| /**************************************************************************** |
| |
| (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29 |
| www.systec-electronic.com |
| |
| Project: openPOWERLINK |
| |
| Description: target specific implementation of |
| high resolution timer module for X86 under Linux |
| The Linux kernel has to be compiled with high resolution |
| timers enabled. This is done by configuring the kernel |
| with CONFIG_HIGH_RES_TIMERS enabled. |
| |
| License: |
| |
| Redistribution and use in source and binary forms, with or without |
| modification, are permitted provided that the following conditions |
| are met: |
| |
| 1. Redistributions of source code must retain the above copyright |
| notice, this list of conditions and the following disclaimer. |
| |
| 2. Redistributions in binary form must reproduce the above copyright |
| notice, this list of conditions and the following disclaimer in the |
| documentation and/or other materials provided with the distribution. |
| |
| 3. Neither the name of SYSTEC electronic GmbH nor the names of its |
| contributors may be used to endorse or promote products derived |
| from this software without prior written permission. For written |
| permission, please contact info@systec-electronic.com. |
| |
| THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
| FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
| COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
| INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
| BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
| LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
| ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| POSSIBILITY OF SUCH DAMAGE. |
| |
| Severability Clause: |
| |
| If a provision of this License is or becomes illegal, invalid or |
| unenforceable in any jurisdiction, that shall not affect: |
| 1. the validity or enforceability in that jurisdiction of any other |
| provision of this License; or |
| 2. the validity or enforceability in other jurisdictions of that or |
| any other provision of this License. |
| |
| ------------------------------------------------------------------------- |
| |
| $RCSfile: TimerHighReskX86.c,v $ |
| |
| $Author: D.Krueger $ |
| |
| $Revision: 1.4 $ $Date: 2008/04/17 21:38:01 $ |
| |
| $State: Exp $ |
| |
| Build Environment: |
| GNU |
| |
| ------------------------------------------------------------------------- |
| |
| Revision History: |
| |
| ****************************************************************************/ |
| |
| #include "EplInc.h" |
| #include "kernel/EplTimerHighResk.h" |
| #include "Benchmark.h" |
| |
| //#include <linux/config.h> |
| #include <linux/module.h> |
| #include <linux/kernel.h> |
| #include <linux/hrtimer.h> |
| |
| /***************************************************************************/ |
| /* */ |
| /* */ |
| /* G L O B A L D E F I N I T I O N S */ |
| /* */ |
| /* */ |
| /***************************************************************************/ |
| |
| //--------------------------------------------------------------------------- |
| // const defines |
| //--------------------------------------------------------------------------- |
| |
| #define TIMER_COUNT 2 /* max 15 timers selectable */ |
| #define TIMER_MIN_VAL_SINGLE 5000 /* min 5us */ |
| #define TIMER_MIN_VAL_CYCLE 100000 /* min 100us */ |
| |
| #define PROVE_OVERRUN |
| |
| |
| #ifndef CONFIG_HIGH_RES_TIMERS |
| #error "Kernel symbol CONFIG_HIGH_RES_TIMERS is required." |
| #endif |
| |
| |
| // TracePoint support for realtime-debugging |
| #ifdef _DBG_TRACE_POINTS_ |
| void PUBLIC TgtDbgSignalTracePoint (BYTE bTracePointNumber_p); |
| void PUBLIC TgtDbgPostTraceValue (DWORD dwTraceValue_p); |
| #define TGT_DBG_SIGNAL_TRACE_POINT(p) TgtDbgSignalTracePoint(p) |
| #define TGT_DBG_POST_TRACE_VALUE(v) TgtDbgPostTraceValue(v) |
| #else |
| #define TGT_DBG_SIGNAL_TRACE_POINT(p) |
| #define TGT_DBG_POST_TRACE_VALUE(v) |
| #endif |
| #define HRT_DBG_POST_TRACE_VALUE(Event_p, uiNodeId_p, wErrorCode_p) \ |
| TGT_DBG_POST_TRACE_VALUE((0xE << 28) | (Event_p << 24) \ |
| | (uiNodeId_p << 16) | wErrorCode_p) |
| |
| #define TIMERHDL_MASK 0x0FFFFFFF |
| #define TIMERHDL_SHIFT 28 |
| #define HDL_TO_IDX(Hdl) ((Hdl >> TIMERHDL_SHIFT) - 1) |
| #define HDL_INIT(Idx) ((Idx + 1) << TIMERHDL_SHIFT) |
| #define HDL_INC(Hdl) (((Hdl + 1) & TIMERHDL_MASK) \ |
| | (Hdl & ~TIMERHDL_MASK)) |
| |
| //--------------------------------------------------------------------------- |
| // modul global types |
| //--------------------------------------------------------------------------- |
| |
| typedef struct |
| { |
| tEplTimerEventArg m_EventArg; |
| tEplTimerkCallback m_pfnCallback; |
| struct hrtimer m_Timer; |
| BOOL m_fContinuously; |
| unsigned long long m_ullPeriod; |
| |
| } tEplTimerHighReskTimerInfo; |
| |
| typedef struct |
| { |
| tEplTimerHighReskTimerInfo m_aTimerInfo[TIMER_COUNT]; |
| |
| } tEplTimerHighReskInstance; |
| |
| //--------------------------------------------------------------------------- |
| // local vars |
| //--------------------------------------------------------------------------- |
| |
| static tEplTimerHighReskInstance EplTimerHighReskInstance_l; |
| |
| //--------------------------------------------------------------------------- |
| // local function prototypes |
| //--------------------------------------------------------------------------- |
| |
| enum hrtimer_restart EplTimerHighReskCallback (struct hrtimer* pTimer_p); |
| |
| //=========================================================================// |
| // // |
| // P U B L I C F U N C T I O N S // |
| // // |
| //=========================================================================// |
| |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplTimerHighReskInit() |
| // |
| // Description: initializes the high resolution timer module. |
| // |
| // Parameters: void |
| // |
| // Return: tEplKernel = error code |
| // |
| // State: not tested |
| // |
| //--------------------------------------------------------------------------- |
| |
| tEplKernel PUBLIC EplTimerHighReskInit(void) |
| { |
| tEplKernel Ret; |
| |
| Ret = EplTimerHighReskAddInstance(); |
| |
| return Ret; |
| |
| } |
| |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplTimerHighReskAddInstance() |
| // |
| // Description: initializes the high resolution timer module. |
| // |
| // Parameters: void |
| // |
| // Return: tEplKernel = error code |
| // |
| // State: not tested |
| // |
| //--------------------------------------------------------------------------- |
| |
| tEplKernel PUBLIC EplTimerHighReskAddInstance(void) |
| { |
| tEplKernel Ret; |
| unsigned int uiIndex; |
| |
| Ret = kEplSuccessful; |
| |
| EPL_MEMSET(&EplTimerHighReskInstance_l, 0, sizeof (EplTimerHighReskInstance_l)); |
| |
| #ifndef CONFIG_HIGH_RES_TIMERS |
| printk("EplTimerHighResk: Kernel symbol CONFIG_HIGH_RES_TIMERS is required.\n"); |
| Ret = kEplNoResource; |
| return Ret; |
| #endif |
| |
| /* |
| * Initialize hrtimer structures for all usable timers. |
| */ |
| for (uiIndex = 0; uiIndex < TIMER_COUNT; uiIndex++) |
| { |
| tEplTimerHighReskTimerInfo* pTimerInfo; |
| struct hrtimer* pTimer; |
| |
| pTimerInfo = &EplTimerHighReskInstance_l.m_aTimerInfo[uiIndex]; |
| pTimer = &pTimerInfo->m_Timer; |
| hrtimer_init(pTimer, CLOCK_MONOTONIC, HRTIMER_MODE_ABS); |
| |
| pTimer->function = EplTimerHighReskCallback; |
| |
| /* |
| * We use HRTIMER_CB_SOFTIRQ here. |
| * HRTIMER_CB_IRQSAFE is critical as the callback function |
| * would be called with IRQs disabled. |
| */ |
| pTimer->cb_mode = HRTIMER_CB_SOFTIRQ; |
| } |
| |
| return Ret; |
| } |
| |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplTimerHighReskDelInstance() |
| // |
| // Description: shuts down the high resolution timer module. |
| // |
| // Parameters: void |
| // |
| // Return: tEplKernel = error code |
| // |
| // State: not tested |
| // |
| //--------------------------------------------------------------------------- |
| |
| tEplKernel PUBLIC EplTimerHighReskDelInstance(void) |
| { |
| tEplTimerHighReskTimerInfo* pTimerInfo; |
| tEplKernel Ret; |
| unsigned int uiIndex; |
| |
| Ret = kEplSuccessful; |
| |
| for (uiIndex = 0; uiIndex < TIMER_COUNT; uiIndex++) |
| { |
| pTimerInfo = &EplTimerHighReskInstance_l.m_aTimerInfo[0]; |
| pTimerInfo->m_pfnCallback = NULL; |
| pTimerInfo->m_EventArg.m_TimerHdl = 0; |
| /* |
| * In this case we can not just try to cancel the timer. |
| * We actually have to wait until its callback function |
| * has returned. |
| */ |
| hrtimer_cancel(&pTimerInfo->m_Timer); |
| } |
| |
| return Ret; |
| |
| } |
| |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplTimerHighReskModifyTimerNs() |
| // |
| // Description: modifies the timeout of the timer with the specified handle. |
| // If the handle the pointer points to is zero, the timer must |
| // be created first. |
| // If it is not possible to stop the old timer, |
| // this function always assures that the old timer does not |
| // trigger the callback function with the same handle as the new |
| // timer. That means the callback function must check the passed |
| // handle with the one returned by this function. If these are |
| // unequal, the call can be discarded. |
| // |
| // Parameters: pTimerHdl_p = pointer to timer handle |
| // ullTimeNs_p = relative timeout in [ns] |
| // pfnCallback_p = callback function, which is called mutual |
| // exclusive with the Edrv callback functions |
| // (Rx and Tx). |
| // ulArgument_p = user-specific argument |
| // fContinuously_p = if TRUE, callback function will be called |
| // continuously; |
| // otherwise, it is a oneshot timer. |
| // |
| // Return: tEplKernel = error code |
| // |
| // State: not tested |
| // |
| //--------------------------------------------------------------------------- |
| |
| tEplKernel PUBLIC EplTimerHighReskModifyTimerNs(tEplTimerHdl* pTimerHdl_p, |
| unsigned long long ullTimeNs_p, |
| tEplTimerkCallback pfnCallback_p, |
| unsigned long ulArgument_p, |
| BOOL fContinuously_p) |
| { |
| tEplKernel Ret; |
| unsigned int uiIndex; |
| tEplTimerHighReskTimerInfo* pTimerInfo; |
| ktime_t RelTime; |
| |
| Ret = kEplSuccessful; |
| |
| // check pointer to handle |
| if(pTimerHdl_p == NULL) |
| { |
| Ret = kEplTimerInvalidHandle; |
| goto Exit; |
| } |
| |
| if (*pTimerHdl_p == 0) |
| { // no timer created yet |
| |
| // search free timer info structure |
| pTimerInfo = &EplTimerHighReskInstance_l.m_aTimerInfo[0]; |
| for (uiIndex = 0; uiIndex < TIMER_COUNT; uiIndex++, pTimerInfo++) |
| { |
| if (pTimerInfo->m_EventArg.m_TimerHdl == 0) |
| { // free structure found |
| break; |
| } |
| } |
| if (uiIndex >= TIMER_COUNT) |
| { // no free structure found |
| Ret = kEplTimerNoTimerCreated; |
| goto Exit; |
| } |
| |
| pTimerInfo->m_EventArg.m_TimerHdl = HDL_INIT(uiIndex); |
| } |
| else |
| { |
| uiIndex = HDL_TO_IDX(*pTimerHdl_p); |
| if (uiIndex >= TIMER_COUNT) |
| { // invalid handle |
| Ret = kEplTimerInvalidHandle; |
| goto Exit; |
| } |
| |
| pTimerInfo = &EplTimerHighReskInstance_l.m_aTimerInfo[uiIndex]; |
| } |
| |
| /* |
| * increment timer handle |
| * (if timer expires right after this statement, the user |
| * would detect an unknown timer handle and discard it) |
| */ |
| pTimerInfo->m_EventArg.m_TimerHdl = HDL_INC(pTimerInfo->m_EventArg.m_TimerHdl); |
| *pTimerHdl_p = pTimerInfo->m_EventArg.m_TimerHdl; |
| |
| // reject too small time values |
| if ( (fContinuously_p && (ullTimeNs_p < TIMER_MIN_VAL_CYCLE)) |
| || (!fContinuously_p && (ullTimeNs_p < TIMER_MIN_VAL_SINGLE)) ) |
| { |
| Ret = kEplTimerNoTimerCreated; |
| goto Exit; |
| } |
| |
| pTimerInfo->m_EventArg.m_ulArg = ulArgument_p; |
| pTimerInfo->m_pfnCallback = pfnCallback_p; |
| pTimerInfo->m_fContinuously = fContinuously_p; |
| pTimerInfo->m_ullPeriod = ullTimeNs_p; |
| |
| /* |
| * HRTIMER_MODE_REL does not influence general handling of this timer. |
| * It only sets relative mode for this start operation. |
| * -> Expire time is calculated by: Now + RelTime |
| * hrtimer_start also skips pending timer events. |
| * The state HRTIMER_STATE_CALLBACK is ignored. |
| * We have to cope with that in our callback function. |
| */ |
| RelTime = ktime_add_ns(ktime_set(0,0), ullTimeNs_p); |
| hrtimer_start(&pTimerInfo->m_Timer, RelTime, HRTIMER_MODE_REL); |
| |
| Exit: |
| return Ret; |
| |
| } |
| |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplTimerHighReskDeleteTimer() |
| // |
| // Description: deletes the timer with the specified handle. Afterward the |
| // handle is set to zero. |
| // |
| // Parameters: pTimerHdl_p = pointer to timer handle |
| // |
| // Return: tEplKernel = error code |
| // |
| // State: not tested |
| // |
| //--------------------------------------------------------------------------- |
| |
| tEplKernel PUBLIC EplTimerHighReskDeleteTimer(tEplTimerHdl* pTimerHdl_p) |
| { |
| tEplKernel Ret = kEplSuccessful; |
| unsigned int uiIndex; |
| tEplTimerHighReskTimerInfo* pTimerInfo; |
| |
| // check pointer to handle |
| if(pTimerHdl_p == NULL) |
| { |
| Ret = kEplTimerInvalidHandle; |
| goto Exit; |
| } |
| |
| if (*pTimerHdl_p == 0) |
| { // no timer created yet |
| goto Exit; |
| } |
| else |
| { |
| uiIndex = HDL_TO_IDX(*pTimerHdl_p); |
| if (uiIndex >= TIMER_COUNT) |
| { // invalid handle |
| Ret = kEplTimerInvalidHandle; |
| goto Exit; |
| } |
| pTimerInfo = &EplTimerHighReskInstance_l.m_aTimerInfo[uiIndex]; |
| if (pTimerInfo->m_EventArg.m_TimerHdl != *pTimerHdl_p) |
| { // invalid handle |
| goto Exit; |
| } |
| } |
| |
| *pTimerHdl_p = 0; |
| pTimerInfo->m_EventArg.m_TimerHdl = 0; |
| pTimerInfo->m_pfnCallback = NULL; |
| |
| /* |
| * Three return cases of hrtimer_try_to_cancel have to be tracked: |
| * 1 - timer has been removed |
| * 0 - timer was not active |
| * We need not do anything. hrtimer timers just consist of |
| * a hrtimer struct, which we might enqueue in the hrtimers |
| * event list by calling hrtimer_start(). |
| * If a timer is not enqueued, it is not present in hrtimers. |
| * -1 - callback function is running |
| * In this case we have to ensure that the timer is not |
| * continuously restarted. This has been done by clearing |
| * its handle. |
| */ |
| hrtimer_try_to_cancel(&pTimerInfo->m_Timer); |
| |
| Exit: |
| return Ret; |
| |
| } |
| |
| |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplTimerHighReskCallback() |
| // |
| // Description: Callback function commonly used for all timers. |
| // |
| // Parameters: pTimer_p = pointer to hrtimer |
| // |
| // Return: |
| // |
| // State: not tested |
| // |
| //--------------------------------------------------------------------------- |
| |
| enum hrtimer_restart EplTimerHighReskCallback (struct hrtimer* pTimer_p) |
| { |
| unsigned int uiIndex; |
| tEplTimerHighReskTimerInfo* pTimerInfo; |
| tEplTimerHdl OrgTimerHdl; |
| enum hrtimer_restart Ret; |
| |
| BENCHMARK_MOD_24_SET(4); |
| |
| Ret = HRTIMER_NORESTART; |
| pTimerInfo = container_of(pTimer_p, tEplTimerHighReskTimerInfo, m_Timer); |
| uiIndex = HDL_TO_IDX(pTimerInfo->m_EventArg.m_TimerHdl); |
| if (uiIndex >= TIMER_COUNT) |
| { // invalid handle |
| goto Exit; |
| } |
| |
| /* |
| * We store the timer handle before calling the callback function |
| * as the timer can be modified inside it. |
| */ |
| OrgTimerHdl = pTimerInfo->m_EventArg.m_TimerHdl; |
| |
| if (pTimerInfo->m_pfnCallback != NULL) |
| { |
| pTimerInfo->m_pfnCallback(&pTimerInfo->m_EventArg); |
| } |
| |
| if (pTimerInfo->m_fContinuously) |
| { |
| ktime_t Interval; |
| #ifdef PROVE_OVERRUN |
| ktime_t Now; |
| unsigned long Overruns; |
| #endif |
| |
| if (OrgTimerHdl != pTimerInfo->m_EventArg.m_TimerHdl) |
| { |
| /* modified timer has already been restarted */ |
| goto Exit; |
| } |
| |
| #ifdef PROVE_OVERRUN |
| Now = ktime_get(); |
| Interval = ktime_add_ns(ktime_set(0,0), pTimerInfo->m_ullPeriod); |
| Overruns = hrtimer_forward(pTimer_p, Now, Interval); |
| if (Overruns > 1) |
| { |
| printk("EplTimerHighResk: Continuous timer (handle 0x%lX) had to skip %lu interval(s)!\n", pTimerInfo->m_EventArg.m_TimerHdl, Overruns-1); |
| } |
| #else |
| pTimer_p->expires = ktime_add_ns(pTimer_p->expires, |
| pTimerInfo->m_ullPeriod); |
| #endif |
| |
| Ret = HRTIMER_RESTART; |
| } |
| |
| Exit: |
| BENCHMARK_MOD_24_RESET(4); |
| return Ret; |
| } |
| |
