
* by checking if the unsigned subtraction wraps around.
* If either of the above are true then instead of waiting for the CC
* event to trigger in the form of an interrupt, trigger it directly
* using the NVIC.
*/
if (elapsed_ticks >= rtc_ticks) {
uint8_t req;
/* pending the interrupt does not trigger the RTC event, hence
* use a request/ack mechanism to let the ISR know that the
* interrupt was requested
*/
req = isr_req + 1;
if (req != isr_ack) {
isr_req = req;
}
if ((((rtc_ticks - rtc_now) & RTC_MASK) < RTC_MIN_DELTA) ||
(((rtc_ticks - rtc_now) & RTC_MASK) > RTC_HALF)) {
NVIC_SetPendingIRQ(NRF5_IRQ_RTC1_IRQn);
}
#endif /* CONFIG_TICKLESS_IDLE */
return elapsed_ticks;
}
#ifdef CONFIG_TICKLESS_IDLE
void _timer_idle_enter(int32_t ticks)
/*
* @brief Announces the number of sys ticks, if any, that have passed since the
* last announcement, and programs the RTC to trigger the interrupt on the next
* sys tick.
*
* This function is not reentrant. It is called from:
*
* * _timer_idle_exit(), which in turn is called with interrupts disabled when
* an interrupt fires.
* * rtc1_nrf5_isr(), which runs with interrupts enabled but at that time the
* device cannot be idle and hence _timer_idle_exit() cannot be called.
*
* Since this function can be preempted, we need to take some provisions to
* announce all expected sys ticks that have passed.
*
*/
static void rtc_announce_set_next(void)
{
/* restrict ticks to max supported by RTC */
if ((ticks < 0) || (ticks > (0x00FFFFFF / RTC_TICKS))) {
ticks = 0x00FFFFFF / RTC_TICKS;
}
uint32_t rtc_now, rtc_elapsed, sys_elapsed;
/* Postpone RTC compare event by requested system clock ticks */
rtc_compare_set(ticks * RTC_TICKS);
}
void _timer_idle_exit(void)
{
/* Advance RTC compare event to next system clock tick */
rtc_compare_set(RTC_TICKS);
}
#endif /* CONFIG_TICKLESS_IDLE */
static void rtc1_nrf5_isr(void *arg)
{
#ifdef CONFIG_TICKLESS_IDLE
uint8_t req;
ARG_UNUSED(arg);
req = isr_req;
/* iterate here since pending the interrupt can be done from higher
* priority, and thus queuing multiple triggers
/* Read the RTC counter one single time in the beginning, so that an
* increase in the counter during this procedure leads to no race
* conditions.
*/
while (NRF_RTC1->EVENTS_COMPARE[0] || (req != isr_ack)) {
uint32_t elapsed_ticks;
rtc_now = RTC_COUNTER;
NRF_RTC1->EVENTS_COMPARE[0] = 0;
/* Calculate how many RTC ticks elapsed since the last sys tick. */
rtc_elapsed = (rtc_now - rtc_past) & RTC_MASK;
if (req != isr_ack) {
isr_ack = req;
req = isr_req;
/* If no sys ticks have elapsed, there is no point in incrementing the
* counters or announcing it.
*/
if (rtc_elapsed >= RTC_TICKS_PER_SYS_TICK) {
/* Calculate how many sys ticks elapsed since the last sys tick
* and notify the kernel if necessary.
*/
sys_elapsed = rtc_elapsed / RTC_TICKS_PER_SYS_TICK;
#ifdef CONFIG_TICKLESS_IDLE
if (sys_elapsed > allowed_idle_sys_ticks) {
/* Never announce more sys ticks than the kernel asked
* to be idle for. The remainder will be announced when
* the RTC ISR runs after rtc_compare_set() is called
* after the first announcement.
*/
sys_elapsed = allowed_idle_sys_ticks;
elapsed_ticks = (NRF_RTC1->COUNTER -
rtc_clock_tick_count)
& 0x00FFFFFF;
} else {
elapsed_ticks = rtc_compare_set(RTC_TICKS);
}
#else
ARG_UNUSED(arg);
#endif /* CONFIG_TICKLESS_IDLE */
if (NRF_RTC1->EVENTS_COMPARE[0]) {
uint32_t elapsed_ticks;
NRF_RTC1->EVENTS_COMPARE[0] = 0;
elapsed_ticks = rtc_compare_set(RTC_TICKS);
#endif
rtc_clock_tick_count += elapsed_ticks;
rtc_clock_tick_count &= 0x00FFFFFF;
/* update with elapsed ticks from the hardware */
_sys_idle_elapsed_ticks = elapsed_ticks / RTC_TICKS;
/* Store RTC_COUNTER floored to the last sys tick. This is
* done, so that ISR can properly calculate that 1 sys tick
* has passed.
*/
rtc_past = (rtc_past +
(sys_elapsed * RTC_TICKS_PER_SYS_TICK)
) & RTC_MASK;
_sys_idle_elapsed_ticks = sys_elapsed;
_sys_clock_tick_announce();
}
/* Set the RTC to the next sys tick */
rtc_compare_set(rtc_past + RTC_TICKS_PER_SYS_TICK);
}
#ifdef CONFIG_TICKLESS_IDLE
/**
* @brief Place system timer into idle state.
*
* Re-program the timer to enter into the idle state for the given number of
* sys ticks, counted from the previous sys tick. The timer will fire in the
* number of sys ticks supplied or the maximum number of sys ticks (converted
* to RTC ticks) that can be programmed into the hardware.
*
* This will only be called from idle context, with IRQs disabled.
*
* A value of -1 will result in the maximum number of sys ticks.
*
* Example 1: Idle sleep is entered:
*
* sys tick timeline: (1) (2) (3) (4) (5) (6)
* rtc tick timeline : 0----100----200----300----400----500----600
* ******************
* 150
*
* a) The last sys tick was announced at 100
* b) The idle context enters sleep at 150, between sys tick 1 and 2, with
* sys_ticks = 3.
* c) The RTC is programmed to fire at sys tick 1 + 3 = 4 (RTC tick 400)
*
* @return N/A
*/
void _timer_idle_enter(int32_t sys_ticks)
{
/* Restrict ticks to max supported by RTC without risking overflow. */
if ((sys_ticks < 0) ||
(sys_ticks > (RTC_HALF / RTC_TICKS_PER_SYS_TICK))) {
sys_ticks = RTC_HALF / RTC_TICKS_PER_SYS_TICK;
}
allowed_idle_sys_ticks = sys_ticks;
/* If ticks is 0, the RTC interrupt handler will be set pending
* immediately, meaning that we will not go to sleep.
*/
rtc_compare_set(rtc_past + (sys_ticks * RTC_TICKS_PER_SYS_TICK));
}
/**
*
* @brief Handling of tickless idle when interrupted
*
* The function will be called by _sys_power_save_idle_exit(), called from
* _arch_isr_direct_pm() for 'direct' interrupts, or from _isr_wrapper for
* regular ones, which is called on every IRQ handler if the device was
* idle, and optionally called when a 'direct' IRQ handler executes if the
* device was idle.
*
* Example 1: Idle sleep is interrupted before time:
*
* sys tick timeline: (1) (2) (3) (4) (5) (6)
* rtc tick timeline : 0----100----200----300----400----500----600
* **************!***
* 150 350
*
* Assume that _timer_idle_enter() is called at 150 (1) to sleep for 3
* sys ticks. The last sys tick was announced at 100.
*
* On wakeup (non-RTC IRQ at 350):
*
* a) Notify how many sys ticks have passed, i.e., 350 - 150 / 100 = 2.
* b) Schedule next sys tick at 400.
*
*/
void _timer_idle_exit(void)
{
/* Clear the event flag and interrupt in case we woke up on the RTC
* interrupt. No need to run the RTC ISR since everything that needs
* to run in the ISR will be done in this call.
*/
RTC_CC_EVENT = 0;
NVIC_ClearPendingIRQ(NRF5_IRQ_RTC1_IRQn);
rtc_announce_set_next();
/* After exiting idle, the kernel no longer expects a maximum amount of
* sys ticks to have passed when _sys_clock_tick_announce() is called.
*/
allowed_idle_sys_ticks = RTC_HALF;
}
#endif /* CONFIG_TICKLESS_IDLE */
/*
* @brief Announces the number of sys ticks that have passed since the last
* announcement, if any, and programs the RTC to trigger the interrupt on the
* next sys tick.
*
* The ISR is set pending due to a regular sys tick and after exiting idle mode
* as scheduled.
*
* Since this ISR can be preempted, we need to take some provisions to announce
* all expected sys ticks that have passed.
*
* Consider the following example:
*
* sys tick timeline: (1) (2) (3) (4) (5) (6)
* rtc tick timeline : 0----100----200----300----400----500----600
* !**********
* 450
*
* The last sys tick was anounced at 200, i.e, rtc_past = 200. The ISR is
* executed at the next sys tick, i.e. 300. The following sys tick is due at
* 400. However, the ISR is preempted for a number of sys ticks, until 450 in
* this example. The ISR will then announce the number of sys ticks it was
* delayed (2), and schedule the next sys tick (5) at 500.
*/
static void rtc1_nrf5_isr(void *arg)
{
ARG_UNUSED(arg);
RTC_CC_EVENT = 0;
rtc_announce_set_next();
}
int _sys_clock_driver_init(struct device *device)
@ -149,16 +276,23 @@ int _sys_clock_driver_init(struct device *device)
clock_control_on(clock, (void *)CLOCK_CONTROL_NRF5_K32SRC);
rtc_past = 0;
#ifdef CONFIG_TICKLESS_IDLE
allowed_idle_sys_ticks = RTC_HALF;
#endif /* CONFIG_TICKLESS_IDLE */
/* TODO: replace with counter driver to access RTC */
NRF_RTC1->PRESCALER = 0;
NRF_RTC1->CC[0] = RTC_TICKS;
NRF_RTC1->EVTENSET = RTC_EVTENSET_COMPARE0_Msk;
NRF_RTC1->INTENSET = RTC_INTENSET_COMPARE0_Msk;
SYS_CLOCK_RTC->PRESCALER = 0;
SYS_CLOCK_RTC->CC[0] = RTC_TICKS_PER_SYS_TICK;
SYS_CLOCK_RTC->EVTENSET = RTC_EVTENSET_COMPARE0_Msk;
SYS_CLOCK_RTC->INTENSET = RTC_INTENSET_COMPARE0_Msk;
IRQ_CONNECT(NRF5_IRQ_RTC1_IRQn, 1, rtc1_nrf5_isr, 0, 0);
irq_enable(NRF5_IRQ_RTC1_IRQn);
NRF_RTC1->TASKS_START = 1;
SYS_CLOCK_RTC->TASKS_CLEAR = 1;
SYS_CLOCK_RTC->TASKS_START = 1;
return 0;
}
@ -167,8 +301,9 @@ uint32_t _timer_cycle_get_32(void)
{
uint32_t elapsed_cycles;
elapsed_cycles = (NRF_RTC1->COUNTER -
(_sys_clock_tick_count * RTC_TICKS)) & 0x00FFFFFF;
elapsed_cycles = (RTC_COUNTER -
(_sys_clock_tick_count * RTC_TICKS_PER_SYS_TICK))
& RTC_MASK;
return (_sys_clock_tick_count * sys_clock_hw_cycles_per_tick) +
elapsed_cycles;
@ -177,7 +312,7 @@ uint32_t _timer_cycle_get_32(void)
#ifdef CONFIG_SYSTEM_CLOCK_DISABLE
/**
*
* @brief Stop announcing ticks into the kernel
* @brief Stop announcing sys ticks into the kernel
*
* This routine disables the RTC1 so that timer interrupts are no
* longer delivered.
@ -188,7 +323,7 @@ void sys_clock_disable(void)
{
irq_disable(NRF5_IRQ_RTC1_IRQn);
NRF_RTC1->TASKS_STOP = 1;
SYS_CLOCK_RTC->TASKS_STOP = 1;
/* TODO: turn off (release) 32 KHz clock source.
* Turning off of 32 KHz clock source is not implemented in clock