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sched: Move timer dispatch loop to board code
Rename sched_timer_kick() to sched_timer_dispatch() and move its loop into its callers in the board code. This eliminates the need to export timer_try_set_next() from the board code. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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parent
7436ec093a
commit
6d05dd07f5
8 changed files with 63 additions and 50 deletions
57
src/sched.c
57
src/sched.c
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@ -135,39 +135,34 @@ sched_del_timer(struct timer *del)
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irq_restore(flag);
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}
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// Invoke timers - called from board timer irq code.
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void
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sched_timer_kick(void)
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// Invoke the next timer - called from board hardware irq code.
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unsigned int
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sched_timer_dispatch(void)
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{
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for (;;) {
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// Invoke timer callback
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struct timer *t = timer_list;
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uint_fast8_t res;
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uint32_t updated_waketime;
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if (CONFIG_INLINE_STEPPER_HACK && likely(!t->func)) {
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res = stepper_event(t);
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updated_waketime = t->waketime;
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} else {
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res = t->func(t);
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updated_waketime = t->waketime;
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}
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// Update timer_list (rescheduling current timer if necessary)
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unsigned int next_waketime = updated_waketime;
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if (unlikely(res == SF_DONE)) {
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next_waketime = t->next->waketime;
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timer_list = t->next;
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} else if (!timer_is_before(updated_waketime, t->next->waketime)) {
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next_waketime = t->next->waketime;
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timer_list = t->next;
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insert_timer(t, updated_waketime);
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}
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// Schedule next timer event (or run next timer if it's ready)
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res = timer_try_set_next(next_waketime);
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if (res)
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break;
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// Invoke timer callback
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struct timer *t = timer_list;
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uint_fast8_t res;
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uint32_t updated_waketime;
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if (CONFIG_INLINE_STEPPER_HACK && likely(!t->func)) {
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res = stepper_event(t);
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updated_waketime = t->waketime;
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} else {
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res = t->func(t);
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updated_waketime = t->waketime;
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}
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// Update timer_list (rescheduling current timer if necessary)
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unsigned int next_waketime = updated_waketime;
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if (unlikely(res == SF_DONE)) {
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next_waketime = t->next->waketime;
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timer_list = t->next;
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} else if (!timer_is_before(updated_waketime, t->next->waketime)) {
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next_waketime = t->next->waketime;
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timer_list = t->next;
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insert_timer(t, updated_waketime);
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}
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return next_waketime;
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}
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// Shutdown all user timers on an emergency stop.
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