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npusched mailbox config(zebu) && mtime interface update
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Feishu-Url: https://project.feishu.cn/vehicle_control/story/detail/4421238598

Bug-Introduced-Phase: feature_development
Root-Cause: N/A
Resolution-Description: N/A
Signed-off-by: fanjiangang <[email protected]>
Change-Id: I343e13d41e3e4df5ea85753507ea01b214dceaa2
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@atmfjg @anchao
atmfjg authored and anchao committed Aug 22, 2024
1 parent 355742b commit 1ec0004
Showing 1 changed file with 40 additions and 45 deletions.
85 changes: 40 additions & 45 deletions arch/risc-v/src/common/riscv_mtimer.c
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Original file line number Diff line number Diff line change
Expand Up @@ -54,26 +54,25 @@ struct riscv_mtimer_lowerhalf_s
* Private Function Prototypes
****************************************************************************/

static int riscv_mtimer_max_delay(struct oneshot_lowerhalf_s *lower,
struct timespec *ts);
static int riscv_mtimer_start(struct oneshot_lowerhalf_s *lower,
static int riscv_tick_max_delay(struct oneshot_lowerhalf_s *lower,
clock_t *ticks);
static int riscv_tick_start(struct oneshot_lowerhalf_s *lower,
oneshot_callback_t callback, void *arg,
const struct timespec *ts);
static int riscv_mtimer_cancel(struct oneshot_lowerhalf_s *lower,
struct timespec *ts);
static int riscv_mtimer_current(struct oneshot_lowerhalf_s *lower,
struct timespec *ts);

clock_t ticks);
static int riscv_tick_cancel(struct oneshot_lowerhalf_s *lower,
clock_t *ticks);
static int riscv_tick_current(struct oneshot_lowerhalf_s *lower,
clock_t *ticks);
/****************************************************************************
* Private Data
****************************************************************************/

static const struct oneshot_operations_s g_riscv_mtimer_ops =
{
.max_delay = riscv_mtimer_max_delay,
.start = riscv_mtimer_start,
.cancel = riscv_mtimer_cancel,
.current = riscv_mtimer_current,
.tick_start = riscv_tick_start,
.tick_current = riscv_tick_current,
.tick_max_delay = riscv_tick_max_delay,
.tick_cancel = riscv_tick_cancel,
};

/****************************************************************************
Expand Down Expand Up @@ -159,7 +158,7 @@ static void riscv_mtimer_set_mtimecmp(struct riscv_mtimer_lowerhalf_s *priv,
#endif

/****************************************************************************
* Name: riscv_mtimer_max_delay
* Name: riscv_tick_max_delay
*
* Description:
* Determine the maximum delay of the one-shot timer
Expand All @@ -168,25 +167,26 @@ static void riscv_mtimer_set_mtimecmp(struct riscv_mtimer_lowerhalf_s *priv,
* lower An instance of the lower-half oneshot state structure. This
* structure must have been previously initialized via a call to
* oneshot_initialize();
* ts The location in which to return the maximum delay.
* ticks The location in which to return the maximum delay.
*
* Returned Value:
* Zero (OK) is returned on success; a negated errno value is returned
* on failure.
*
****************************************************************************/

static int riscv_mtimer_max_delay(struct oneshot_lowerhalf_s *lower,
struct timespec *ts)
static int riscv_tick_max_delay(struct oneshot_lowerhalf_s *lower,
clock_t *ticks)
{
ts->tv_sec = UINT32_MAX;
ts->tv_nsec = NSEC_PER_SEC - 1;
DEBUGASSERT(ticks != NULL);

*ticks = (clock_t)UINT64_MAX;

return 0;
}

/****************************************************************************
* Name: riscv_mtimer_start
* Name: riscv_tick_start
*
* Description:
* Start the oneshot timer
Expand All @@ -197,23 +197,22 @@ static int riscv_mtimer_max_delay(struct oneshot_lowerhalf_s *lower,
* oneshot_initialize();
* handler The function to call when when the oneshot timer expires.
* arg An opaque argument that will accompany the callback.
* ts Provides the duration of the one shot timer.
* ticks Provides the duration of the one shot timer.
*
* Returned Value:
* Zero (OK) is returned on success; a negated errno value is returned
* on failure.
*
****************************************************************************/

static int riscv_mtimer_start(struct oneshot_lowerhalf_s *lower,
static int riscv_tick_start(struct oneshot_lowerhalf_s *lower,
oneshot_callback_t callback, void *arg,
const struct timespec *ts)
clock_t ticks)
{
struct riscv_mtimer_lowerhalf_s *priv =
(struct riscv_mtimer_lowerhalf_s *)lower;
uint64_t mtime = riscv_mtimer_get_mtime(priv);
uint64_t alarm = mtime + ts->tv_sec * priv->freq +
ts->tv_nsec * priv->freq / NSEC_PER_SEC;
uint64_t alarm = mtime + ticks * priv->freq / MSEC_PER_SEC;

if (alarm < mtime)
{
Expand All @@ -237,7 +236,7 @@ static int riscv_mtimer_start(struct oneshot_lowerhalf_s *lower,
}

/****************************************************************************
* Name: riscv_mtimer_cancel
* Name: riscv_tick_cancel
*
* Description:
* Cancel the oneshot timer and return the time remaining on the timer.
Expand All @@ -249,9 +248,8 @@ static int riscv_mtimer_start(struct oneshot_lowerhalf_s *lower,
* lower Caller allocated instance of the oneshot state structure. This
* structure must have been previously initialized via a call to
* oneshot_initialize();
* ts The location in which to return the time remaining on the
* oneshot timer. A time of zero is returned if the timer is
* not running.
* ticks The location in which to return the time remaining on the
* oneshot timer.
*
* Returned Value:
* Zero (OK) is returned on success. A call to up_timer_cancel() when
Expand All @@ -260,14 +258,16 @@ static int riscv_mtimer_start(struct oneshot_lowerhalf_s *lower,
*
****************************************************************************/

static int riscv_mtimer_cancel(struct oneshot_lowerhalf_s *lower,
struct timespec *ts)
static int riscv_tick_cancel(struct oneshot_lowerhalf_s *lower,
clock_t *ticks)
{
struct riscv_mtimer_lowerhalf_s *priv =
(struct riscv_mtimer_lowerhalf_s *)lower;
uint64_t mtime;
uint64_t alarm = priv->alarm;

DEBUGASSERT(ticks != NULL);

priv->alarm = UINT64_MAX;
if (!up_interrupt_context())
{
Expand All @@ -277,14 +277,11 @@ static int riscv_mtimer_cancel(struct oneshot_lowerhalf_s *lower,
mtime = riscv_mtimer_get_mtime(priv);
if (alarm > mtime)
{
uint64_t nsec = (alarm - mtime) * NSEC_PER_SEC / priv->freq;
ts->tv_sec = nsec / NSEC_PER_SEC;
ts->tv_nsec = nsec % NSEC_PER_SEC;
*ticks = (alarm - mtime) * MSEC_PER_SEC / priv->freq;
}
else
{
ts->tv_sec = 0;
ts->tv_nsec = 0;
*ticks = 0;
}

priv->alarm = 0;
Expand All @@ -295,7 +292,7 @@ static int riscv_mtimer_cancel(struct oneshot_lowerhalf_s *lower,
}

/****************************************************************************
* Name: riscv_mtimer_current
* Name: riscv_tick_current
*
* Description:
* Get the current time.
Expand All @@ -304,25 +301,23 @@ static int riscv_mtimer_cancel(struct oneshot_lowerhalf_s *lower,
* lower Caller allocated instance of the oneshot state structure. This
* structure must have been previously initialized via a call to
* oneshot_initialize();
* ts The location in which to return the current time. A time of zero
* is returned for the initialization moment.
* ticks The location in which to return the current time.
*
* Returned Value:
* Zero (OK) is returned on success, a negated errno value is returned on
* any failure.
*
****************************************************************************/

static int riscv_mtimer_current(struct oneshot_lowerhalf_s *lower,
struct timespec *ts)
static int riscv_tick_current(struct oneshot_lowerhalf_s *lower,
clock_t *ticks)
{
struct riscv_mtimer_lowerhalf_s *priv =
(struct riscv_mtimer_lowerhalf_s *)lower;
uint64_t mtime = riscv_mtimer_get_mtime(priv);
uint64_t nsec = mtime / (priv->freq / USEC_PER_SEC) * NSEC_PER_USEC;

ts->tv_sec = nsec / NSEC_PER_SEC;
ts->tv_nsec = nsec % NSEC_PER_SEC;
DEBUGASSERT(ticks != NULL);

*ticks = riscv_mtimer_get_mtime(priv) / (priv->freq / MSEC_PER_SEC);

return 0;
}
Expand Down

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