klipper/src/generic/armcm_timer.c

// Timer based on ARM Cortex-M3/M4 SysTick and DWT logic
//
// Copyright (C) 2017-2019  Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.

#include "autoconf.h" // CONFIG_CLOCK_FREQ
#include "armcm_boot.h" // DECL_ARMCM_IRQ
#include "board/internal.h" // SysTick
#include "board/irq.h" // irq_disable
#include "board/misc.h" // timer_from_us
#include "command.h" // shutdown
#include "sched.h" // sched_timer_dispatch

DECL_CONSTANT("CLOCK_FREQ", CONFIG_CLOCK_FREQ);

// Return the number of clock ticks for a given number of microseconds
uint32_t
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;
}

// Set the next irq time
static void
timer_set_diff(uint32_t value)
{
    SysTick->LOAD = value;
    SysTick->VAL = 0;
    SysTick->LOAD = 0;
}

// Return the current time (in absolute clock ticks).
uint32_t
timer_read_time(void)
{
    return DWT->CYCCNT;
}

// Activate timer dispatch as soon as possible
void
timer_kick(void)
{
    SysTick->LOAD = 0;
    SysTick->VAL = 0;
    SCB->ICSR = SCB_ICSR_PENDSTSET_Msk;
}

// Implement simple early-boot delay mechanism
void
udelay(uint32_t usecs)
{
    if (!(CoreDebug->DEMCR & CoreDebug_DEMCR_TRCENA_Msk)) {
        CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
        DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
    }

    uint32_t end = timer_read_time() + timer_from_us(usecs);
    while (timer_is_before(timer_read_time(), end))
        ;
}

// Dummy timer to avoid scheduling a SysTick irq greater than 0xffffff
static uint_fast8_t
timer_wrap_event(struct timer *t)
{
    t->waketime += 0xffffff;
    return SF_RESCHEDULE;
}
static struct timer wrap_timer = {
    .func = timer_wrap_event,
    .waketime = 0xffffff,
};
void
timer_reset(void)
{
    if (timer_from_us(100000) <= 0xffffff)
        // Timer in sched.c already ensures SysTick wont overflow
        return;
    sched_add_timer(&wrap_timer);
}
DECL_SHUTDOWN(timer_reset);

void
timer_init(void)
{
    // Enable Debug Watchpoint and Trace (DWT) for its 32bit timer
    CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
    DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
    DWT->CYCCNT = 0;

    // Schedule a recurring timer on fast cpus
    timer_reset();

    // Enable SysTick
    irqstatus_t flag = irq_save();
    NVIC_SetPriority(SysTick_IRQn, 2);
    SysTick->CTRL = (SysTick_CTRL_CLKSOURCE_Msk | SysTick_CTRL_TICKINT_Msk
                     | SysTick_CTRL_ENABLE_Msk);
    timer_kick();
    irq_restore(flag);
}
DECL_INIT(timer_init);

static uint32_t timer_repeat_until;
#define TIMER_REPEAT_TICKS timer_from_us(100)

#define TIMER_MIN_TRY_TICKS 90
#define TIMER_DEFER_REPEAT_TICKS timer_from_us(5)

// Invoke timers
static uint32_t
timer_dispatch_many(void)
{
    uint32_t tru = timer_repeat_until;
    for (;;) {
        // Run the next software timer
        uint32_t next = sched_timer_dispatch();

        uint32_t now = timer_read_time();
        int32_t diff = next - now;
        if (diff > (int32_t)TIMER_MIN_TRY_TICKS)
            // Schedule next timer normally.
            return diff;

        if (unlikely(timer_is_before(tru, now))) {
            // Check if there are too many repeat timers
            if (diff < (int32_t)(-timer_from_us(1000)))
                try_shutdown("Rescheduled timer in the past");
            if (sched_check_set_tasks_busy()) {
                timer_repeat_until = now + TIMER_REPEAT_TICKS;
                return TIMER_DEFER_REPEAT_TICKS;
            }
            timer_repeat_until = tru = now + TIMER_REPEAT_TICKS;
        }

        // Next timer in the past or near future - wait for it to be ready
        irq_enable();
        while (unlikely(diff > 0))
            diff = next - timer_read_time();
        irq_disable();
    }
}

// IRQ handler
void __visible __aligned(16) // aligning helps stabilize perf benchmarks
SysTick_Handler(void)
{
    irq_disable();
    uint32_t diff = timer_dispatch_many();
    timer_set_diff(diff);
    irq_enable();
}
DECL_ARMCM_IRQ(SysTick_Handler, SysTick_IRQn);

// Make sure timer_repeat_until doesn't wrap 32bit comparisons
void
timer_task(void)
{
    uint32_t now = timer_read_time();
    irq_disable();
    if (timer_is_before(timer_repeat_until, now))
        timer_repeat_until = now;
    irq_enable();
}
DECL_TASK(timer_task);