1 | /** |
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2 | * @file timerserver.c |
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3 | * |
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4 | * Timer Manager - rtems_timer_initiate_server directive along with |
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5 | * the Timer Server Body and support routines |
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6 | * |
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7 | * @note Data specific to the Timer Server is declared in this |
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8 | * file as the Timer Server so it does not have to be in the |
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9 | * minimum footprint. It is only really required when |
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10 | * task-based timers are used. Since task-based timers can |
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11 | * not be started until the server is initiated, this structure |
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12 | * does not have to be initialized until then. |
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13 | */ |
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14 | |
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15 | /* COPYRIGHT (c) 1989-2008. |
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16 | * On-Line Applications Research Corporation (OAR). |
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17 | * |
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18 | * Copyright (c) 2009 embedded brains GmbH. |
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19 | * |
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20 | * The license and distribution terms for this file may be |
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21 | * found in the file LICENSE in this distribution or at |
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22 | * http://www.rtems.com/license/LICENSE. |
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23 | * |
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24 | * $Id$ |
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25 | */ |
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26 | |
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27 | #if HAVE_CONFIG_H |
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28 | #include "config.h" |
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29 | #endif |
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30 | |
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31 | #include <rtems/system.h> |
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32 | #include <rtems/rtems/status.h> |
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33 | #include <rtems/rtems/support.h> |
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34 | #include <rtems/score/object.h> |
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35 | #include <rtems/score/thread.h> |
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36 | #include <rtems/rtems/timer.h> |
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37 | #include <rtems/score/tod.h> |
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38 | #include <rtems/score/watchdog.h> |
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39 | |
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40 | #include <rtems/rtems/tasks.h> |
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41 | #include <rtems/rtems/support.h> |
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42 | #include <rtems/score/thread.h> |
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43 | |
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44 | static Timer_server_Control _Timer_server_Default; |
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45 | |
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46 | static void _Timer_server_Stop_interval_system_watchdog( |
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47 | Timer_server_Control *ts |
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48 | ) |
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49 | { |
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50 | _Watchdog_Remove( &ts->Interval_watchdogs.System_watchdog ); |
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51 | } |
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52 | |
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53 | static void _Timer_server_Reset_interval_system_watchdog( |
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54 | Timer_server_Control *ts |
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55 | ) |
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56 | { |
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57 | ISR_Level level; |
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58 | |
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59 | _Timer_server_Stop_interval_system_watchdog( ts ); |
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60 | |
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61 | _ISR_Disable( level ); |
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62 | if ( !_Chain_Is_empty( &ts->Interval_watchdogs.Chain ) ) { |
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63 | Watchdog_Interval delta_interval = |
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64 | _Watchdog_First( &ts->Interval_watchdogs.Chain )->delta_interval; |
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65 | _ISR_Enable( level ); |
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66 | |
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67 | /* |
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68 | * The unit is TICKS here. |
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69 | */ |
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70 | _Watchdog_Insert_ticks( |
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71 | &ts->Interval_watchdogs.System_watchdog, |
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72 | delta_interval |
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73 | ); |
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74 | } else { |
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75 | _ISR_Enable( level ); |
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76 | } |
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77 | } |
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78 | |
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79 | static void _Timer_server_Stop_tod_system_watchdog( |
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80 | Timer_server_Control *ts |
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81 | ) |
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82 | { |
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83 | _Watchdog_Remove( &ts->TOD_watchdogs.System_watchdog ); |
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84 | } |
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85 | |
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86 | static void _Timer_server_Reset_tod_system_watchdog( |
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87 | Timer_server_Control *ts |
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88 | ) |
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89 | { |
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90 | ISR_Level level; |
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91 | |
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92 | _Timer_server_Stop_tod_system_watchdog( ts ); |
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93 | |
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94 | _ISR_Disable( level ); |
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95 | if ( !_Chain_Is_empty( &ts->TOD_watchdogs.Chain ) ) { |
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96 | Watchdog_Interval delta_interval = |
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97 | _Watchdog_First( &ts->TOD_watchdogs.Chain )->delta_interval; |
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98 | _ISR_Enable( level ); |
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99 | |
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100 | /* |
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101 | * The unit is SECONDS here. |
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102 | */ |
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103 | _Watchdog_Insert_seconds( |
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104 | &ts->TOD_watchdogs.System_watchdog, |
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105 | delta_interval |
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106 | ); |
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107 | } else { |
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108 | _ISR_Enable( level ); |
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109 | } |
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110 | } |
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111 | |
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112 | static void _Timer_server_Insert_timer( |
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113 | Timer_server_Control *ts, |
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114 | Timer_Control *timer |
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115 | ) |
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116 | { |
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117 | if ( timer->the_class == TIMER_INTERVAL_ON_TASK ) { |
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118 | _Watchdog_Insert( &ts->Interval_watchdogs.Chain, &timer->Ticker ); |
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119 | } else if ( timer->the_class == TIMER_TIME_OF_DAY_ON_TASK ) { |
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120 | _Watchdog_Insert( &ts->TOD_watchdogs.Chain, &timer->Ticker ); |
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121 | } |
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122 | } |
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123 | |
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124 | static void _Timer_server_Insert_timer_and_make_snapshot( |
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125 | Timer_server_Control *ts, |
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126 | Timer_Control *timer |
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127 | ) |
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128 | { |
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129 | Watchdog_Control *first_watchdog; |
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130 | Watchdog_Interval delta_interval; |
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131 | Watchdog_Interval last_snapshot; |
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132 | Watchdog_Interval snapshot; |
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133 | Watchdog_Interval delta; |
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134 | ISR_Level level; |
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135 | |
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136 | /* |
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137 | * We have to update the time snapshots here, because otherwise we may have |
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138 | * problems with the integer range of the delta values. The time delta DT |
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139 | * from the last snapshot to now may be arbitrarily long. The last snapshot |
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140 | * is the reference point for the delta chain. Thus if we do not update the |
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141 | * reference point we have to add DT to the initial delta of the watchdog |
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142 | * being inserted. This could result in an integer overflow. |
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143 | */ |
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144 | |
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145 | _Thread_Disable_dispatch(); |
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146 | |
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147 | if ( timer->the_class == TIMER_INTERVAL_ON_TASK ) { |
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148 | /* |
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149 | * We have to advance the last known ticks value of the server and update |
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150 | * the watchdog chain accordingly. |
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151 | */ |
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152 | _ISR_Disable( level ); |
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153 | snapshot = _Watchdog_Ticks_since_boot; |
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154 | last_snapshot = ts->Interval_watchdogs.last_snapshot; |
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155 | if ( !_Chain_Is_empty( &ts->Interval_watchdogs.Chain ) ) { |
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156 | first_watchdog = _Watchdog_First( &ts->Interval_watchdogs.Chain ); |
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157 | |
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158 | /* |
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159 | * We assume adequate unsigned arithmetic here. |
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160 | */ |
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161 | delta = snapshot - last_snapshot; |
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162 | |
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163 | delta_interval = first_watchdog->delta_interval; |
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164 | if (delta_interval > delta) { |
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165 | delta_interval -= delta; |
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166 | } else { |
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167 | delta_interval = 0; |
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168 | } |
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169 | first_watchdog->delta_interval = delta_interval; |
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170 | } |
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171 | ts->Interval_watchdogs.last_snapshot = snapshot; |
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172 | _ISR_Enable( level ); |
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173 | |
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174 | _Watchdog_Insert( &ts->Interval_watchdogs.Chain, &timer->Ticker ); |
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175 | |
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176 | if ( !ts->active ) { |
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177 | _Timer_server_Reset_interval_system_watchdog( ts ); |
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178 | } |
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179 | } else if ( timer->the_class == TIMER_TIME_OF_DAY_ON_TASK ) { |
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180 | /* |
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181 | * We have to advance the last known seconds value of the server and update |
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182 | * the watchdog chain accordingly. |
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183 | */ |
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184 | _ISR_Disable( level ); |
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185 | snapshot = (Watchdog_Interval) _TOD_Seconds_since_epoch(); |
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186 | last_snapshot = ts->TOD_watchdogs.last_snapshot; |
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187 | if ( !_Chain_Is_empty( &ts->TOD_watchdogs.Chain ) ) { |
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188 | first_watchdog = _Watchdog_First( &ts->TOD_watchdogs.Chain ); |
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189 | delta_interval = first_watchdog->delta_interval; |
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190 | if ( snapshot > last_snapshot ) { |
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191 | /* |
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192 | * We advanced in time. |
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193 | */ |
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194 | delta = snapshot - last_snapshot; |
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195 | if (delta_interval > delta) { |
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196 | delta_interval -= delta; |
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197 | } else { |
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198 | delta_interval = 0; |
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199 | } |
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200 | } else { |
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201 | /* |
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202 | * Someone put us in the past. |
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203 | */ |
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204 | delta = last_snapshot - snapshot; |
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205 | delta_interval += delta; |
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206 | } |
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207 | first_watchdog->delta_interval = delta_interval; |
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208 | } |
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209 | ts->TOD_watchdogs.last_snapshot = snapshot; |
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210 | _ISR_Enable( level ); |
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211 | |
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212 | _Watchdog_Insert( &ts->TOD_watchdogs.Chain, &timer->Ticker ); |
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213 | |
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214 | if ( !ts->active ) { |
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215 | _Timer_server_Reset_tod_system_watchdog( ts ); |
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216 | } |
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217 | } |
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218 | |
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219 | _Thread_Enable_dispatch(); |
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220 | } |
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221 | |
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222 | static void _Timer_server_Schedule_operation_method( |
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223 | Timer_server_Control *ts, |
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224 | Timer_Control *timer |
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225 | ) |
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226 | { |
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227 | if ( ts->insert_chain == NULL ) { |
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228 | _Timer_server_Insert_timer_and_make_snapshot( ts, timer ); |
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229 | } else { |
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230 | /* |
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231 | * We interrupted a critical section of the timer server. The timer |
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232 | * server is not preemptible, so we must be in interrupt context here. No |
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233 | * thread dispatch will happen until the timer server finishes its |
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234 | * critical section. We have to use the protected chain methods because |
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235 | * we may be interrupted by a higher priority interrupt. |
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236 | */ |
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237 | _Chain_Append( ts->insert_chain, &timer->Object.Node ); |
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238 | } |
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239 | } |
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240 | |
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241 | static void _Timer_server_Process_interval_watchdogs( |
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242 | Timer_server_Watchdogs *watchdogs, |
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243 | Chain_Control *fire_chain |
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244 | ) |
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245 | { |
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246 | Watchdog_Interval snapshot = _Watchdog_Ticks_since_boot; |
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247 | |
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248 | /* |
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249 | * We assume adequate unsigned arithmetic here. |
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250 | */ |
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251 | Watchdog_Interval delta = snapshot - watchdogs->last_snapshot; |
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252 | |
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253 | watchdogs->last_snapshot = snapshot; |
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254 | |
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255 | _Watchdog_Adjust_to_chain( &watchdogs->Chain, delta, fire_chain ); |
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256 | } |
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257 | |
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258 | static void _Timer_server_Process_tod_watchdogs( |
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259 | Timer_server_Watchdogs *watchdogs, |
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260 | Chain_Control *fire_chain |
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261 | ) |
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262 | { |
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263 | Watchdog_Interval snapshot = (Watchdog_Interval) _TOD_Seconds_since_epoch(); |
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264 | Watchdog_Interval last_snapshot = watchdogs->last_snapshot; |
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265 | Watchdog_Interval delta; |
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266 | |
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267 | /* |
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268 | * Process the seconds chain. Start by checking that the Time |
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269 | * of Day (TOD) has not been set backwards. If it has then |
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270 | * we want to adjust the watchdogs->Chain to indicate this. |
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271 | */ |
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272 | if ( snapshot > last_snapshot ) { |
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273 | /* |
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274 | * This path is for normal forward movement and cases where the |
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275 | * TOD has been set forward. |
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276 | */ |
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277 | delta = snapshot - last_snapshot; |
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278 | _Watchdog_Adjust_to_chain( &watchdogs->Chain, delta, fire_chain ); |
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279 | |
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280 | } else if ( snapshot < last_snapshot ) { |
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281 | /* |
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282 | * The current TOD is before the last TOD which indicates that |
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283 | * TOD has been set backwards. |
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284 | */ |
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285 | delta = last_snapshot - snapshot; |
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286 | _Watchdog_Adjust( &watchdogs->Chain, WATCHDOG_BACKWARD, delta ); |
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287 | } |
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288 | |
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289 | watchdogs->last_snapshot = snapshot; |
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290 | } |
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291 | |
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292 | static void _Timer_server_Process_insertions( Timer_server_Control *ts ) |
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293 | { |
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294 | while ( true ) { |
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295 | Timer_Control *timer = (Timer_Control *) _Chain_Get( ts->insert_chain ); |
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296 | |
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297 | if ( timer == NULL ) { |
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298 | break; |
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299 | } |
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300 | |
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301 | _Timer_server_Insert_timer( ts, timer ); |
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302 | } |
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303 | } |
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304 | |
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305 | static void _Timer_server_Get_watchdogs_that_fire_now( |
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306 | Timer_server_Control *ts, |
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307 | Chain_Control *insert_chain, |
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308 | Chain_Control *fire_chain |
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309 | ) |
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310 | { |
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311 | /* |
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312 | * Afterwards all timer inserts are directed to this chain and the interval |
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313 | * and TOD chains will be no more modified by other parties. |
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314 | */ |
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315 | ts->insert_chain = insert_chain; |
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316 | |
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317 | while ( true ) { |
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318 | ISR_Level level; |
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319 | |
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320 | /* |
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321 | * Remove all the watchdogs that need to fire so we can invoke them. |
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322 | */ |
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323 | _Timer_server_Process_interval_watchdogs( |
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324 | &ts->Interval_watchdogs, |
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325 | fire_chain |
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326 | ); |
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327 | _Timer_server_Process_tod_watchdogs( &ts->TOD_watchdogs, fire_chain ); |
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328 | |
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329 | /* |
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330 | * The insertions have to take place here, because they reference the |
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331 | * current time. The previous process methods take a snapshot of the |
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332 | * current time. In case someone inserts a watchdog with an initial value |
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333 | * of zero it will be processed in the next iteration of the timer server |
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334 | * body loop. |
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335 | */ |
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336 | _Timer_server_Process_insertions( ts ); |
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337 | |
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338 | _ISR_Disable( level ); |
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339 | if ( _Chain_Is_empty( insert_chain ) ) { |
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340 | ts->insert_chain = NULL; |
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341 | _ISR_Enable( level ); |
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342 | |
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343 | break; |
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344 | } else { |
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345 | _ISR_Enable( level ); |
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346 | } |
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347 | } |
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348 | } |
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349 | |
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350 | /** |
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351 | * @brief Timer server body. |
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352 | * |
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353 | * This is the server for task based timers. This task executes whenever a |
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354 | * task-based timer should fire. It services both "after" and "when" timers. |
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355 | * It is not created automatically but must be created explicitly by the |
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356 | * application before task-based timers may be initiated. The parameter |
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357 | * @a arg points to the corresponding timer server control block. |
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358 | */ |
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359 | static rtems_task _Timer_server_Body( |
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360 | rtems_task_argument arg |
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361 | ) |
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362 | { |
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363 | Timer_server_Control *ts = (Timer_server_Control *) arg; |
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364 | Chain_Control insert_chain; |
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365 | Chain_Control fire_chain; |
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366 | |
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367 | _Chain_Initialize_empty( &insert_chain ); |
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368 | _Chain_Initialize_empty( &fire_chain ); |
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369 | |
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370 | while ( true ) { |
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371 | _Timer_server_Get_watchdogs_that_fire_now( ts, &insert_chain, &fire_chain ); |
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372 | |
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373 | if ( !_Chain_Is_empty( &fire_chain ) ) { |
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374 | /* |
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375 | * Fire the watchdogs. |
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376 | */ |
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377 | while ( true ) { |
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378 | Watchdog_Control *watchdog; |
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379 | ISR_Level level; |
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380 | |
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381 | /* |
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382 | * It is essential that interrupts are disable here since an interrupt |
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383 | * service routine may remove a watchdog from the chain. |
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384 | */ |
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385 | _ISR_Disable( level ); |
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386 | watchdog = (Watchdog_Control *) _Chain_Get_unprotected( &fire_chain ); |
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387 | if ( watchdog != NULL ) { |
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388 | watchdog->state = WATCHDOG_INACTIVE; |
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389 | _ISR_Enable( level ); |
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390 | } else { |
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391 | _ISR_Enable( level ); |
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392 | |
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393 | break; |
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394 | } |
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395 | |
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396 | /* |
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397 | * The timer server may block here and wait for resources or time. |
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398 | * The system watchdogs are inactive and will remain inactive since |
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399 | * the active flag of the timer server is true. |
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400 | */ |
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401 | (*watchdog->routine)( watchdog->id, watchdog->user_data ); |
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402 | } |
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403 | } else { |
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404 | ts->active = false; |
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405 | |
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406 | /* |
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407 | * Block until there is something to do. |
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408 | */ |
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409 | _Thread_Disable_dispatch(); |
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410 | _Thread_Set_state( ts->thread, STATES_DELAYING ); |
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411 | _Timer_server_Reset_interval_system_watchdog( ts ); |
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412 | _Timer_server_Reset_tod_system_watchdog( ts ); |
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413 | _Thread_Enable_dispatch(); |
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414 | |
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415 | ts->active = true; |
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416 | |
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417 | /* |
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418 | * Maybe an interrupt did reset the system timers, so we have to stop |
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419 | * them here. Since we are active now, there will be no more resets |
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420 | * until we are inactive again. |
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421 | */ |
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422 | _Timer_server_Stop_interval_system_watchdog( ts ); |
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423 | _Timer_server_Stop_tod_system_watchdog( ts ); |
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424 | } |
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425 | } |
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426 | } |
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427 | |
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428 | /** |
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429 | * @brief rtems_timer_initiate_server |
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430 | * |
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431 | * This directive creates and starts the server for task-based timers. |
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432 | * It must be invoked before any task-based timers can be initiated. |
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433 | * |
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434 | * @param[in] priority is the timer server priority |
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435 | * @param[in] stack_size is the stack size in bytes |
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436 | * @param[in] attribute_set is the timer server attributes |
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437 | * |
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438 | * @return This method returns RTEMS_SUCCESSFUL if successful and an |
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439 | * error code otherwise. |
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440 | */ |
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441 | rtems_status_code rtems_timer_initiate_server( |
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442 | uint32_t priority, |
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443 | uint32_t stack_size, |
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444 | rtems_attribute attribute_set |
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445 | ) |
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446 | { |
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447 | rtems_id id; |
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448 | rtems_status_code status; |
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449 | rtems_task_priority _priority; |
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450 | static bool initialized = false; |
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451 | bool tmpInitialized; |
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452 | Timer_server_Control *ts = &_Timer_server_Default; |
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453 | |
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454 | /* |
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455 | * Make sure the requested priority is valid. The if is |
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456 | * structured so we check it is invalid before looking for |
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457 | * a specific invalid value as the default. |
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458 | */ |
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459 | _priority = priority; |
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460 | if ( !_RTEMS_tasks_Priority_is_valid( priority ) ) { |
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461 | if ( priority != RTEMS_TIMER_SERVER_DEFAULT_PRIORITY ) |
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462 | return RTEMS_INVALID_PRIORITY; |
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463 | _priority = 0; |
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464 | } |
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465 | |
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466 | /* |
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467 | * Just to make sure this is only called once. |
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468 | */ |
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469 | _Thread_Disable_dispatch(); |
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470 | tmpInitialized = initialized; |
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471 | initialized = true; |
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472 | _Thread_Enable_dispatch(); |
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473 | |
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474 | if ( tmpInitialized ) |
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475 | return RTEMS_INCORRECT_STATE; |
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476 | |
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477 | /* |
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478 | * Create the Timer Server with the name the name of "TIME". The attribute |
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479 | * RTEMS_SYSTEM_TASK allows us to set a priority to 0 which will makes it |
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480 | * higher than any other task in the system. It can be viewed as a low |
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481 | * priority interrupt. It is also always NO_PREEMPT so it looks like |
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482 | * an interrupt to other tasks. |
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483 | * |
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484 | * We allow the user to override the default priority because the Timer |
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485 | * Server can invoke TSRs which must adhere to language run-time or |
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486 | * other library rules. For example, if using a TSR written in Ada the |
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487 | * Server should run at the same priority as the priority Ada task. |
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488 | * Otherwise, the priority ceiling for the mutex used to protect the |
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489 | * GNAT run-time is violated. |
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490 | */ |
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491 | status = rtems_task_create( |
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492 | _Objects_Build_name('T','I','M','E'), /* "TIME" */ |
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493 | _priority, /* create with priority 1 since 0 is illegal */ |
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494 | stack_size, /* let user specify stack size */ |
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495 | RTEMS_NO_PREEMPT, /* no preempt is like an interrupt */ |
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496 | /* user may want floating point but we need */ |
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497 | /* system task specified for 0 priority */ |
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498 | attribute_set | RTEMS_SYSTEM_TASK, |
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499 | &id /* get the id back */ |
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500 | ); |
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501 | if (status) { |
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502 | initialized = false; |
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503 | return status; |
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504 | } |
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505 | |
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506 | /* |
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507 | * Do all the data structure initialization before starting the |
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508 | * Timer Server so we do not have to have a critical section. |
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509 | */ |
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510 | |
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511 | /* |
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512 | * We work with the TCB pointer, not the ID, so we need to convert |
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513 | * to a TCB pointer from here out. |
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514 | */ |
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515 | ts->thread = (Thread_Control *)_Objects_Get_local_object( |
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516 | &_RTEMS_tasks_Information, |
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517 | _Objects_Get_index(id) |
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518 | ); |
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519 | |
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520 | /* |
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521 | * Initialize the timer lists that the server will manage. |
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522 | */ |
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523 | _Chain_Initialize_empty( &ts->Interval_watchdogs.Chain ); |
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524 | _Chain_Initialize_empty( &ts->TOD_watchdogs.Chain ); |
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525 | |
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526 | /* |
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527 | * Initialize the timers that will be used to control when the |
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528 | * Timer Server wakes up and services the task-based timers. |
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529 | */ |
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530 | _Watchdog_Initialize( |
---|
531 | &ts->Interval_watchdogs.System_watchdog, |
---|
532 | _Thread_Delay_ended, |
---|
533 | id, |
---|
534 | NULL |
---|
535 | ); |
---|
536 | _Watchdog_Initialize( |
---|
537 | &ts->TOD_watchdogs.System_watchdog, |
---|
538 | _Thread_Delay_ended, |
---|
539 | id, |
---|
540 | NULL |
---|
541 | ); |
---|
542 | |
---|
543 | /* |
---|
544 | * Initialize the pointer to the timer schedule method so applications that |
---|
545 | * do not use the Timer Server do not have to pull it in. |
---|
546 | */ |
---|
547 | ts->schedule_operation = _Timer_server_Schedule_operation_method; |
---|
548 | |
---|
549 | ts->Interval_watchdogs.last_snapshot = _Watchdog_Ticks_since_boot; |
---|
550 | ts->TOD_watchdogs.last_snapshot = (Watchdog_Interval) _TOD_Seconds_since_epoch(); |
---|
551 | |
---|
552 | ts->insert_chain = NULL; |
---|
553 | ts->active = false; |
---|
554 | |
---|
555 | /* |
---|
556 | * The default timer server is now available. |
---|
557 | */ |
---|
558 | _Timer_server = ts; |
---|
559 | |
---|
560 | /* |
---|
561 | * Start the timer server |
---|
562 | */ |
---|
563 | status = rtems_task_start( |
---|
564 | id, |
---|
565 | _Timer_server_Body, |
---|
566 | (rtems_task_argument) ts |
---|
567 | ); |
---|
568 | |
---|
569 | #if defined(RTEMS_DEBUG) |
---|
570 | /* |
---|
571 | * One would expect a call to rtems_task_delete() here to clean up |
---|
572 | * but there is actually no way (in normal circumstances) that the |
---|
573 | * start can fail. The id and starting address are known to be |
---|
574 | * be good. If this service fails, something is weirdly wrong on the |
---|
575 | * target such as a stray write in an ISR or incorrect memory layout. |
---|
576 | */ |
---|
577 | if (status) { |
---|
578 | initialized = false; |
---|
579 | } |
---|
580 | #endif |
---|
581 | |
---|
582 | return status; |
---|
583 | } |
---|