70126c8149
* rename esp_hal::time::current_time to esp_hal::time::uptime * changelog * move more things to init * s/uptime/now/g
86 lines
2.3 KiB
Rust
86 lines
2.3 KiB
Rust
use core::cell::RefCell;
|
|
|
|
use critical_section::Mutex;
|
|
use esp_hal::interrupt::InterruptHandler;
|
|
|
|
use crate::{
|
|
hal::{interrupt, trapframe::TrapFrame, xtensa_lx, xtensa_lx_rt},
|
|
preempt::task_switch,
|
|
TimeBase,
|
|
};
|
|
|
|
/// The timer responsible for time slicing.
|
|
static TIMER1: Mutex<RefCell<Option<TimeBase>>> = Mutex::new(RefCell::new(None));
|
|
const TIMESLICE_FREQUENCY: fugit::HertzU64 =
|
|
fugit::HertzU64::from_raw(crate::CONFIG.tick_rate_hz as u64);
|
|
|
|
// Time keeping
|
|
pub const TICKS_PER_SECOND: u64 = 1_000_000;
|
|
|
|
/// This function must not be called in a critical section. Doing so may return
|
|
/// an incorrect value.
|
|
pub fn get_systimer_count() -> u64 {
|
|
esp_hal::time::now().ticks()
|
|
}
|
|
|
|
pub fn setup_timer(mut timer1: TimeBase) -> Result<(), esp_hal::timer::Error> {
|
|
timer1.set_interrupt_handler(InterruptHandler::new(
|
|
unsafe { core::mem::transmute::<*const (), extern "C" fn()>(handler as *const ()) },
|
|
interrupt::Priority::Priority2,
|
|
));
|
|
timer1.start(TIMESLICE_FREQUENCY.into_duration())?;
|
|
critical_section::with(|cs| {
|
|
timer1.enable_interrupt(true);
|
|
TIMER1.borrow_ref_mut(cs).replace(timer1);
|
|
});
|
|
Ok(())
|
|
}
|
|
|
|
pub fn setup_multitasking() {
|
|
unsafe {
|
|
let enabled = xtensa_lx::interrupt::disable();
|
|
xtensa_lx::interrupt::enable_mask(
|
|
1 << 29 // Software1
|
|
| xtensa_lx_rt::interrupt::CpuInterruptLevel::Level2.mask()
|
|
| xtensa_lx_rt::interrupt::CpuInterruptLevel::Level6.mask() | enabled,
|
|
);
|
|
}
|
|
}
|
|
|
|
fn do_task_switch(context: &mut TrapFrame) {
|
|
critical_section::with(|cs| {
|
|
let mut timer = TIMER1.borrow_ref_mut(cs);
|
|
let timer = unwrap!(timer.as_mut());
|
|
timer.clear_interrupt();
|
|
});
|
|
|
|
task_switch(context);
|
|
}
|
|
|
|
extern "C" fn handler(context: &mut TrapFrame) {
|
|
do_task_switch(context);
|
|
}
|
|
|
|
#[allow(non_snake_case)]
|
|
#[no_mangle]
|
|
fn Software1(_level: u32, context: &mut TrapFrame) {
|
|
let intr = 1 << 29;
|
|
unsafe {
|
|
core::arch::asm!("wsr.intclear {0}", in(reg) intr, options(nostack));
|
|
}
|
|
|
|
do_task_switch(context);
|
|
}
|
|
|
|
pub fn yield_task() {
|
|
let intr = 1 << 29;
|
|
unsafe {
|
|
core::arch::asm!("wsr.intset {0}", in(reg) intr, options(nostack));
|
|
}
|
|
}
|
|
|
|
// TODO: use an Instance type instead...
|
|
pub fn time_diff(start: u64, end: u64) -> u64 {
|
|
end.wrapping_sub(start)
|
|
}
|