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sched: Avoid rescheduling the currently active timer
It's tricky to reschedule the timer irq correctly (due to race conditions with the irq) and in practice it's very rarely needed. Handle the special cases in the generic sched.c code so that the board code doesn't have to handle it. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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parent
cb286ede9d
commit
0a3c23bcf6
5 changed files with 53 additions and 90 deletions
51
src/sched.c
51
src/sched.c
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@ -101,33 +101,39 @@ sched_timer(struct timer *add)
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{
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uint32_t waketime = add->waketime;
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irqstatus_t flag = irq_save();
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if (sched_is_before(waketime, timer_list->waketime)) {
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// This timer is the next - insert at front of list and reschedule
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add->next = timer_list;
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timer_list = add;
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uint8_t ret = timer_set_next(waketime);
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if (ret)
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shutdown("Timer too close");
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} else {
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// Find position in list and insert
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struct timer *pos = timer_list;
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while (!sched_is_before(waketime, pos->next->waketime))
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pos = pos->next;
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add->next = pos->next;
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pos->next = add;
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}
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if (sched_is_before(waketime, timer_list->waketime))
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// Timer in past (or very near future)
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shutdown("Timer too close");
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// Find position in list and insert
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struct timer *pos = timer_list;
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while (!sched_is_before(waketime, pos->next->waketime))
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pos = pos->next;
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add->next = pos->next;
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pos->next = add;
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irq_restore(flag);
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}
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// The deleted timer is used when deleting an active timer.
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static uint_fast8_t
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deleted_event(struct timer *t)
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{
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return SF_DONE;
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}
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static struct timer deleted_timer = {
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.func = deleted_event,
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};
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// Remove a timer that may be live.
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void
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sched_del_timer(struct timer *del)
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{
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irqstatus_t flag = irq_save();
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if (timer_list == del) {
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// Deleting the next active timer - delete and reschedule
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timer_list = del->next;
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timer_set_next(timer_list->waketime);
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// Deleting the next active timer - replace with deleted_timer
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deleted_timer.waketime = del->waketime;
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deleted_timer.next = del->next;
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timer_list = &deleted_timer;
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} else {
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// Find and remove from timer list (if present)
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struct timer *pos;
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@ -197,13 +203,14 @@ sched_timer_kick(void)
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// Shutdown all user timers on an emergency stop.
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static void
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timer_shutdown(void)
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sched_timer_shutdown(void)
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{
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timer_list = &ms_timer;
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timer_list = &deleted_timer;
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deleted_timer.waketime = ms_timer.waketime;
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deleted_timer.next = &ms_timer;
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ms_timer.next = &sentinel_timer;
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timer_set_next(timer_list->waketime);
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}
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DECL_SHUTDOWN(timer_shutdown);
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DECL_SHUTDOWN(sched_timer_shutdown);
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/****************************************************************
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