zephyr/kernel/sys_clock.c

/* system clock support */

/*
 * Copyright (c) 1997-2015 Wind River Systems, Inc.
 *
 * SPDX-License-Identifier: Apache-2.0
 */


#include <kernel_structs.h>
#include <toolchain.h>
#include <linker/sections.h>
#include <wait_q.h>
#include <drivers/system_timer.h>
#include <syscall_handler.h>

#ifdef CONFIG_SYS_CLOCK_EXISTS
#ifdef _NON_OPTIMIZED_TICKS_PER_SEC
#warning "non-optimized system clock frequency chosen: performance may suffer"
#endif
#endif

#ifdef CONFIG_SYS_CLOCK_EXISTS
#if defined(CONFIG_TIMER_READS_ITS_FREQUENCY_AT_RUNTIME)
int z_clock_hw_cycles_per_sec = CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC;
#endif
#else
#if defined(CONFIG_TIMER_READS_ITS_FREQUENCY_AT_RUNTIME)
int z_clock_hw_cycles_per_sec;
#endif
#endif

/* updated by timer driver for tickless, stays at 1 for non-tickless */
s32_t _sys_idle_elapsed_ticks = 1;

/* Note that this value is 64 bits, and thus non-atomic on almost all
 * Zephyr archtictures.  And of course it's routinely updated inside
 * timer interrupts.  Access to it must be locked.
 */
static volatile u64_t tick_count;

#ifdef CONFIG_TICKLESS_KERNEL
/*
 * If this flag is set, system clock will run continuously even if
 * there are no timer events programmed. This allows using the
 * system clock to track passage of time without interruption.
 * To save power, this should be turned on only when required.
 */
int _sys_clock_always_on = 1;

static u32_t next_ts;
#endif

u32_t z_tick_get_32(void)
{
#ifdef CONFIG_TICKLESS_KERNEL
	return (u32_t)_get_elapsed_clock_time();
#else
	return (u32_t)tick_count;
#endif
}

u32_t _impl_k_uptime_get_32(void)
{
#ifdef CONFIG_TICKLESS_KERNEL
	__ASSERT(_sys_clock_always_on,
		 "Call k_enable_sys_clock_always_on to use clock API");
#endif
	return __ticks_to_ms(z_tick_get_32());
}

#ifdef CONFIG_USERSPACE
Z_SYSCALL_HANDLER(k_uptime_get_32)
{
#ifdef CONFIG_TICKLESS_KERNEL
	Z_OOPS(Z_SYSCALL_VERIFY(_sys_clock_always_on));
#endif
	return _impl_k_uptime_get_32();
}
#endif

s64_t z_tick_get(void)
{
#ifdef CONFIG_TICKLESS_KERNEL
	return _get_elapsed_clock_time();
#else
	unsigned int key = irq_lock();
	s64_t ret = tick_count;

	irq_unlock(key);
	return ret;
#endif
}

void z_tick_set(s64_t val)
{
	unsigned int key = irq_lock();

	tick_count = val;
	irq_unlock(key);
}

s64_t _impl_k_uptime_get(void)
{
#ifdef CONFIG_TICKLESS_KERNEL
	__ASSERT(_sys_clock_always_on,
		 "Call k_enable_sys_clock_always_on to use clock API");
#endif
	return __ticks_to_ms(z_tick_get());
}

#ifdef CONFIG_USERSPACE
Z_SYSCALL_HANDLER(k_uptime_get, ret_p)
{
	u64_t *ret = (u64_t *)ret_p;

	Z_OOPS(Z_SYSCALL_MEMORY_WRITE(ret, sizeof(*ret)));
	*ret = _impl_k_uptime_get();
	return 0;
}
#endif

s64_t k_uptime_delta(s64_t *reftime)
{
	s64_t uptime, delta;

	uptime = k_uptime_get();
	delta = uptime - *reftime;
	*reftime = uptime;

	return delta;
}

u32_t k_uptime_delta_32(s64_t *reftime)
{
	return (u32_t)k_uptime_delta(reftime);
}

/* handle the expired timeouts in the nano timeout queue */

#ifdef CONFIG_SYS_CLOCK_EXISTS
/*
 * Handle timeouts by dequeuing the expired ones from _timeout_q and queue
 * them on a local one, then doing the real handling from that queue. This
 * allows going through the second queue without needing to have the
 * interrupts locked since it is a local queue. Each expired timeout is marked
 * as _EXPIRED so that an ISR preempting us and releasing an object on which
 * a thread was timing out and expired will not give the object to that thread.
 *
 * Always called from interrupt level, and always only from the system clock
 * interrupt.
 */

static inline void handle_timeouts(s32_t ticks)
{
	sys_dlist_t expired;
	unsigned int key;

	/* init before locking interrupts */
	sys_dlist_init(&expired);

	key = irq_lock();

	sys_dnode_t *next = sys_dlist_peek_head(&_timeout_q);
	struct _timeout *timeout = (struct _timeout *)next;

	K_DEBUG("head: %p, delta: %d\n",
		timeout, timeout ? timeout->delta_ticks_from_prev : -2112);

	if (next == NULL) {
		irq_unlock(key);
		return;
	}

	/*
	 * Dequeue all expired timeouts from _timeout_q, relieving irq lock
	 * pressure between each of them, allowing handling of higher priority
	 * interrupts. We know that no new timeout will be prepended in front
	 * of a timeout which delta is 0, since timeouts of 0 ticks are
	 * prohibited.
	 */

	while (next != NULL) {

		/*
		 * In the case where ticks number is greater than the first
		 * timeout delta of the list, the lag produced by this initial
		 * difference must also be applied to others timeouts in list
		 * until it was entirely consumed.
		 */

		s32_t tmp = timeout->delta_ticks_from_prev;

		if (timeout->delta_ticks_from_prev < ticks) {
			timeout->delta_ticks_from_prev = 0;
		} else {
			timeout->delta_ticks_from_prev -= ticks;
		}

		ticks -= tmp;

		next = sys_dlist_peek_next(&_timeout_q, next);

		if (timeout->delta_ticks_from_prev == 0) {
			sys_dnode_t *node = &timeout->node;

			sys_dlist_remove(node);

			/*
			 * Reverse the order that that were queued in the
			 * timeout_q: timeouts expiring on the same ticks are
			 * queued in the reverse order, time-wise, that they are
			 * added to shorten the amount of time with interrupts
			 * locked while walking the timeout_q. By reversing the
			 * order _again_ when building the expired queue, they
			 * end up being processed in the same order they were
			 * added, time-wise.
			 */

			sys_dlist_prepend(&expired, node);

			timeout->delta_ticks_from_prev = _EXPIRED;

		} else {
			break;
		}

		irq_unlock(key);
		key = irq_lock();

		timeout = (struct _timeout *)next;
	}

	irq_unlock(key);

	_handle_expired_timeouts(&expired);
}
#else
	#define handle_timeouts(ticks) do { } while (false)
#endif

#ifdef CONFIG_TIMESLICING
s32_t _time_slice_elapsed;
s32_t _time_slice_duration;
int  _time_slice_prio_ceiling;

/*
 * Always called from interrupt level, and always only from the system clock
 * interrupt, thus:
 * - _current does not have to be protected, since it only changes at thread
 *   level or when exiting a non-nested interrupt
 * - _time_slice_elapsed does not have to be protected, since it can only change
 *   in this function and at thread level
 * - _time_slice_duration does not have to be protected, since it can only
 *   change at thread level
 */
static void handle_time_slicing(s32_t ticks)
{
#ifdef CONFIG_TICKLESS_KERNEL
	next_ts = 0;
#endif
	if (!_is_thread_time_slicing(_current)) {
		return;
	}

	_time_slice_elapsed += ticks;
	if (_time_slice_elapsed >= _time_slice_duration) {

		unsigned int key;

		_time_slice_elapsed = 0;

		key = irq_lock();
		_move_thread_to_end_of_prio_q(_current);
		irq_unlock(key);
	}
#ifdef CONFIG_TICKLESS_KERNEL
	next_ts = _time_slice_duration - _time_slice_elapsed;
#endif
}
#else
#define handle_time_slicing(ticks) do { } while (false)
#endif

/**
 *
 * @brief Announce a tick to the kernel
 *
 * This function is only to be called by the system clock timer driver when a
 * tick is to be announced to the kernel. It takes care of dequeuing the
 * timers that have expired and wake up the threads pending on them.
 *
 * @return N/A
 */
void _nano_sys_clock_tick_announce(s32_t ticks)
{
#ifdef CONFIG_SMP
	/* sys_clock timekeeping happens only on the main CPU */
	if (_arch_curr_cpu()->id) {
		return;
	}
#endif

#ifndef CONFIG_TICKLESS_KERNEL
	unsigned int  key;

	K_DEBUG("ticks: %d\n", ticks);

	key = irq_lock();
	tick_count += ticks;
	irq_unlock(key);
#endif
	handle_timeouts(ticks);

	/* time slicing is basically handled like just yet another timeout */
	handle_time_slicing(ticks);

#ifdef CONFIG_TICKLESS_KERNEL
	u32_t next_to = _get_next_timeout_expiry();

	next_to = next_to == K_FOREVER ? 0 : next_to;
	next_to = !next_to || (next_ts
			       && next_to) > next_ts ? next_ts : next_to;

	u32_t remaining = _get_remaining_program_time();

	if ((!remaining && next_to) || (next_to < remaining)) {
		/* Clears current program if next_to = 0 and remaining > 0 */
		_set_time(next_to);
	}
#endif
}

int k_enable_sys_clock_always_on(void)
{
#ifdef CONFIG_TICKLESS_KERNEL
	int prev_status = _sys_clock_always_on;

	_sys_clock_always_on = 1;
	_enable_sys_clock();

	return prev_status;
#else
	return -ENOTSUP;
#endif
}

void k_disable_sys_clock_always_on(void)
{
#ifdef CONFIG_TICKLESS_KERNEL
	_sys_clock_always_on = 0;
#endif
}