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Work on PAL events and PAL time #690

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merged 4 commits into from
May 17, 2018
Merged

Work on PAL events and PAL time #690

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69bfa63
Work on PAL events and PAL time
josesimoes May 16, 2018
f37b4a6
Merge branch 'develop' into rework-on-events
josesimoes May 16, 2018
9800e43
Various fixes
josesimoes May 16, 2018
af13531
Merge branch 'develop' into rework-on-events
josesimoes May 16, 2018
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6 changes: 3 additions & 3 deletions src/PAL/AsyncProcCall/AsyncCompletions.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -169,7 +169,7 @@ void HAL_COMPLETION::Abort()

//--//

void HAL_COMPLETION::WaitForInterrupts(uint64_t expire, uint32_t sleepLevel, uint64_t wakeEvents)
void HAL_COMPLETION::WaitForInterrupts(uint64_t expireTicks, uint32_t sleepLevel, uint64_t wakeEvents)
{
NATIVE_PROFILE_PAL_ASYNC_PROC_CALL();

Expand All @@ -186,7 +186,7 @@ void HAL_COMPLETION::WaitForInterrupts(uint64_t expire, uint32_t sleepLevel, uin
{
state = setCompare | nilCompare;
}
else if(ptr->EventTimeTicks > expire)
else if(ptr->EventTimeTicks > expireTicks)
{
state = setCompare | resetCompare;
}
Expand All @@ -197,7 +197,7 @@ void HAL_COMPLETION::WaitForInterrupts(uint64_t expire, uint32_t sleepLevel, uin

if(state & setCompare)
{
Time_SetCompare(expire);
Time_SetCompare(expireTicks);
}

CPU_Sleep((SLEEP_LEVEL_type)sleepLevel, wakeEvents);
Expand Down
2 changes: 1 addition & 1 deletion src/PAL/AsyncProcCall/Async_stubs.cpp
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Expand Up @@ -84,7 +84,7 @@ __nfweak void HAL_COMPLETION::DequeueAndExec()
NATIVE_PROFILE_PAL_ASYNC_PROC_CALL();
}

__nfweak void HAL_COMPLETION::WaitForInterrupts( uint64_t Expire, uint32_t sleepLevel, uint64_t wakeEvents )
__nfweak void HAL_COMPLETION::WaitForInterrupts( uint64_t expireTicks, uint32_t sleepLevel, uint64_t wakeEvents )
{
NATIVE_PROFILE_PAL_ASYNC_PROC_CALL();
}
2 changes: 1 addition & 1 deletion src/PAL/Include/nanoPAL_AsyncProcCalls_decl.h
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Expand Up @@ -127,7 +127,7 @@ struct HAL_COMPLETION : public HAL_CONTINUATION

static void DequeueAndExec();

static void WaitForInterrupts( uint64_t expire, uint32_t sleepLevel, uint64_t wakeEvents );
static void WaitForInterrupts( uint64_t expireTicks, uint32_t sleepLevel, uint64_t wakeEvents );
};

//--//
Expand Down
6 changes: 3 additions & 3 deletions src/PAL/Include/nanoPAL_Time.h
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Expand Up @@ -18,9 +18,9 @@ extern "C" {
/// Initializes PAL Time drivers, must be called before any of the Time_* PAL
/// methods could be used.
/// </summary>
HRESULT Time_Initialize ( );
HRESULT Time_Uninitialize ( );
void Time_SetCompare ( uint64_t compareValue );
HRESULT Time_Initialize ( );
HRESULT Time_Uninitialize ( );
void Time_SetCompare ( uint64_t compareValueTicks );

#ifdef __cplusplus
}
Expand Down
2 changes: 0 additions & 2 deletions targets/CMSIS-OS/ChibiOS/ST_STM32F429I_DISCOVERY/nanoCLR/chconf.h
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Expand Up @@ -567,8 +567,6 @@
*/
#define CH_CFG_SYSTEM_TICK_HOOK() { \
/* System tick event code here.*/ \
extern void Time_Interrupt_Hook(); \
Time_Interrupt_Hook(); \
}

/**
Expand Down
2 changes: 0 additions & 2 deletions targets/CMSIS-OS/ChibiOS/ST_STM32F4_DISCOVERY/nanoCLR/chconf.h
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Expand Up @@ -567,8 +567,6 @@
*/
#define CH_CFG_SYSTEM_TICK_HOOK() { \
/* System tick event code here.*/ \
extern void Time_Interrupt_Hook(); \
Time_Interrupt_Hook(); \
}

/**
Expand Down
23 changes: 11 additions & 12 deletions targets/CMSIS-OS/ChibiOS/nanoCLR/targetPAL_Events.cpp
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Expand Up @@ -10,9 +10,9 @@

uint64_t CPU_MiliSecondsToSysTicks(uint64_t miliSeconds);

// events timer
static virtual_timer_t eventsBoolTimer;
volatile uint32_t systemEvents;
// timer for bool events
static virtual_timer_t boolEventsTimer;
uint32_t systemEvents;

set_Event_Callback g_Event_Callback = NULL;
void* g_Event_Callback_Arg = NULL;
Expand All @@ -33,7 +33,7 @@ bool Events_Uninitialize()
{
NATIVE_PROFILE_PAL_EVENTS();

chVTResetI(&eventsBoolTimer);
chVTResetI(&boolEventsTimer);

return true;
}
Expand Down Expand Up @@ -96,11 +96,11 @@ void Events_SetBoolTimer( bool* timerCompleteFlag, uint32_t millisecondsFromNow
NATIVE_PROFILE_PAL_EVENTS();

// we assume only 1 can be active, abort previous just in case
chVTResetI(&eventsBoolTimer);
chVTResetI(&boolEventsTimer);

if(timerCompleteFlag != NULL)
{
chVTSetI(&eventsBoolTimer, TIME_MS2I(millisecondsFromNow), local_Events_SetBoolTimer_Callback, timerCompleteFlag);
chVTSetI(&boolEventsTimer, TIME_MS2I(millisecondsFromNow), local_Events_SetBoolTimer_Callback, timerCompleteFlag);
}
}

Expand All @@ -114,7 +114,7 @@ uint32_t Events_WaitForEvents( uint32_t powerLevel, uint32_t wakeupSystemEvents,
Events_WaitForEvents_Calls++;
#endif

uint64_t expire = HAL_Time_CurrentSysTicks() + countsRemaining;
uint64_t expireTicks = HAL_Time_CurrentTime() + countsRemaining;
bool runContinuations = true;

while(true)
Expand All @@ -125,7 +125,7 @@ uint32_t Events_WaitForEvents( uint32_t powerLevel, uint32_t wakeupSystemEvents,
return events;
}

if(expire <= HAL_Time_CurrentSysTicks())
if(expireTicks <= HAL_Time_CurrentTime())
{
break;
}
Expand All @@ -142,12 +142,11 @@ uint32_t Events_WaitForEvents( uint32_t powerLevel, uint32_t wakeupSystemEvents,
// try stalled continuations again after sleeping
runContinuations = true;

HAL_COMPLETION::WaitForInterrupts(expire, powerLevel, wakeupSystemEvents );
HAL_COMPLETION::WaitForInterrupts(expireTicks, powerLevel, wakeupSystemEvents );
}


// no events, release time to OS
osDelay(10);
// no events, pass control to the OS
osThreadYield();
}

return 0;
Expand Down
47 changes: 25 additions & 22 deletions targets/CMSIS-OS/ChibiOS/nanoCLR/targetPAL_Time.cpp
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Expand Up @@ -8,40 +8,43 @@
#include <hal.h>
#include <ch.h>

static uint64_t g_nextEvent; // tick time of next event to be scheduled
// timer for next event
static virtual_timer_t nextEventTimer;

HRESULT Time_Initialize()

static void NextEventTimer_Callback( void* arg )
{
g_nextEvent = 0xFFFFFFFFFFFF; // never
(bool*)arg;

// nothing to do here has time management is handled by ChibiOS
return S_OK;
// this call also schedules the next one, if there is one
HAL_COMPLETION::DequeueAndExec();
}

HRESULT Time_Uninitialize()
HRESULT Time_Initialize()
{
// nothing to do here has time management is handled by ChibiOS
return S_OK;
}

void Time_SetCompare ( uint64_t compareValue )
HRESULT Time_Uninitialize()
{
// TODO
// setup timer with callback that calls HAL_COMPLETION::DequeueAndExec( );
// see Events_SetBoolTimer

g_nextEvent = compareValue;
// nothing to do here has time management is handled by ChibiOS
return S_OK;
}

extern "C" {

void Time_Interrupt_Hook()
void Time_SetCompare ( uint64_t compareValueTicks )
{
if (HAL_Time_CurrentSysTicks() >= g_nextEvent && g_nextEvent > 0)
{
// handle event
HAL_COMPLETION::DequeueAndExec(); // this also schedules the next one, if there is one
}
}

// can have only one event timer setup, abort previous just in case
chVTResetI(&nextEventTimer);

if(compareValueTicks == 0)
{
// compare value is 0 so dequeue and schedule immediately
NextEventTimer_Callback(NULL);
}
else
{
// need to convert from ticks to milliseconds
chVTSetI(&nextEventTimer, TIME_MS2I(compareValueTicks * TIME_CONVERSION__TO_MILLISECONDS), NextEventTimer_Callback, NULL);
}
}
41 changes: 14 additions & 27 deletions targets/FreeRTOS/ESP32_DevKitC/nanoCLR/targetPAL_Events.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,18 +10,14 @@

uint64_t CPU_MiliSecondsToSysTicks(uint64_t miliSeconds);

// events timer
static TimerHandle_t eventsBoolTimer;
// timer for bool events
static TimerHandle_t boolEventsTimer;
static bool* saveTimerCompleteFlag = 0;

volatile uint32_t systemEvents;


static void local_Events_SetBoolTimer_Callback( TimerHandle_t xTimer );

#define chSysLock()
#define chSysUnlock()

set_Event_Callback g_Event_Callback = NULL;
void* g_Event_Callback_Arg = NULL;

Expand All @@ -30,11 +26,9 @@ bool Events_Initialize()
NATIVE_PROFILE_PAL_EVENTS();

// init events
// chSysLock();
systemEvents = 0;
// chSysUnlock();

eventsBoolTimer = xTimerCreate( "eventsTimer", 10, pdFALSE, (void *)0, local_Events_SetBoolTimer_Callback);
boolEventsTimer = xTimerCreate( "boolEventsTimer", 10, pdFALSE, (void *)0, local_Events_SetBoolTimer_Callback);

return true;
}
Expand All @@ -43,7 +37,7 @@ bool Events_Uninitialize()
{
NATIVE_PROFILE_PAL_EVENTS();

xTimerDelete(eventsBoolTimer,0);
xTimerDelete(boolEventsTimer,0);

return true;
}
Expand All @@ -53,9 +47,7 @@ void Events_Set( uint32_t events )
NATIVE_PROFILE_PAL_EVENTS();

// set events
chSysLock();
systemEvents |= events;
chSysUnlock();

if( g_Event_Callback != NULL )
{
Expand All @@ -71,9 +63,7 @@ uint32_t Events_Get( uint32_t eventsOfInterest )
uint32_t returnEvents = (systemEvents & eventsOfInterest);

// ... clear the requested flags atomically
chSysLock();
systemEvents &= ~eventsOfInterest;
chSysUnlock();

// give the caller notice of just the events they asked for ( and were cleared already )
return returnEvents;
Expand All @@ -89,9 +79,6 @@ static void local_Events_SetBoolTimer_Callback( TimerHandle_t xTimer )
{
NATIVE_PROFILE_PAL_EVENTS();

// bool* timerCompleteFlag = (bool*)pvTimerGetTimerID( xTimer );
// *timerCompleteFlag = true;

*saveTimerCompleteFlag = true;
}

Expand All @@ -108,18 +95,18 @@ void Events_SetBoolTimer( bool* timerCompleteFlag, uint32_t millisecondsFromNow
NATIVE_PROFILE_PAL_EVENTS();

// we assume only 1 can be active, abort previous just in case
xTimerStop( eventsBoolTimer, 0 );
xTimerStop( boolEventsTimer, 0 );

if(timerCompleteFlag != NULL)
{

xTimerChangePeriod( eventsBoolTimer, millisecondsFromNow / portTICK_PERIOD_MS, 0 );
xTimerChangePeriod( boolEventsTimer, millisecondsFromNow / portTICK_PERIOD_MS, 0 );

// Was going to just change existing timer but vTimerSetTimerID() does not exist in this version of FreeRtos
// Was going to just change existing timer but vTimerSetTimerID() does not exist in this version of FreeRTOS
// As only one timer running at a time we will just save it in global memory
saveTimerCompleteFlag = timerCompleteFlag;
// vTimerSetTimerID( eventsBoolTimer, (void *)timerCompleteFlag );
xTimerStart(eventsBoolTimer, 0);
// vTimerSetTimerID( boolEventsTimer, (void *)timerCompleteFlag );
xTimerStart(boolEventsTimer, 0);
}
}

Expand All @@ -133,7 +120,7 @@ uint32_t Events_WaitForEvents( uint32_t powerLevel, uint32_t wakeupSystemEvents,
Events_WaitForEvents_Calls++;
#endif

uint64_t expire = HAL_Time_CurrentSysTicks() + countsRemaining;
uint64_t expireTicks = HAL_Time_CurrentTime() + countsRemaining;
bool runContinuations = true;

while(true)
Expand All @@ -144,7 +131,7 @@ uint32_t Events_WaitForEvents( uint32_t powerLevel, uint32_t wakeupSystemEvents,
return events;
}

if(expire <= HAL_Time_CurrentSysTicks())
if(expireTicks <= HAL_Time_CurrentTime())
{
break;
}
Expand All @@ -161,11 +148,11 @@ uint32_t Events_WaitForEvents( uint32_t powerLevel, uint32_t wakeupSystemEvents,
// try stalled continuations again after sleeping
runContinuations = true;

HAL_COMPLETION::WaitForInterrupts(expire, powerLevel, wakeupSystemEvents );
HAL_COMPLETION::WaitForInterrupts(expireTicks, powerLevel, wakeupSystemEvents );
}

// no events, release time to OS
vTaskDelay(0);
// no events, pass control to the OS
taskYIELD();
}

return 0;
Expand Down
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