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-rw-r--r--src/avr/timer.c9
-rw-r--r--src/basecmd.c8
-rw-r--r--src/generic/misc.h3
-rw-r--r--src/generic/timer.c11
-rw-r--r--src/gpiocmds.c7
-rw-r--r--src/sched.c37
-rw-r--r--src/sched.h3
-rw-r--r--src/simulator/main.c6
-rw-r--r--src/stepper.c11
9 files changed, 48 insertions, 47 deletions
diff --git a/src/avr/timer.c b/src/avr/timer.c
index 7b5facca..e96b88bf 100644
--- a/src/avr/timer.c
+++ b/src/avr/timer.c
@@ -25,6 +25,15 @@ timer_from_us(uint32_t us)
return us * (F_CPU / 1000000);
}
+// Return true if time1 is before time2. Always use this function to
+// compare times as regular C comparisons can fail if the counter
+// rolls over.
+uint8_t
+timer_is_before(uint32_t time1, uint32_t time2)
+{
+ return (int32_t)(time1 - time2) < 0;
+}
+
static inline uint16_t
timer_get(void)
{
diff --git a/src/basecmd.c b/src/basecmd.c
index 8049e376..5a4dc853 100644
--- a/src/basecmd.c
+++ b/src/basecmd.c
@@ -228,7 +228,7 @@ DECL_COMMAND(command_end_group, "end_group");
void
command_get_status(uint32_t *args)
{
- sendf("status clock=%u status=%c", sched_read_time(), sched_is_shutdown());
+ sendf("status clock=%u status=%c", timer_read_time(), sched_is_shutdown());
}
DECL_COMMAND_FLAGS(command_get_status, HF_IN_SHUTDOWN, "get_status");
@@ -237,7 +237,7 @@ static uint32_t stats_send_time, stats_send_time_high;
void
command_get_uptime(uint32_t *args)
{
- uint32_t cur = sched_read_time();
+ uint32_t cur = timer_read_time();
uint32_t high = stats_send_time_high + (cur < stats_send_time);
sendf("uptime high=%u clock=%u", high, cur);
}
@@ -250,7 +250,7 @@ static void
stats_task(void)
{
static uint32_t last, count, sumsq;
- uint32_t cur = sched_read_time();
+ uint32_t cur = timer_read_time();
uint32_t diff = cur - last;
last = cur;
count++;
@@ -267,7 +267,7 @@ stats_task(void)
nextsumsq = 0xffffffff;
sumsq = nextsumsq;
- if (sched_is_before(cur, stats_send_time + sched_from_us(5000000)))
+ if (timer_is_before(cur, stats_send_time + timer_from_us(5000000)))
return;
sendf("stats count=%u sum=%u sumsq=%u", count, cur - stats_send_time, sumsq);
if (cur < stats_send_time)
diff --git a/src/generic/misc.h b/src/generic/misc.h
index 92d4d145..b6d49ffd 100644
--- a/src/generic/misc.h
+++ b/src/generic/misc.h
@@ -10,8 +10,9 @@ char *console_get_output(uint8_t len);
void console_push_output(uint8_t len);
uint32_t timer_from_us(uint32_t us);
-void timer_periodic(void);
+uint8_t timer_is_before(uint32_t time1, uint32_t time2);
uint32_t timer_read_time(void);
+void timer_periodic(void);
uint8_t timer_try_set_next(uint32_t next);
size_t alloc_maxsize(size_t reqsize);
diff --git a/src/generic/timer.c b/src/generic/timer.c
index 13a8bfe5..436ecb68 100644
--- a/src/generic/timer.c
+++ b/src/generic/timer.c
@@ -24,6 +24,15 @@ timer_from_us(uint32_t us)
return us * (CONFIG_CLOCK_FREQ / 1000000);
}
+// Return true if time1 is before time2. Always use this function to
+// compare times as regular C comparisons can fail if the counter
+// rolls over.
+uint8_t
+timer_is_before(uint32_t time1, uint32_t time2)
+{
+ return (int32_t)(time1 - time2) < 0;
+}
+
// Called by main code once every millisecond. (IRQs disabled.)
void
timer_periodic(void)
@@ -50,7 +59,7 @@ timer_try_set_next(uint32_t next)
goto done;
// Next timer is in the past or near future - can't reschedule to it
- if (likely(sched_is_before(now, timer_repeat_until))) {
+ if (likely(timer_is_before(now, timer_repeat_until))) {
// Can run more timers from this irq; briefly allow irqs
irq_enable();
while (diff >= 0) {
diff --git a/src/gpiocmds.c b/src/gpiocmds.c
index e3351b44..6dd29059 100644
--- a/src/gpiocmds.c
+++ b/src/gpiocmds.c
@@ -7,6 +7,7 @@
#include "basecmd.h" // oid_alloc
#include "board/gpio.h" // struct gpio_out
#include "board/irq.h" // irq_disable
+#include "board/misc.h" // timer_is_before
#include "command.h" // DECL_COMMAND
#include "sched.h" // sched_add_timer
@@ -117,7 +118,7 @@ soft_pwm_toggle_event(struct timer *timer)
waketime += s->on_duration;
else
waketime += s->off_duration;
- if (s->flags & SPF_CHECK_END && !sched_is_before(waketime, s->end_time)) {
+ if (s->flags & SPF_CHECK_END && !timer_is_before(waketime, s->end_time)) {
// End of normal pulsing - next event loads new pwm settings
s->timer.func = soft_pwm_load_event;
waketime = s->end_time;
@@ -189,13 +190,13 @@ command_schedule_soft_pwm_out(uint32_t *args)
next_flags |= SPF_NEXT_CHECK_END;
}
irq_disable();
- if (s->flags & SPF_CHECK_END && sched_is_before(s->end_time, time))
+ if (s->flags & SPF_CHECK_END && timer_is_before(s->end_time, time))
shutdown("next soft pwm extends existing pwm");
s->end_time = time;
s->next_on_duration = next_on_duration;
s->next_off_duration = next_off_duration;
s->flags |= next_flags;
- if (s->flags & SPF_TOGGLING && sched_is_before(s->timer.waketime, time)) {
+ if (s->flags & SPF_TOGGLING && timer_is_before(s->timer.waketime, time)) {
// soft_pwm_toggle_event() will schedule a load event when ready
} else {
// Schedule the loading of the pwm parameters at the requested time
diff --git a/src/sched.c b/src/sched.c
index 8578b2a7..7a68db86 100644
--- a/src/sched.c
+++ b/src/sched.c
@@ -9,7 +9,7 @@
#include "board/irq.h" // irq_save
#include "board/misc.h" // timer_from_us
#include "command.h" // shutdown
-#include "sched.h" // sched_from_us
+#include "sched.h" // sched_check_periodic
#include "stepper.h" // stepper_event
@@ -17,29 +17,6 @@
* Timers
****************************************************************/
-// Return the number of clock ticks for a given number of microseconds
-uint32_t
-sched_from_us(uint32_t us)
-{
- return timer_from_us(us);
-}
-
-// Return the current time (in clock ticks)
-uint32_t
-sched_read_time(void)
-{
- return timer_read_time();
-}
-
-// Return true if time1 is before time2. Always use this function to
-// compare times as regular C comparisons can fail if the counter
-// rolls over.
-uint8_t
-sched_is_before(uint32_t time1, uint32_t time2)
-{
- return (int32_t)(time1 - time2) < 0;
-}
-
static uint16_t millis;
// Check if ready for a recurring periodic event
@@ -67,7 +44,7 @@ ms_event(struct timer *t)
{
millis++;
timer_periodic();
- ms_timer.waketime += sched_from_us(1000);
+ ms_timer.waketime += timer_from_us(1000);
sentinel_timer.waketime = ms_timer.waketime + 0x80000000;
return SF_RESCHEDULE;
}
@@ -99,12 +76,12 @@ sched_add_timer(struct timer *add)
{
uint32_t waketime = add->waketime;
irqstatus_t flag = irq_save();
- if (sched_is_before(waketime, timer_list->waketime))
+ if (timer_is_before(waketime, timer_list->waketime))
// Timer in past (or very near future)
shutdown("Timer too close");
// Find position in list and insert
struct timer *pos = timer_list;
- while (!sched_is_before(waketime, pos->next->waketime))
+ while (!timer_is_before(waketime, pos->next->waketime))
pos = pos->next;
add->next = pos->next;
pos->next = add;
@@ -152,7 +129,7 @@ reschedule_timer(struct timer *t)
{
struct timer *pos = t->next;
uint32_t minwaketime = t->waketime + 1;
- if (!sched_is_before(pos->waketime, minwaketime))
+ if (!timer_is_before(pos->waketime, minwaketime))
// Timer is still the first - no insertion needed
return t;
@@ -165,7 +142,7 @@ reschedule_timer(struct timer *t)
// micro optimization for AVR - reduces register pressure
asm("" : "+r"(prev) : : "memory");
pos = pos->next;
- if (!sched_is_before(pos->waketime, minwaketime))
+ if (!timer_is_before(pos->waketime, minwaketime))
break;
}
t->next = pos;
@@ -247,7 +224,7 @@ sched_clear_shutdown(void)
static void
run_shutdown(void)
{
- uint32_t cur = sched_read_time();
+ uint32_t cur = timer_read_time();
shutdown_status = 2;
struct callback_handler *p;
foreachdecl(p, shutdownfuncs) {
diff --git a/src/sched.h b/src/sched.h
index 0c1820c3..7a98257a 100644
--- a/src/sched.h
+++ b/src/sched.h
@@ -23,9 +23,6 @@ enum { SF_DONE=0, SF_RESCHEDULE=1 };
// sched.c
uint8_t sched_check_periodic(uint16_t time, uint16_t *pnext);
-uint32_t sched_from_us(uint32_t us);
-uint32_t sched_read_time(void);
-uint8_t sched_is_before(uint32_t time1, uint32_t time2);
void sched_add_timer(struct timer*);
void sched_del_timer(struct timer *del);
void sched_timer_kick(void);
diff --git a/src/simulator/main.c b/src/simulator/main.c
index f45b5c45..4f715ab2 100644
--- a/src/simulator/main.c
+++ b/src/simulator/main.c
@@ -58,6 +58,12 @@ timer_from_us(uint32_t us)
return 0; // XXX
}
+uint8_t
+timer_is_before(uint32_t time1, uint32_t time2)
+{
+ return (int32_t)(time1 - time2) < 0;
+}
+
void
timer_periodic(void)
{
diff --git a/src/stepper.c b/src/stepper.c
index 0d7f490b..c1bdf275 100644
--- a/src/stepper.c
+++ b/src/stepper.c
@@ -8,6 +8,7 @@
#include "basecmd.h" // oid_alloc
#include "board/gpio.h" // gpio_out_write
#include "board/irq.h" // irq_disable
+#include "board/misc.h" // timer_is_before
#include "command.h" // DECL_COMMAND
#include "sched.h" // struct timer
#include "stepper.h" // command_config_stepper
@@ -75,9 +76,9 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
// On faster mcus, it is necessary to schedule unstep events
// and so there are twice as many events. Also check that the
// next step event isn't too close to the last unstep.
- if (unlikely(sched_is_before(s->next_step_time, min_next_time))) {
+ if (unlikely(timer_is_before(s->next_step_time, min_next_time))) {
if ((int32_t)(s->next_step_time - min_next_time)
- < (int32_t)(-sched_from_us(1000)))
+ < (int32_t)(-timer_from_us(1000)))
shutdown("stepper too far in past");
s->time.waketime = min_next_time;
} else {
@@ -97,7 +98,7 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
return SF_RESCHEDULE;
}
-#define UNSTEP_TIME sched_from_us(1)
+#define UNSTEP_TIME timer_from_us(1)
// Timer callback - step the given stepper.
uint_fast8_t
@@ -123,7 +124,7 @@ stepper_event(struct timer *t)
}
// On faster mcus, it is necessary to schedule the unstep event
- uint32_t min_next_time = sched_read_time() + UNSTEP_TIME;
+ uint32_t min_next_time = timer_read_time() + UNSTEP_TIME;
gpio_out_toggle(s->step_pin);
s->count--;
if (likely(s->count & 1))
@@ -132,7 +133,7 @@ stepper_event(struct timer *t)
if (likely(s->count)) {
s->next_step_time += s->interval;
s->interval += s->add;
- if (unlikely(sched_is_before(s->next_step_time, min_next_time)))
+ if (unlikely(timer_is_before(s->next_step_time, min_next_time)))
// The next step event is too close - push it back
goto reschedule_min;
s->time.waketime = s->next_step_time;
generated by cgit v1.2.3-70-g09d2 (git 2.50.1) at 2025-09-01 21:43:23 +0000