/* * Copyright (c) 2016-2018 Nordic Semiconductor ASA * Copyright (c) 2016 Vinayak Kariappa Chettimada * * SPDX-License-Identifier: Apache-2.0 */ #include #include #include #include "hal/cntr.h" #include "hal/ticker.h" #include "ticker.h" #define BT_DBG_ENABLED IS_ENABLED(CONFIG_BT_DEBUG_HCI_DRIVER) #define LOG_MODULE_NAME bt_ctlr_ticker #include "common/log.h" #include "hal/debug.h" /***************************************************************************** * Defines ****************************************************************************/ #define DOUBLE_BUFFER_SIZE 2 /***************************************************************************** * Types ****************************************************************************/ struct ticker_node { uint8_t next; /* Next ticker node */ uint8_t req; /* Request counter */ uint8_t ack; /* Acknowledge counter. Imbalance * between req and ack indicates * ongoing operation */ uint8_t force; /* If non-zero, node timeout should * be forced at next expiration */ uint32_t ticks_periodic; /* If non-zero, interval * between expirations */ uint32_t ticks_to_expire; /* Ticks until expiration */ ticker_timeout_func timeout_func; /* User timeout function */ void *context; /* Context delivered to timeout * function */ uint32_t ticks_to_expire_minus; /* Negative drift correction */ #if !defined(CONFIG_BT_TICKER_SLOT_AGNOSTIC) uint32_t ticks_slot; /* Air-time reservation for node */ #endif /* CONFIG_BT_TICKER_SLOT_AGNOSTIC */ uint16_t lazy_periodic; /* Number of timeouts to allow * skipping */ uint16_t lazy_current; /* Current number of timeouts * skipped = slave latency */ union { uint32_t remainder_periodic;/* Sub-microsecond tick remainder * for each period */ ticker_op_func fp_op_func; /* Operation completion callback */ }; union { uint32_t remainder_current; /* Current sub-microsecond tick * remainder */ void *op_context; /* Context passed in completion * callback */ }; #if !defined(CONFIG_BT_TICKER_LOW_LAT) && \ !defined(CONFIG_BT_TICKER_SLOT_AGNOSTIC) #if defined(CONFIG_BT_TICKER_EXT) struct ticker_ext *ext_data; /* Ticker extension data */ #endif /* CONFIG_BT_TICKER_EXT */ uint8_t must_expire; /* Node must expire, even if it * collides with other nodes */ int8_t priority; /* Ticker node priority. 0 is * default. Lower value is higher * priority */ #endif /* !CONFIG_BT_TICKER_LOW_LAT && * !CONFIG_BT_TICKER_SLOT_AGNOSTIC */ }; /* Operations to be performed in ticker_job. * Possible values for field "op" in struct ticker_user_op */ #define TICKER_USER_OP_TYPE_NONE 0 #define TICKER_USER_OP_TYPE_IDLE_GET 1 #define TICKER_USER_OP_TYPE_SLOT_GET 2 #define TICKER_USER_OP_TYPE_PRIORITY_SET 3 #define TICKER_USER_OP_TYPE_START 4 #define TICKER_USER_OP_TYPE_UPDATE 5 #define TICKER_USER_OP_TYPE_STOP 6 #define TICKER_USER_OP_TYPE_STOP_ABS 7 /* Slot window re-schedule states */ #define TICKER_RESCHEDULE_STATE_NONE 0 #define TICKER_RESCHEDULE_STATE_PENDING 1 #define TICKER_RESCHEDULE_STATE_DONE 2 #if defined(CONFIG_BT_TICKER_EXT) #define TICKER_RESCHEDULE_PENDING(_ticker) \ (_ticker->ext_data && (_ticker->ext_data->reschedule_state == \ TICKER_RESCHEDULE_STATE_PENDING)) #else #define TICKER_RESCHEDULE_PENDING(_ticker) 0 #endif /* User operation data structure for start opcode. Used for passing start * requests to ticker_job */ struct ticker_user_op_start { uint32_t ticks_at_start; /* Anchor ticks (absolute) */ uint32_t ticks_first; /* Initial timeout ticks */ uint32_t ticks_periodic; /* Ticker period ticks */ uint32_t remainder_periodic; /* Sub-microsecond tick remainder */ uint16_t lazy; /* Periodic latency in number of * periods */ #if !defined(CONFIG_BT_TICKER_SLOT_AGNOSTIC) uint32_t ticks_slot; /* Air-time reservation ticks */ #endif /* CONFIG_BT_TICKER_SLOT_AGNOSTIC */ ticker_timeout_func fp_timeout_func; /* Timeout callback function */ void *context; /* Context passed in timeout callback */ #if defined(CONFIG_BT_TICKER_EXT) struct ticker_ext *ext_data; /* Ticker extension data instance */ #endif /* CONFIG_BT_TICKER_EXT */ }; /* User operation data structure for update opcode. Used for passing update * requests to ticker_job */ struct ticker_user_op_update { uint32_t ticks_drift_plus; /* Requested positive drift in ticks */ uint32_t ticks_drift_minus; /* Requested negatice drift in ticks */ #if !defined(CONFIG_BT_TICKER_SLOT_AGNOSTIC) uint32_t ticks_slot_plus; /* Number of ticks to add to slot * reservation (air-time) */ uint32_t ticks_slot_minus; /* Number of ticks to subtract from * slot reservation (air-time) */ #endif /* CONFIG_BT_TICKER_SLOT_AGNOSTIC */ uint16_t lazy; /* Slave latency: * 0: Do nothing * 1: latency = 0 * >1: latency = lazy - 1 */ uint8_t force; /* Force update */ #if defined(CONFIG_BT_TICKER_EXT) uint8_t must_expire; /* Node must expire, even if it * collides with other nodes: * 0x00: Do nothing * 0x01: Disable must_expire * 0x02: Enable must_expire */ #endif }; /* User operation data structure for stop opcode. Used for passing stop * requests with absolute tick to ticker_job */ struct ticker_user_op_stop { uint32_t ticks_at_stop; /* Anchor ticks (absolute) */ }; /* User operation data structure for slot_get opcode. Used for passing request * to get next ticker with slot ticks via ticker_job */ struct ticker_user_op_slot_get { uint8_t *ticker_id; uint32_t *ticks_current; uint32_t *ticks_to_expire; #if defined(CONFIG_BT_TICKER_LAZY_GET) uint16_t *lazy; #endif /* CONFIG_BT_TICKER_LAZY_GET */ }; /* User operation data structure for priority_set opcode. Used for passing * request to set ticker node priority via ticker_job */ struct ticker_user_op_priority_set { int8_t priority; /* Node priority. Defaults to 0 */ }; /* User operation top level data structure. Used for passing requests to * ticker_job */ struct ticker_user_op { uint8_t op; /* User operation */ uint8_t id; /* Ticker node id */ union { struct ticker_user_op_start start; struct ticker_user_op_update update; struct ticker_user_op_stop stop; struct ticker_user_op_slot_get slot_get; struct ticker_user_op_priority_set priority_set; } params; /* User operation parameters */ uint32_t status; /* Operation result */ ticker_op_func fp_op_func; /* Operation completion callback */ void *op_context; /* Context passed in completion callback */ }; /* User data structure for operations */ struct ticker_user { uint8_t count_user_op; /* Number of user operation slots */ uint8_t first; /* Slot index of first user operation */ uint8_t middle; /* Slot index of last managed user op. * Updated by ticker_job_list_manage * for use in ticker_job_list_insert */ uint8_t last; /* Slot index of last user operation */ struct ticker_user_op *user_op; /* Pointer to user operation array */ }; /* Ticker instance */ struct ticker_instance { struct ticker_node *nodes; /* Pointer to ticker nodes */ struct ticker_user *users; /* Pointer to user nodes */ uint8_t count_node; /* Number of ticker nodes */ uint8_t count_user; /* Number of user nodes */ uint8_t ticks_elapsed_first; /* Index from which elapsed ticks count * is pulled */ uint8_t ticks_elapsed_last; /* Index to which elapsed ticks count * is pushed */ uint32_t ticks_elapsed[DOUBLE_BUFFER_SIZE]; /* Buffer for elapsed * ticks */ uint32_t ticks_current; /* Absolute ticks elapsed at last * ticker_job */ uint32_t ticks_slot_previous; /* Number of ticks previously reserved * by a ticker node (active air-time) */ uint8_t ticker_id_slot_previous; /* Id of previous slot reserving * ticker node */ uint8_t ticker_id_head; /* Index of first ticker node (next to * expire) */ uint8_t job_guard; /* Flag preventing ticker_worker from * running if ticker_job is active */ uint8_t worker_trigger; /* Flag preventing ticker_job from * starting if ticker_worker was * requested, and to trigger * ticker_worker at end of job, if * requested */ ticker_caller_id_get_cb_t caller_id_get_cb; /* Function for retrieving * the caller id from user * id */ ticker_sched_cb_t sched_cb; /* Function for scheduling * ticker_worker and * ticker_job */ ticker_trigger_set_cb_t trigger_set_cb; /* Function for setting * the trigger (compare * value) */ }; BUILD_ASSERT(sizeof(struct ticker_node) == TICKER_NODE_T_SIZE); BUILD_ASSERT(sizeof(struct ticker_user) == TICKER_USER_T_SIZE); BUILD_ASSERT(sizeof(struct ticker_user_op) == TICKER_USER_OP_T_SIZE); /***************************************************************************** * Global instances ****************************************************************************/ #define TICKER_INSTANCE_MAX 1 static struct ticker_instance _instance[TICKER_INSTANCE_MAX]; /***************************************************************************** * Static Functions ****************************************************************************/ /** * @brief Update elapsed index * * @param ticks_elapsed_index Pointer to current index * * @internal */ static inline void ticker_next_elapsed(uint8_t *ticks_elapsed_index) { uint8_t idx = *ticks_elapsed_index + 1; if (idx == DOUBLE_BUFFER_SIZE) { idx = 0U; } *ticks_elapsed_index = idx; } #if defined(CONFIG_BT_TICKER_LOW_LAT) /** * @brief Get ticker expiring in a specific slot * * @details Searches for a ticker which expires in a specific slot starting * at 'ticks_slot'. * * @param node Pointer to ticker node array * @param ticker_id_head Id of initial ticker node * @param ticks_slot Ticks indicating slot to get * * @return Id of ticker expiring within slot or TICKER_NULL * @internal */ static uint8_t ticker_by_slot_get(struct ticker_node *node, uint8_t ticker_id_head, uint32_t ticks_slot) { while (ticker_id_head != TICKER_NULL) { struct ticker_node *ticker; uint32_t ticks_to_expire; ticker = &node[ticker_id_head]; ticks_to_expire = ticker->ticks_to_expire; if (ticks_slot <= ticks_to_expire) { /* Next ticker expiration is outside the checked slot */ return TICKER_NULL; } if (ticker->ticks_slot) { /* This ticker node has slot defined and expires within * checked slot */ break; } ticks_slot -= ticks_to_expire; ticker_id_head = ticker->next; } return ticker_id_head; } #endif /* CONFIG_BT_TICKER_LOW_LAT */ /** * @brief Get next ticker with slot ticks * * @details Gets the next ticker which has slot ticks specified and * return the ticker id and accumulated ticks until expiration. If no * ticker nodes have slot ticks, the next ticker node is returned. * If no head id is provided (TICKER_NULL) the first node is returned. * * @param instance Pointer to ticker instance * @param ticker_id_head Pointer to id of first ticker node [in/out] * @param ticks_current Pointer to current ticks count [in/out] * @param ticks_to_expire Pointer to ticks to expire [in/out] * * @internal */ static void ticker_by_next_slot_get(struct ticker_instance *instance, uint8_t *ticker_id_head, uint32_t *ticks_current, #if defined(CONFIG_BT_TICKER_LAZY_GET) uint32_t *ticks_to_expire, uint16_t *lazy) #else /* !CONFIG_BT_TICKER_LAZY_GET */ uint32_t *ticks_to_expire) #endif /* !CONFIG_BT_TICKER_LAZY_GET */ { struct ticker_node *ticker; struct ticker_node *node; uint32_t _ticks_to_expire; uint8_t _ticker_id_head; node = instance->nodes; _ticker_id_head = *ticker_id_head; _ticks_to_expire = *ticks_to_expire; if ((_ticker_id_head == TICKER_NULL) || (*ticks_current != instance->ticks_current)) { /* Initialize with instance head */ _ticker_id_head = instance->ticker_id_head; *ticks_current = instance->ticks_current; _ticks_to_expire = 0U; } else { /* Get ticker id for next node */ ticker = &node[_ticker_id_head]; _ticker_id_head = ticker->next; } #if !defined(CONFIG_BT_TICKER_SLOT_AGNOSTIC) /* Find first ticker node with slot ticks */ while ((_ticker_id_head != TICKER_NULL) && ((ticker = &node[_ticker_id_head])->ticks_slot == 0U)) { /* Accumulate expire ticks */ _ticks_to_expire += ticker->ticks_to_expire; _ticker_id_head = ticker->next; } #else /* TODO: Come up with different way to find/match the ticker */ LL_ASSERT(0); #endif if (_ticker_id_head != TICKER_NULL) { /* Add ticks for found ticker */ _ticks_to_expire += ticker->ticks_to_expire; #if defined(CONFIG_BT_TICKER_LAZY_GET) if (lazy) { *lazy = ticker->lazy_current; } #endif /* CONFIG_BT_TICKER_LAZY_GET */ } *ticker_id_head = _ticker_id_head; *ticks_to_expire = _ticks_to_expire; } #if !defined(CONFIG_BT_TICKER_LOW_LAT) /** * @brief Enqueue ticker node * * @details Finds insertion point for new ticker node and inserts the * node in the linked node list. * * @param instance Pointer to ticker instance * @param id Ticker node id to enqueue * * @return Id of enqueued ticker node * @internal */ static uint8_t ticker_enqueue(struct ticker_instance *instance, uint8_t id) { struct ticker_node *ticker_current; struct ticker_node *ticker_new; uint32_t ticks_to_expire_current; struct ticker_node *node; uint32_t ticks_to_expire; uint8_t previous; uint8_t current; node = &instance->nodes[0]; ticker_new = &node[id]; ticks_to_expire = ticker_new->ticks_to_expire; current = instance->ticker_id_head; /* Find insertion point for new ticker node and adjust ticks_to_expire * relative to insertion point */ previous = TICKER_NULL; while ((current != TICKER_NULL) && (ticks_to_expire >= (ticks_to_expire_current = (ticker_current = &node[current])->ticks_to_expire))) { ticks_to_expire -= ticks_to_expire_current; /* Check for timeout in same tick - prioritize according to * latency */ if (ticks_to_expire == 0 && (ticker_new->lazy_current > ticker_current->lazy_current)) { ticks_to_expire = ticks_to_expire_current; break; } previous = current; current = ticker_current->next; } /* Link in new ticker node and adjust ticks_to_expire to relative value */ ticker_new->ticks_to_expire = ticks_to_expire; ticker_new->next = current; if (previous == TICKER_NULL) { instance->ticker_id_head = id; } else { node[previous].next = id; } if (current != TICKER_NULL) { node[current].ticks_to_expire -= ticks_to_expire; } return id; } #else /* !CONFIG_BT_TICKER_LOW_LAT */ /** * @brief Enqueue ticker node * * @details Finds insertion point for new ticker node and inserts the * node in the linked node list. However, if the new ticker node collides * with an existing node or the expiration is inside the previous slot, * the node is not inserted. * * @param instance Pointer to ticker instance * @param id Ticker node id to enqueue * * @return Id of enqueued ticker node, or id of previous- or colliding * ticker node if new node was not enqueued * @internal */ static uint8_t ticker_enqueue(struct ticker_instance *instance, uint8_t id) { struct ticker_node *ticker_current; struct ticker_node *ticker_new; uint32_t ticks_to_expire_current; uint8_t ticker_id_slot_previous; uint32_t ticks_slot_previous; struct ticker_node *node; uint32_t ticks_to_expire; uint8_t previous; uint8_t current; uint8_t collide; node = &instance->nodes[0]; ticker_new = &node[id]; ticks_to_expire = ticker_new->ticks_to_expire; collide = ticker_id_slot_previous = TICKER_NULL; current = instance->ticker_id_head; previous = current; ticks_slot_previous = instance->ticks_slot_previous; /* Find insertion point for new ticker node and adjust ticks_to_expire * relative to insertion point */ while ((current != TICKER_NULL) && (ticks_to_expire > (ticks_to_expire_current = (ticker_current = &node[current])->ticks_to_expire))) { ticks_to_expire -= ticks_to_expire_current; if (ticker_current->ticks_slot != 0U) { ticks_slot_previous = ticker_current->ticks_slot; ticker_id_slot_previous = current; } else { if (ticks_slot_previous > ticks_to_expire_current) { ticks_slot_previous -= ticks_to_expire_current; } else { ticks_slot_previous = 0U; } } previous = current; current = ticker_current->next; } /* Check for collision for new ticker node at insertion point */ collide = ticker_by_slot_get(&node[0], current, ticks_to_expire + ticker_new->ticks_slot); if ((ticker_new->ticks_slot == 0U) || ((ticks_slot_previous <= ticks_to_expire) && (collide == TICKER_NULL))) { /* New ticker node has no slot ticks or there is no collision - * link it in and adjust ticks_to_expire to relative value */ ticker_new->ticks_to_expire = ticks_to_expire; ticker_new->next = current; if (previous == current) { instance->ticker_id_head = id; } else { node[previous].next = id; } if (current != TICKER_NULL) { node[current].ticks_to_expire -= ticks_to_expire; } } else { /* Collision - no ticker node insertion, set id to that of * colliding node */ if (ticks_slot_previous > ticks_to_expire) { id = ticker_id_slot_previous; } else { id = collide; } } return id; } #endif /* !CONFIG_BT_TICKER_LOW_LAT */ /** * @brief Dequeue ticker node * * @details Finds extraction point for ticker node to be dequeued, unlinks * the node and adjusts the links and ticks_to_expire. Returns the ticks * until expiration for dequeued ticker node. * * @param instance Pointer to ticker instance * @param id Ticker node id to dequeue * * @return Total ticks until expiration for dequeued ticker node, or 0 if * node was not found * @internal */ static uint32_t ticker_dequeue(struct ticker_instance *instance, uint8_t id) { struct ticker_node *ticker_current; struct ticker_node *node; uint8_t previous; uint32_t timeout; uint8_t current; uint32_t total; /* Find the ticker's position in ticker node list while accumulating * ticks_to_expire */ node = &instance->nodes[0]; previous = instance->ticker_id_head; current = previous; total = 0U; ticker_current = 0; while (current != TICKER_NULL) { ticker_current = &node[current]; if (current == id) { break; } total += ticker_current->ticks_to_expire; previous = current; current = ticker_current->next; } if (current == TICKER_NULL) { /* Ticker not in active list */ return 0; } if (previous == current) { /* Ticker is the first in the list */ instance->ticker_id_head = ticker_current->next; } /* Remaining timeout between next timeout */ timeout = ticker_current->ticks_to_expire; /* Link previous ticker with next of this ticker * i.e. removing the ticker from list */ node[previous].next = ticker_current->next; /* If this is not the last ticker, increment the * next ticker by this ticker timeout */ if (ticker_current->next != TICKER_NULL) { node[ticker_current->next].ticks_to_expire += timeout; } return (total + timeout); } #if !defined(CONFIG_BT_TICKER_LOW_LAT) && \ !defined(CONFIG_BT_TICKER_SLOT_AGNOSTIC) /** * @brief Resolve ticker node collision * * @details Evaluates the provided ticker node against other queued nodes * and returns non-zero if the ticker node collides and should be skipped. * The following rules are checked: * 1) If the periodic latency is not yet exhausted, node is skipped * 2) If the node has highest possible priority, node is never skipped * 2) If the node will starve next node due to slot reservation * overlap, node is skipped if: * a) Next node has higher priority than current node * b) Next node has more accumulated latency than the current node * c) Next node is 'older' than current node and has same priority * d) Next node has force flag set, and the current does not * * @param nodes Pointer to ticker node array * @param ticker Pointer to ticker to resolve * * @return 0 if no collision was detected. 1 if ticker node collides * with other ticker node of higher composite priority * @internal */ static uint8_t ticker_resolve_collision(struct ticker_node *nodes, struct ticker_node *ticker) { if ((ticker->priority != TICKER_PRIORITY_CRITICAL) && (ticker->next != TICKER_NULL)) { int32_t lazy_current = ticker->lazy_current; /* Check if this ticker node will starve next node which has * latency or higher priority */ if (lazy_current >= ticker->lazy_periodic) { lazy_current -= ticker->lazy_periodic; } uint8_t id_head = ticker->next; uint32_t acc_ticks_to_expire = 0U; /* Age is time since last expiry */ uint32_t current_age = ticker->ticks_periodic + (lazy_current * ticker->ticks_periodic); while (id_head != TICKER_NULL) { struct ticker_node *ticker_next = &nodes[id_head]; /* Accumulate ticks_to_expire for each node */ acc_ticks_to_expire += ticker_next->ticks_to_expire; if (acc_ticks_to_expire > ticker->ticks_slot) { break; } /* We only care about nodes with slot reservation */ if (ticker_next->ticks_slot == 0U) { id_head = ticker_next->next; continue; } int32_t lazy_next = ticker_next->lazy_current; uint8_t lazy_next_periodic_skip = ticker_next->lazy_periodic > lazy_next; if (!lazy_next_periodic_skip) { lazy_next -= ticker_next->lazy_periodic; } /* Is the current and next node equal in priority? */ uint8_t equal_priority = ticker->priority == ticker_next->priority; /* Age is time since last expiry */ uint32_t next_age = (ticker_next->ticks_periodic == 0U ? 0U : (ticker_next->ticks_periodic - ticker_next->ticks_to_expire)) + (lazy_next * ticker_next->ticks_periodic); /* Was the current node scheduled earlier? */ uint8_t current_is_older = (ticker->ticks_periodic == 0U) || (current_age > next_age); /* Was next node scheduled earlier (legacy priority)? */ uint8_t next_is_older = (ticker->ticks_periodic != 0U) && (next_age > current_age); /* Is force requested for next node (e.g. update) - * more so than for current node? */ uint8_t next_force = (ticker_next->force > ticker->force); /* Does next node have critical priority and should * always be scheduled? */ uint8_t next_is_critical = ticker_next->priority == TICKER_PRIORITY_CRITICAL; /* Does next node have higher priority? */ uint8_t next_has_priority = (lazy_next - ticker_next->priority) > (lazy_current - ticker->priority); /* Check if next node is within this reservation slot * and wins conflict resolution */ if (!lazy_next_periodic_skip && (next_force || next_is_critical || (next_has_priority && !current_is_older) || (equal_priority && next_is_older))) { /* This node must be skipped - check window */ return 1U; } id_head = ticker_next->next; } } return 0U; } #endif /* !CONFIG_BT_TICKER_LOW_LAT && * !CONFIG_BT_TICKER_SLOT_AGNOSTIC */ /** * @brief Ticker worker * * @details Runs as upper half of ticker operation, triggered by a compare * match from the underlaying counter HAL, via the ticker_trigger function. * Traverses ticker nodes to find tickers expired since last job * execution. Expired (requested) ticker nodes have their timeout callback * functions called. Finally, a ticker job is enqueued. Invoked from the * ticker worker mayfly context (TICKER_MAYFLY_CALL_ID_WORKER) * * @param param Pointer to ticker instance * */ void ticker_worker(void *param) { struct ticker_instance *instance = param; struct ticker_node *node; uint32_t ticks_elapsed; uint32_t ticks_expired; uint8_t ticker_id_head; /* Defer worker if job running */ instance->worker_trigger = 1U; if (instance->job_guard) { return; } /* If no tickers queued (active), do nothing */ if (instance->ticker_id_head == TICKER_NULL) { instance->worker_trigger = 0U; return; } /* Get ticks elapsed since last job execution */ ticks_elapsed = ticker_ticks_diff_get(cntr_cnt_get(), instance->ticks_current); /* Initialize actual elapsed ticks being consumed */ ticks_expired = 0U; /* Auto variable containing the head of tickers expiring */ ticker_id_head = instance->ticker_id_head; /* Check if the previous ticker node which had air-time, is still * active and has this time slot reserved */ uint8_t slot_reserved = 0; if (!IS_ENABLED(CONFIG_BT_TICKER_LOW_LAT) && !IS_ENABLED(CONFIG_BT_TICKER_SLOT_AGNOSTIC) && (instance->ticker_id_slot_previous != TICKER_NULL)) { if (instance->ticks_slot_previous > ticks_elapsed) { /* This node intersects reserved slot */ slot_reserved = 1; } } /* Expire all tickers within ticks_elapsed and collect ticks_expired */ node = &instance->nodes[0]; while (ticker_id_head != TICKER_NULL) { struct ticker_node *ticker; uint32_t ticks_to_expire; uint8_t must_expire_skip; ticker = &node[ticker_id_head]; /* Stop if ticker did not expire */ ticks_to_expire = ticker->ticks_to_expire; if (ticks_elapsed < ticks_to_expire) { break; } /* Decrement ticks_elapsed and collect expired ticks */ ticks_elapsed -= ticks_to_expire; ticks_expired += ticks_to_expire; /* Move to next ticker node */ ticker_id_head = ticker->next; must_expire_skip = 0U; /* Skip if not scheduled to execute */ if (((ticker->req - ticker->ack) & 0xff) != 1U) { continue; } #if !defined(CONFIG_BT_TICKER_LOW_LAT) && \ !defined(CONFIG_BT_TICKER_SLOT_AGNOSTIC) /* Check if node has slot reservation and resolve any collision * with other ticker nodes */ if (ticker->ticks_slot != 0U && (slot_reserved || ticker_resolve_collision(node, ticker))) { #if defined(CONFIG_BT_TICKER_EXT) struct ticker_ext *ext_data = ticker->ext_data; if (ext_data && ext_data->ticks_slot_window != 0U && ext_data->reschedule_state == TICKER_RESCHEDULE_STATE_NONE && (ticker->lazy_periodic <= ticker->lazy_current)) { /* Mark node for re-scheduling in ticker_job */ ext_data->reschedule_state = TICKER_RESCHEDULE_STATE_PENDING; } else if (ext_data) { /* Mark node as not re-scheduling */ ext_data->reschedule_state = TICKER_RESCHEDULE_STATE_NONE; } #endif /* CONFIG_BT_TICKER_EXT */ /* Increment lazy_current to indicate skipped event. In case * of re-scheduled node, the lazy count will be decremented in * ticker_job_reschedule_in_window when completed. */ ticker->lazy_current++; if ((ticker->must_expire == 0U) || (ticker->lazy_periodic >= ticker->lazy_current) || TICKER_RESCHEDULE_PENDING(ticker)) { /* Not a must-expire node or this is periodic * latency or pending re-schedule. Skip this * ticker node. Mark it as elapsed. */ ticker->ack--; continue; } /* Continue but perform shallow expiry */ must_expire_skip = 1U; } #if defined(CONFIG_BT_TICKER_EXT) if (ticker->ext_data) { ticker->ext_data->ticks_drift = 0U; /* Mark node as not re-scheduling */ ticker->ext_data->reschedule_state = TICKER_RESCHEDULE_STATE_NONE; } #endif /* CONFIG_BT_TICKER_EXT */ #endif /* !CONFIG_BT_TICKER_LOW_LAT && * !CONFIG_BT_TICKER_SLOT_AGNOSTIC */ /* Scheduled timeout is acknowledged to be complete */ ticker->ack--; if (ticker->timeout_func) { uint32_t ticks_at_expire; ticks_at_expire = (instance->ticks_current + ticks_expired - ticker->ticks_to_expire_minus) & HAL_TICKER_CNTR_MASK; DEBUG_TICKER_TASK(1); /* Invoke the timeout callback */ ticker->timeout_func(ticks_at_expire, ticker->remainder_current, must_expire_skip ? TICKER_LAZY_MUST_EXPIRE : ticker->lazy_current, ticker->force, ticker->context); DEBUG_TICKER_TASK(0); if (!IS_ENABLED(CONFIG_BT_TICKER_LOW_LAT) && (must_expire_skip == 0U)) { /* Reset latency to periodic offset */ ticker->lazy_current = 0U; ticker->force = 0U; #if !defined(CONFIG_BT_TICKER_SLOT_AGNOSTIC) if (ticker->ticks_slot != 0U) { /* Any further nodes will be skipped */ slot_reserved = 1U; } #endif /* CONFIG_BT_TICKER_SLOT_AGNOSTIC */ } } } /* Queue the elapsed ticks */ if (instance->ticks_elapsed_first == instance->ticks_elapsed_last) { ticker_next_elapsed(&instance->ticks_elapsed_last); } instance->ticks_elapsed[instance->ticks_elapsed_last] = ticks_expired; instance->worker_trigger = 0U; /* Enqueue the ticker job with chain=1 (do not inline) */ instance->sched_cb(TICKER_CALL_ID_WORKER, TICKER_CALL_ID_JOB, 1, instance); } /** * @brief Prepare ticker node expiration * * @details Calculates the number of ticks until next expiration, taking * into consideration any negative drift correction. * * @param ticker Pointer to ticker node * @param ticks_current Current number of ticks (elapsed) * @param ticks_at_start Number of ticks at start (anchor) * * @internal */ static void ticks_to_expire_prep(struct ticker_node *ticker, uint32_t ticks_current, uint32_t ticks_at_start) { uint32_t ticks_to_expire = ticker->ticks_to_expire; uint32_t ticks_to_expire_minus = ticker->ticks_to_expire_minus; /* Calculate ticks to expire for this new node */ if (!((ticks_at_start - ticks_current) & BIT(HAL_TICKER_CNTR_MSBIT))) { /* Most significant bit is 0 so ticks_at_start lies ahead of * ticks_current: ticks_at_start >= ticks_current */ ticks_to_expire += ticker_ticks_diff_get(ticks_at_start, ticks_current); } else { /* ticks_current > ticks_at_start */ uint32_t delta_current_start; delta_current_start = ticker_ticks_diff_get(ticks_current, ticks_at_start); if (ticks_to_expire > delta_current_start) { /* There's still time until expiration - subtract * elapsed time */ ticks_to_expire -= delta_current_start; } else { /* Ticker node should have expired (we're late). * Add 'lateness' to negative drift correction * (ticks_to_expire_minus) and set ticks_to_expire * to 0 */ ticks_to_expire_minus += (delta_current_start - ticks_to_expire); ticks_to_expire = 0U; } } /* Handle negative drift correction */ if (ticks_to_expire > ticks_to_expire_minus) { ticks_to_expire -= ticks_to_expire_minus; ticks_to_expire_minus = 0U; } else { ticks_to_expire_minus -= ticks_to_expire; ticks_to_expire = 0U; } /* Update ticker */ ticker->ticks_to_expire = ticks_to_expire; ticker->ticks_to_expire_minus = ticks_to_expire_minus; } /** * @brief Increment remainder * * @details Calculates whether the remainder should increments expiration time * for above-microsecond precision counter HW. The remainder enables improved * ticker precision, but is disabled for for sub-microsecond precision * configurations. * * @param ticker Pointer to ticker node * * @return Returns 1 to indicate increment is due, otherwise 0 * @internal */ static uint8_t ticker_remainder_inc(struct ticker_node *ticker) { #ifdef HAL_TICKER_REMAINDER_RANGE ticker->remainder_current += ticker->remainder_periodic; if ((ticker->remainder_current < BIT(31)) && (ticker->remainder_current > (HAL_TICKER_REMAINDER_RANGE >> 1))) { ticker->remainder_current -= HAL_TICKER_REMAINDER_RANGE; return 1; } return 0; #else return 0; #endif } /** * @brief Decrement remainder * * @details Calculates whether the remainder should decrements expiration time * for above-microsecond precision counter HW. The remainder enables improved * ticker precision, but is disabled for for sub-microsecond precision * configurations. * * @param ticker Pointer to ticker node * * @return Returns 1 to indicate decrement is due, otherwise 0 * @internal */ static uint8_t ticker_remainder_dec(struct ticker_node *ticker) { #ifdef HAL_TICKER_REMAINDER_RANGE uint8_t decrement = 0U; if ((ticker->remainder_current >= BIT(31)) || (ticker->remainder_current <= (HAL_TICKER_REMAINDER_RANGE >> 1))) { decrement++; ticker->remainder_current += HAL_TICKER_REMAINDER_RANGE; } ticker->remainder_current -= ticker->remainder_periodic; return decrement; #else return 0; #endif } /** * @brief Invoke user operation callback * * @param user_op Pointer to user operation struct * @param status User operation status to pass to callback * * @internal */ static void ticker_job_op_cb(struct ticker_user_op *user_op, uint32_t status) { user_op->op = TICKER_USER_OP_TYPE_NONE; user_op->status = status; if (user_op->fp_op_func) { user_op->fp_op_func(user_op->status, user_op->op_context); } } /** * @brief Update and insert ticker node * * @details Update ticker node with parameters passed in user operation. * After update, the ticker is inserted in front as new head. * * @param ticker Pointer to ticker node * @param user_op Pointer to user operation * @param ticks_current Current ticker instance ticks * @param ticks_elapsed Expired ticks at time of call * @param insert_head Pointer to current head (id). Contains id * from user operation upon exit * @internal */ static inline void ticker_job_node_update(struct ticker_node *ticker, struct ticker_user_op *user_op, uint32_t ticks_current, uint32_t ticks_elapsed, uint8_t *insert_head) { uint32_t ticks_to_expire = ticker->ticks_to_expire; uint32_t ticks_now; ticks_now = cntr_cnt_get(); ticks_elapsed += ticker_ticks_diff_get(ticks_now, ticks_current); if (ticks_to_expire > ticks_elapsed) { ticks_to_expire -= ticks_elapsed; } else { ticker->ticks_to_expire_minus += ticks_elapsed - ticks_to_expire; ticks_to_expire = 0U; } /* Update ticks_to_expire from latency (lazy) input */ if ((ticker->ticks_periodic != 0U) && (user_op->params.update.lazy != 0U)) { user_op->params.update.lazy--; while ((ticks_to_expire > ticker->ticks_periodic) && (ticker->lazy_current > user_op->params.update.lazy)) { ticks_to_expire -= ticker->ticks_periodic + ticker_remainder_dec(ticker); ticker->lazy_current--; } while (ticker->lazy_current < user_op->params.update.lazy) { ticks_to_expire += ticker->ticks_periodic + ticker_remainder_inc(ticker); ticker->lazy_current++; } ticker->lazy_periodic = user_op->params.update.lazy; } /* Update ticks_to_expire from drift input */ ticker->ticks_to_expire = ticks_to_expire + user_op->params.update.ticks_drift_plus; ticker->ticks_to_expire_minus += user_op->params.update.ticks_drift_minus; #if defined(CONFIG_BT_TICKER_EXT) /* TODO: An improvement on this could be to only consider the drift * (ADV => randomization) if re-sceduling fails. We would still store * the drift ticks here, but not actually update the node. That would * allow the ticker to use the full window for re-scheduling. */ struct ticker_ext *ext_data = ticker->ext_data; if (ext_data && ext_data->ticks_slot_window != 0U) { ext_data->ticks_drift = user_op->params.update.ticks_drift_plus - user_op->params.update.ticks_drift_minus; } #endif /* CONFIG_BT_TICKER_EXT */ ticks_to_expire_prep(ticker, ticks_current, ticks_now); #if !defined(CONFIG_BT_TICKER_SLOT_AGNOSTIC) /* Update ticks_slot parameter from plus/minus input */ ticker->ticks_slot += user_op->params.update.ticks_slot_plus; if (ticker->ticks_slot > user_op->params.update.ticks_slot_minus) { ticker->ticks_slot -= user_op->params.update.ticks_slot_minus; } else { ticker->ticks_slot = 0U; } #endif /* CONFIG_BT_TICKER_SLOT_AGNOSTIC */ /* Update force parameter */ if (user_op->params.update.force != 0U) { ticker->force = user_op->params.update.force; } #if defined(CONFIG_BT_TICKER_EXT) /* Update must_expire parameter */ if (user_op->params.update.must_expire) { /* 1: disable, 2: enable */ ticker->must_expire = (user_op->params.update.must_expire - 1); } #endif /* CONFIG_BT_TICKER_EXT */ ticker->next = *insert_head; *insert_head = user_op->id; } /** * @brief Manage user update operation * * @details Called by ticker_job to execute an update request, or set node * as done if request is not update. Invokes user operation callback before * exit. * * @param instance Pointer to ticker instance * @param ticker Pointer to ticker node * @param user_op Pointer to user operation * @param ticks_elapsed Expired ticks at time of call * @param insert_head Pointer to current head (id). For update operation, * contains operation id upon exit * @internal */ static inline void ticker_job_node_manage(struct ticker_instance *instance, struct ticker_node *ticker, struct ticker_user_op *user_op, uint32_t ticks_elapsed, uint8_t *insert_head) { /* Remove ticker node from list */ ticker->ticks_to_expire = ticker_dequeue(instance, user_op->id); /* Handle update of ticker by re-inserting it back. */ if (user_op->op == TICKER_USER_OP_TYPE_UPDATE) { ticker_job_node_update(ticker, user_op, instance->ticks_current, ticks_elapsed, insert_head); /* Set schedule status of node * as updating. */ ticker->req++; } else { /* Reset schedule status of node */ ticker->req = ticker->ack; if (instance->ticker_id_slot_previous == user_op->id) { uint32_t ticks_current; uint32_t ticks_at_stop; uint32_t ticks_used; instance->ticker_id_slot_previous = TICKER_NULL; if (user_op->op == TICKER_USER_OP_TYPE_STOP_ABS) { ticks_at_stop = user_op->params.stop.ticks_at_stop; } else { ticks_at_stop = cntr_cnt_get(); } ticks_current = instance->ticks_current; if (!((ticks_at_stop - ticks_current) & BIT(HAL_TICKER_CNTR_MSBIT))) { ticks_used = ticks_elapsed + ticker_ticks_diff_get(ticks_at_stop, ticks_current); } else { ticks_used = ticker_ticks_diff_get(ticks_current, ticks_at_stop); if (ticks_elapsed > ticks_used) { ticks_used = ticks_elapsed - ticks_used; } else { ticks_used = 0; } } if (instance->ticks_slot_previous > ticks_used) { instance->ticks_slot_previous = ticks_used; } } } /* op success, @todo update may fail during * actual insert! need to design that yet. */ ticker_job_op_cb(user_op, TICKER_STATUS_SUCCESS); } /** * @brief Manage user operations list * * @details Called by ticker_job to execute requested user operations. A * number of operation may be queued since last ticker_job. Only update and * stop operations are handled. Start is handled implicitly by inserting * the ticker node in ticker_job_list_insert. * * @param instance Pointer to ticker instance * @param ticks_elapsed Expired ticks at time of call * @param insert_head Pointer to current head (id). For update operation, * contains operation id upon exit * @return Returns 1 if operations is pending, 0 if all operations are done. * @internal */ static inline uint8_t ticker_job_list_manage(struct ticker_instance *instance, uint32_t ticks_elapsed, uint8_t *insert_head) { uint8_t pending; struct ticker_node *node; struct ticker_user *users; uint8_t count_user; pending = 0U; node = &instance->nodes[0]; users = &instance->users[0]; count_user = instance->count_user; /* Traverse users - highest id first */ while (count_user--) { struct ticker_user *user; struct ticker_user_op *user_ops; user = &users[count_user]; user_ops = &user->user_op[0]; /* Traverse user operation queue - middle to last (with wrap). * This operation updates user->middle to be the past the last * processed user operation. This is used later by * ticker_job_list_insert, for handling user->first to middle. */ while (user->middle != user->last) { struct ticker_user_op *user_op; struct ticker_node *ticker; uint8_t state; uint8_t prev; uint8_t middle; user_op = &user_ops[user->middle]; /* Increment index and handle wrapping */ prev = user->middle; middle = user->middle + 1; if (middle == user->count_user_op) { middle = 0U; } user->middle = middle; ticker = &node[user_op->id]; /* if op is start, then skip update and stop ops */ if (user_op->op < TICKER_USER_OP_TYPE_UPDATE) { continue; } /* determine the ticker state */ state = (ticker->req - ticker->ack) & 0xff; /* if not started or update not required, * set status and continue. */ if ((user_op->op > TICKER_USER_OP_TYPE_STOP_ABS) || (state == 0U) || ((user_op->op == TICKER_USER_OP_TYPE_UPDATE) && (user_op->params.update.ticks_drift_plus == 0U) && (user_op->params.update.ticks_drift_minus == 0U) && #if !defined(CONFIG_BT_TICKER_SLOT_AGNOSTIC) (user_op->params.update.ticks_slot_plus == 0U) && (user_op->params.update.ticks_slot_minus == 0U) && #endif /* CONFIG_BT_TICKER_SLOT_AGNOSTIC */ (user_op->params.update.lazy == 0U) && (user_op->params.update.force == 0U))) { ticker_job_op_cb(user_op, TICKER_STATUS_FAILURE); continue; } /* Delete node, if not expired */ if (state == 1U) { ticker_job_node_manage(instance, ticker, user_op, ticks_elapsed, insert_head); } else { /* Update on expired node requested, defering * update until bottom half finishes. */ /* sched job to run after worker bottom half. */ instance->sched_cb(TICKER_CALL_ID_JOB, TICKER_CALL_ID_JOB, 1, instance); /* Update the index upto which management is * complete. */ user->middle = prev; pending = 1U; break; } } } return pending; } /** * @brief Handle ticker node expirations * * @details Called by ticker_job to schedule next expirations. Expired ticker * nodes are removed from the active list, and re-inserted if periodic. * * @param instance Pointer to ticker instance * @param ticks_previous Absolute ticks at ticker_job start * @param ticks_elapsed Expired ticks at time of call * @param insert_head Pointer to current head (id). Updated if nodes are * re-inserted * @internal */ static inline void ticker_job_worker_bh(struct ticker_instance *instance, uint32_t ticks_previous, uint32_t ticks_elapsed, uint8_t *insert_head) { struct ticker_node *node; uint32_t ticks_expired; #if !defined(CONFIG_BT_TICKER_LOW_LAT) uint32_t ticks_latency; uint32_t ticks_now; ticks_now = cntr_cnt_get(); ticks_latency = ticker_ticks_diff_get(ticks_now, ticks_previous); #endif /* !CONFIG_BT_TICKER_LOW_LAT */ node = &instance->nodes[0]; ticks_expired = 0U; while (instance->ticker_id_head != TICKER_NULL) { uint8_t skip_collision = 0U; struct ticker_node *ticker; uint32_t ticks_to_expire; uint8_t id_expired; uint8_t state; /* auto variable for current ticker node */ id_expired = instance->ticker_id_head; ticker = &node[id_expired]; /* Do nothing if ticker did not expire */ ticks_to_expire = ticker->ticks_to_expire; if (ticks_elapsed < ticks_to_expire) { ticker->ticks_to_expire -= ticks_elapsed; break; } /* decrement ticks_elapsed and collect expired ticks */ ticks_elapsed -= ticks_to_expire; ticks_expired += ticks_to_expire; #if !defined(CONFIG_BT_TICKER_LOW_LAT) ticks_latency -= ticks_to_expire; /* Node with lazy count did not expire with callback, but * was either a collision or re-scheduled. This node should * not define the active slot reservation (slot_previous). */ skip_collision = (ticker->lazy_current != 0U); #endif /* !CONFIG_BT_TICKER_LOW_LAT */ /* decrement ticks_slot_previous */ if (instance->ticks_slot_previous > ticks_to_expire) { instance->ticks_slot_previous -= ticks_to_expire; } else { instance->ticker_id_slot_previous = TICKER_NULL; instance->ticks_slot_previous = 0U; } /* If a reschedule is set pending, we will need to keep * the slot_previous information */ state = (ticker->req - ticker->ack) & 0xff; #if !defined(CONFIG_BT_TICKER_SLOT_AGNOSTIC) if (ticker->ticks_slot && (state == 2U) && !skip_collision && !TICKER_RESCHEDULE_PENDING(ticker)) { instance->ticker_id_slot_previous = id_expired; instance->ticks_slot_previous = ticker->ticks_slot; } #endif /* CONFIG_BT_TICKER_SLOT_AGNOSTIC */ /* ticker expired, set ticks_to_expire zero */ ticker->ticks_to_expire = 0U; /* remove the expired ticker from head */ instance->ticker_id_head = ticker->next; /* Ticker will be restarted if periodic or to be re-scheduled */ if ((ticker->ticks_periodic != 0U) || TICKER_RESCHEDULE_PENDING(ticker)) { #if !defined(CONFIG_BT_TICKER_LOW_LAT) if (TICKER_RESCHEDULE_PENDING(ticker)) { /* Set the re-scheduled node to now. Will be * collision resolved after all nodes are * restarted */ ticker->ticks_to_expire = ticks_elapsed; /* Reset ticker state, so that its put * back in requested state later down * in the code. */ ticker->req = ticker->ack; } else { uint16_t lazy_periodic; uint32_t count; uint16_t lazy; /* If not skipped, apply lazy_periodic */ if (!ticker->lazy_current) { lazy_periodic = ticker->lazy_periodic; } else { lazy_periodic = 0U; /* Reset ticker state, so that its put * back in requested state later down * in the code. */ ticker->req = ticker->ack; } /* Reload ticks_to_expire with atleast one * period. */ ticks_to_expire = 0U; count = 1 + lazy_periodic; while (count--) { ticks_to_expire += ticker->ticks_periodic; ticks_to_expire += ticker_remainder_inc(ticker); } /* Skip intervals that have elapsed w.r.t. * current ticks. */ lazy = 0U; if (0) { #if !defined(CONFIG_BT_TICKER_SLOT_AGNOSTIC) } else if (!ticker->must_expire) { #else } else { #endif /* CONFIG_BT_TICKER_SLOT_AGNOSTIC */ while (ticks_to_expire < ticks_latency) { ticks_to_expire += ticker->ticks_periodic; ticks_to_expire += ticker_remainder_inc(ticker); lazy++; } } /* Use the calculated ticks to expire and * laziness. */ ticker->ticks_to_expire = ticks_to_expire; ticker->lazy_current += (lazy_periodic + lazy); } ticks_to_expire_prep(ticker, instance->ticks_current, (ticks_previous + ticks_expired)); #else /* !CONFIG_BT_TICKER_LOW_LAT */ uint32_t count; /* Prepare for next interval */ ticks_to_expire = 0U; count = 1 + ticker->lazy_periodic; while (count--) { ticks_to_expire += ticker->ticks_periodic; ticks_to_expire += ticker_remainder_inc(ticker); } ticker->ticks_to_expire = ticks_to_expire; ticks_to_expire_prep(ticker, instance->ticks_current, (ticks_previous + ticks_expired)); /* Reset latency to periodic offset */ ticker->lazy_current = ticker->lazy_periodic; ticker->force = 0U; #endif /* !CONFIG_BT_TICKER_LOW_LAT */ /* Add to insert list */ ticker->next = *insert_head; *insert_head = id_expired; /* set schedule status of node as restarting. */ ticker->req++; } else { #if !defined(CONFIG_BT_TICKER_LOW_LAT) /* A single-shot ticker in requested or skipped due to * collision shall generate a operation function * callback with failure status. */ if (state && ((state == 1U) || skip_collision) && ticker->fp_op_func) { ticker->fp_op_func(TICKER_STATUS_FAILURE, ticker->op_context); } #endif /* !CONFIG_BT_TICKER_LOW_LAT */ /* reset schedule status of node */ ticker->req = ticker->ack; } } } /** * @brief Prepare ticker node start * * @details Called by ticker_job to prepare ticker node start operation. * * @param ticker Pointer to ticker node * @param user_op Pointer to user operation * @param ticks_current Expired ticks at time of call * * @internal */ static inline void ticker_job_op_start(struct ticker_node *ticker, struct ticker_user_op *user_op, uint32_t ticks_current) { struct ticker_user_op_start *start = (void *)&user_op->params.start; #if defined(CONFIG_BT_TICKER_LOW_LAT) /* Must expire is not supported in compatibility mode */ LL_ASSERT(start->lazy < TICKER_LAZY_MUST_EXPIRE_KEEP); #else #if !defined(CONFIG_BT_TICKER_SLOT_AGNOSTIC) if (start->lazy != TICKER_LAZY_MUST_EXPIRE_KEEP) { /* Update the must_expire state */ ticker->must_expire = (start->lazy == TICKER_LAZY_MUST_EXPIRE) ? 1U : 0U; } #endif /* !CONFIG_BT_TICKER_SLOT_AGNOSTIC */ #if defined(CONFIG_BT_TICKER_EXT) ticker->ext_data = start->ext_data; #endif /* CONFIG_BT_TICKER_EXT */ #endif /* CONFIG_BT_TICKER_LOW_LAT */ ticker->ticks_periodic = start->ticks_periodic; ticker->remainder_periodic = start->remainder_periodic; ticker->lazy_periodic = (start->lazy < TICKER_LAZY_MUST_EXPIRE_KEEP) ? start->lazy : 0U; #if !defined(CONFIG_BT_TICKER_SLOT_AGNOSTIC) ticker->ticks_slot = start->ticks_slot; #endif /* CONFIG_BT_TICKER_SLOT_AGNOSTIC */ ticker->timeout_func = start->fp_timeout_func; ticker->context = start->context; ticker->ticks_to_expire = start->ticks_first; ticker->ticks_to_expire_minus = 0U; ticks_to_expire_prep(ticker, ticks_current, start->ticks_at_start); ticker->remainder_current = 0U; ticker->lazy_current = 0U; ticker->force = 1U; } #if !defined(CONFIG_BT_TICKER_LOW_LAT) /** * @brief Insert new ticker node * * @details Called by ticker_job to insert a new ticker node. If node collides * with existing ticker nodes, either the new node is postponed, or colliding * node is un-scheduled. Decision is based on latency and the force-state of * individual nodes. * * @param instance Pointer to ticker instance * @param id_insert Id of ticker to insert * @param ticker Pointer to ticker node to insert * @param insert_head Pointer to current head. Updated if colliding nodes * are un-scheduled * @internal */ static inline uint32_t ticker_job_insert(struct ticker_instance *instance, uint8_t id_insert, struct ticker_node *ticker, uint8_t *insert_head) { ARG_UNUSED(insert_head); /* Prepare to insert */ ticker->next = TICKER_NULL; /* Enqueue the ticker node */ (void)ticker_enqueue(instance, id_insert); /* Inserted/Scheduled */ ticker->req = ticker->ack + 1; return TICKER_STATUS_SUCCESS; } #if defined(CONFIG_BT_TICKER_EXT) /** * @brief Re-schedule ticker nodes within slot_window * * @details This function is responsible for re-scheduling ticker nodes * which have been marked for re-scheduling in ticker_worker. These nodes * have a non-zero ticks_slot_window configuration, which indicates a * valid range in which to re-schedule the node. * The function iterates over nodes, and handles one re-schedule at a * time. After a re-schedule, nodes are once again iterated until no more * nodes are marked for re-scheduling. * * @param instance Pointer to ticker instance * @param ticks_elapsed Number of ticks elapsed since last ticker job * * @internal */ static uint8_t ticker_job_reschedule_in_window(struct ticker_instance *instance, uint32_t ticks_elapsed) { struct ticker_node *nodes; struct ticker_node *ticker; struct ticker_node *node; struct ticker_ext *ext_data; uint32_t window_start_ticks; uint32_t window_end_ticks; uint32_t ticks_to_expire; uint32_t ticks_start_offset; uint32_t ticks_slot_window = 0; uint8_t ticker_id_head; uint8_t ticker_id_iter; uint8_t ticker_id_prev; uint8_t rescheduling = 1U; uint8_t rescheduled = 0U; nodes = &instance->nodes[0]; /* Do until all pending re-schedules handled */ while (rescheduling) { ticker_id_head = instance->ticker_id_head; rescheduling = 0U; ticks_start_offset = 0U; window_start_ticks = 0U; window_end_ticks = 0U; ticks_to_expire = 0U; /* Find first pending re-schedule */ while (ticker_id_head != TICKER_NULL) { ticker = &nodes[ticker_id_head]; ext_data = ticker->ext_data; if (ext_data && ext_data->reschedule_state == TICKER_RESCHEDULE_STATE_PENDING) { /* Pending reschedule found */ break; } ticker_id_head = ticker->next; } if (ticker_id_head == TICKER_NULL) { /* Done */ break; } /* Check for intersection with already active node */ if (instance->ticker_id_slot_previous != TICKER_NULL && instance->ticks_slot_previous > ticks_elapsed) { /* Active node intersects - window starts after end of * active slot */ window_start_ticks = instance->ticks_slot_previous - ticks_elapsed; } ticker_id_iter = nodes[ticker_id_head].next; /* If drift was applied to this node, this must be * taken into consideration. Reduce the window with * the amount of drift already applied. * * TODO: An improvement on this could be to only consider the * drift (ADV => randomization) if re-sceduling fails. Then the * ticker would have the best possible window to re-schedule in * and not be restricted to ticks_slot_window - ticks_drift. */ if (ext_data->ticks_drift < ext_data->ticks_slot_window) { ticks_slot_window = ext_data->ticks_slot_window - ext_data->ticks_drift; } else { /* Window has been exhausted - we can't reschedule */ ticker_id_iter = TICKER_NULL; } /* Try to find available slot for re-scheduling */ while (ticker_id_iter != TICKER_NULL && ticks_start_offset + ticker->ticks_slot <= ticks_slot_window) { node = &nodes[ticker_id_iter]; if (node->ext_data && node->ext_data->reschedule_state == TICKER_RESCHEDULE_STATE_PENDING) { /* Skip other pending re-schedule nodes */ ticker_id_iter = node->next; continue; } /* Calculate end of window. Since window may be aligned * with expiry of next node, we add a margin */ if (node->ticks_to_expire > HAL_TICKER_RESCHEDULE_MARGIN) { window_end_ticks = MIN(ticks_slot_window, ticks_start_offset + node->ticks_to_expire - HAL_TICKER_RESCHEDULE_MARGIN); } else { /* Next expiry is too close - try the next * node */ window_end_ticks = 0; } /* Calculate new ticks_to_expire as end of window minus * slot size => place at end of window. */ if (window_end_ticks > ticks_start_offset + ticker->ticks_slot) { ticks_to_expire = window_end_ticks - ticker->ticks_slot; } else { /* No space in window - try the next node */ ticks_to_expire = 0; } /* Decide if the re-scheduling ticker node fits in the * slot found - break if it fits */ if (ticks_to_expire != 0U && ticks_to_expire >= window_start_ticks && ticks_to_expire <= window_end_ticks - ticker->ticks_slot) { /* Re-scheduled node fits before this node */ break; } /* We din't find a valid slot for re-scheduling - try * the next node */ ticks_start_offset += node->ticks_to_expire; window_start_ticks = node->ticks_to_expire + node->ticks_slot; ticks_to_expire = ticks_slot_window - ticker->ticks_slot; ticker_id_iter = node->next; } ticker->ticks_to_expire = ticks_to_expire; ticker_id_iter = nodes[ticker_id_head].next; ticker_id_prev = TICKER_NULL; /* Place the ticker node sorted by expiration time and adjust * delta times */ while (ticker_id_iter != TICKER_NULL) { node = &nodes[ticker_id_iter]; if (ticker->ticks_to_expire > node->ticks_to_expire) { /* Node is after this - adjust delta */ ticker->ticks_to_expire -= node->ticks_to_expire; } else { /* Node is before this one */ node->ticks_to_expire -= ticker->ticks_to_expire; break; } ticker_id_prev = ticker_id_iter; ticker_id_iter = node->next; } if (ticker_id_prev != TICKER_NULL) { /* Node did not become the first - update head and * insert node after 'previous' */ instance->ticker_id_head = nodes[ticker_id_head].next; /* Link inserted node */ nodes[ticker_id_head].next = nodes[ticker_id_prev].next; nodes[ticker_id_prev].next = ticker_id_head; } /* Remove latency added in ticker_worker */ ticker->lazy_current--; /* Prevent repeated re-scheduling */ ext_data->reschedule_state = TICKER_RESCHEDULE_STATE_DONE; /* Check for other pending re-schedules and set exit flag */ rescheduling = 1U; rescheduled = 1U; } return rescheduled; } #endif /* CONFIG_BT_TICKER_EXT */ #else /* !CONFIG_BT_TICKER_LOW_LAT */ /** * @brief Insert new ticker node * * @details Called by ticker_job to insert a new ticker node. If node collides * with existing ticker nodes, either the new node is postponed, or colliding * node is un-scheduled. Decision is based on latency and the force-state of * individual nodes. * * @param instance Pointer to ticker instance * @param id_insert Id of ticker to insert * @param ticker Pointer to ticker node to insert * @param insert_head Pointer to current head. Updated if colliding nodes * are un-scheduled * @internal */ static inline uint32_t ticker_job_insert(struct ticker_instance *instance, uint8_t id_insert, struct ticker_node *ticker, uint8_t *insert_head) { struct ticker_node *node = &instance->nodes[0]; uint8_t id_collide; uint16_t skip; /* Prepare to insert */ ticker->next = TICKER_NULL; /* No. of times ticker has skipped its interval */ if (ticker->lazy_current > ticker->lazy_periodic) { skip = ticker->lazy_current - ticker->lazy_periodic; } else { skip = 0U; } /* If insert collides, remove colliding or advance to next interval */ while (id_insert != (id_collide = ticker_enqueue(instance, id_insert))) { /* Check for collision */ if (id_collide != TICKER_NULL) { struct ticker_node *ticker_collide = &node[id_collide]; uint16_t skip_collide; /* No. of times colliding ticker has skipped its * interval. */ if (ticker_collide->lazy_current > ticker_collide->lazy_periodic) { skip_collide = ticker_collide->lazy_current - ticker_collide->lazy_periodic; } else { skip_collide = 0U; } /* Check if colliding node should be un-scheduled */ if (ticker_collide->ticks_periodic && skip_collide <= skip && ticker_collide->force < ticker->force) { /* Dequeue and get the reminder of ticks * to expire. */ ticker_collide->ticks_to_expire = ticker_dequeue(instance, id_collide); /* Unschedule node */ ticker_collide->req = ticker_collide->ack; /* Enqueue for re-insertion */ ticker_collide->next = *insert_head; *insert_head = id_collide; continue; } } /* occupied, try next interval */ if (ticker->ticks_periodic != 0U) { ticker->ticks_to_expire += ticker->ticks_periodic + ticker_remainder_inc(ticker); ticker->lazy_current++; /* No. of times ticker has skipped its interval */ if (ticker->lazy_current > ticker->lazy_periodic) { skip = ticker->lazy_current - ticker->lazy_periodic; } else { skip = 0U; } /* Remove any accumulated drift (possibly added due to * ticker job execution latencies). */ if (ticker->ticks_to_expire > ticker->ticks_to_expire_minus) { ticker->ticks_to_expire -= ticker->ticks_to_expire_minus; ticker->ticks_to_expire_minus = 0U; } else { ticker->ticks_to_expire_minus -= ticker->ticks_to_expire; ticker->ticks_to_expire = 0U; } } else { return TICKER_STATUS_FAILURE; } } /* Inserted/Scheduled */ ticker->req = ticker->ack + 1; return TICKER_STATUS_SUCCESS; } #endif /* !CONFIG_BT_TICKER_LOW_LAT */ /** * @brief Insert and start ticker nodes for all users * * @details Called by ticker_job to prepare, insert and start ticker nodes * for all users. Specifying insert_head to other than TICKER_NULL causes * that ticker node to be inserted first. * * @param instance Pointer to ticker instance * @param insert_head Id of ticker node to insert, or TICKER_NULL if only * handle user operation inserts * @internal */ static inline void ticker_job_list_insert(struct ticker_instance *instance, uint8_t insert_head) { struct ticker_node *node; struct ticker_user *users; uint8_t count_user; node = &instance->nodes[0]; users = &instance->users[0]; count_user = instance->count_user; /* Iterate through all user ids */ while (count_user--) { struct ticker_user_op *user_ops; struct ticker_user *user; uint8_t user_ops_first; user = &users[count_user]; user_ops = (void *)&user->user_op[0]; user_ops_first = user->first; /* Traverse user operation queue - first to middle (wrap) */ while ((insert_head != TICKER_NULL) || (user_ops_first != user->middle)) { struct ticker_user_op *user_op; struct ticker_node *ticker; uint8_t id_insert; uint32_t status; if (insert_head != TICKER_NULL) { /* Prepare insert of ticker node specified by * insert_head */ id_insert = insert_head; ticker = &node[id_insert]; insert_head = ticker->next; user_op = NULL; } else { /* Prepare insert of any ticker nodes requested * via user operation TICKER_USER_OP_TYPE_START */ uint8_t first; user_op = &user_ops[user_ops_first]; first = user_ops_first + 1; if (first == user->count_user_op) { first = 0U; } user_ops_first = first; id_insert = user_op->id; ticker = &node[id_insert]; if (user_op->op != TICKER_USER_OP_TYPE_START) { /* User operation is not start - skip * to next operation */ continue; } if (((ticker->req - ticker->ack) & 0xff) != 0U) { ticker_job_op_cb(user_op, TICKER_STATUS_FAILURE); continue; } /* Prepare ticker for start */ ticker_job_op_start(ticker, user_op, instance->ticks_current); } /* Insert ticker node */ status = ticker_job_insert(instance, id_insert, ticker, &insert_head); if (user_op) { ticker_job_op_cb(user_op, status); if (!IS_ENABLED(CONFIG_BT_TICKER_LOW_LAT) && (ticker->ticks_periodic == 0U) && user_op) { ticker->fp_op_func = user_op->fp_op_func; ticker->op_context = user_op->op_context; } } } } } /** * @brief Perform inquiry for specific user operation * * @param instance Pointer to ticker instance * @param uop Pointer to user operation * * @internal */ static inline void ticker_job_op_inquire(struct ticker_instance *instance, struct ticker_user_op *uop) { ticker_op_func fp_op_func; fp_op_func = NULL; switch (uop->op) { case TICKER_USER_OP_TYPE_SLOT_GET: ticker_by_next_slot_get(instance, uop->params.slot_get.ticker_id, uop->params.slot_get.ticks_current, #if defined(CONFIG_BT_TICKER_LAZY_GET) uop->params.slot_get.ticks_to_expire, uop->params.slot_get.lazy); #else /* !CONFIG_BT_TICKER_LAZY_GET */ uop->params.slot_get.ticks_to_expire); #endif /* !CONFIG_BT_TICKER_LAZY_GET */ __fallthrough; case TICKER_USER_OP_TYPE_IDLE_GET: uop->status = TICKER_STATUS_SUCCESS; fp_op_func = uop->fp_op_func; break; #if !defined(CONFIG_BT_TICKER_LOW_LAT) && \ !defined(CONFIG_BT_TICKER_SLOT_AGNOSTIC) case TICKER_USER_OP_TYPE_PRIORITY_SET: if (uop->id < instance->count_node) { struct ticker_node *node = instance->nodes; node[uop->id].priority = uop->params.priority_set.priority; uop->status = TICKER_STATUS_SUCCESS; } else { uop->status = TICKER_STATUS_FAILURE; } fp_op_func = uop->fp_op_func; break; #endif /* !CONFIG_BT_TICKER_LOW_LAT && * !CONFIG_BT_TICKER_SLOT_AGNOSTIC */ default: /* do nothing for other ops */ break; } if (fp_op_func) { fp_op_func(uop->status, uop->op_context); } } /** * @brief Check for pending inquiries for all users * * @details Run through all user operation lists, checking for pending * inquiries. Currently only two types of inquiries are supported: * TICKER_USER_OP_TYPE_SLOT_GET and TICKER_USER_OP_TYPE_IDLE_GET. The * function also supports user operation TICKER_USER_OP_TYPE_PRIORITY_SET. * This operation modifies the user->first index, indicating user operations * are complete. * * @param instance Pointer to ticker instance * * @internal */ static inline void ticker_job_list_inquire(struct ticker_instance *instance) { struct ticker_user *users; uint8_t count_user; users = &instance->users[0]; count_user = instance->count_user; /* Traverse user operation queue - first to last (with wrap) */ while (count_user--) { struct ticker_user_op *user_op; struct ticker_user *user; user = &users[count_user]; user_op = &user->user_op[0]; while (user->first != user->last) { uint8_t first; ticker_job_op_inquire(instance, &user_op[user->first]); first = user->first + 1; if (first == user->count_user_op) { first = 0U; } user->first = first; } } } /** * @brief Update counter compare value (trigger) * * @details Updates trigger to the match next expiring ticker node. The * function takes into consideration that it may be preempted in the process, * and makes sure - by iteration - that compare value is set in the future * (with a margin). * * @param instance Pointer to ticker instance * @param ticker_id_old_head Previous ticker_id_head * * @internal */ static inline void ticker_job_compare_update(struct ticker_instance *instance, uint8_t ticker_id_old_head) { struct ticker_node *ticker; uint32_t ticks_to_expire; uint32_t ctr_post; uint32_t ctr; uint32_t cc; uint32_t i; if (instance->ticker_id_head == TICKER_NULL) { if (cntr_stop() == 0) { instance->ticks_slot_previous = 0U; instance->ticks_current = cntr_cnt_get(); } return; } /* Check if this is the first update. If so, start the counter */ if (ticker_id_old_head == TICKER_NULL) { uint32_t ticks_current; ticks_current = cntr_cnt_get(); if (cntr_start() == 0) { instance->ticks_current = ticks_current; } } ticker = &instance->nodes[instance->ticker_id_head]; ticks_to_expire = ticker->ticks_to_expire; /* Iterate few times, if required, to ensure that compare is * correctly set to a future value. This is required in case * the operation is pre-empted and current h/w counter runs * ahead of compare value to be set. */ i = 10U; do { uint32_t ticks_elapsed; LL_ASSERT(i); i--; ctr = cntr_cnt_get(); cc = instance->ticks_current; ticks_elapsed = ticker_ticks_diff_get(ctr, cc) + HAL_TICKER_CNTR_CMP_OFFSET_MIN + HAL_TICKER_CNTR_SET_LATENCY; cc += MAX(ticks_elapsed, ticks_to_expire); cc &= HAL_TICKER_CNTR_MASK; instance->trigger_set_cb(cc); ctr_post = cntr_cnt_get(); } while ((ticker_ticks_diff_get(ctr_post, ctr) + HAL_TICKER_CNTR_CMP_OFFSET_MIN) > ticker_ticks_diff_get(cc, ctr)); } /** * @brief Ticker job * * @details Runs the bottom half of the ticker, after ticker nodes have elapsed * or user operations requested. The ticker_job is responsible for removing and * re-inserting ticker nodes, based on next elapsing and periodicity of the * nodes. The ticker_job is also responsible for processing user operations, * i.e. requests for start, update, stop etc. * Invoked from the ticker job mayfly context (TICKER_MAYFLY_CALL_ID_JOB). * * @param param Pointer to ticker instance * * @internal */ void ticker_job(void *param) { struct ticker_instance *instance = param; uint8_t ticker_id_old_head; uint8_t insert_head; uint32_t ticks_elapsed; uint32_t ticks_previous; uint8_t flag_elapsed; uint8_t pending; uint8_t flag_compare_update; DEBUG_TICKER_JOB(1); /* Defer job, as worker is running */ if (instance->worker_trigger) { DEBUG_TICKER_JOB(0); return; } /* Defer job, as job is already running */ if (instance->job_guard) { instance->sched_cb(TICKER_CALL_ID_JOB, TICKER_CALL_ID_JOB, 1, instance); return; } instance->job_guard = 1U; /* Back up the previous known tick */ ticks_previous = instance->ticks_current; /* Update current tick with the elapsed value from queue, and dequeue */ if (instance->ticks_elapsed_first != instance->ticks_elapsed_last) { ticker_next_elapsed(&instance->ticks_elapsed_first); ticks_elapsed = instance->ticks_elapsed[instance->ticks_elapsed_first]; instance->ticks_current += ticks_elapsed; instance->ticks_current &= HAL_TICKER_CNTR_MASK; flag_elapsed = 1U; } else { /* No elapsed value in queue */ flag_elapsed = 0U; ticks_elapsed = 0U; } /* Initialise internal re-insert list */ insert_head = TICKER_NULL; /* Initialise flag used to update next compare value */ flag_compare_update = 0U; /* Remember the old head, so as to decide if new compare needs to be * set. */ ticker_id_old_head = instance->ticker_id_head; /* Manage user operations (updates and deletions) in ticker list */ pending = ticker_job_list_manage(instance, ticks_elapsed, &insert_head); /* Detect change in head of the list */ if (instance->ticker_id_head != ticker_id_old_head) { flag_compare_update = 1U; } /* Handle expired tickers */ if (flag_elapsed) { ticker_job_worker_bh(instance, ticks_previous, ticks_elapsed, &insert_head); /* Detect change in head of the list */ if (instance->ticker_id_head != ticker_id_old_head) { flag_compare_update = 1U; } /* Handle insertions */ ticker_job_list_insert(instance, insert_head); #if defined(CONFIG_BT_TICKER_EXT) /* Re-schedule any pending nodes with slot_window */ if (ticker_job_reschedule_in_window(instance, ticks_elapsed)) { flag_compare_update = 1U; } #endif /* CONFIG_BT_TICKER_EXT */ } else { /* Handle insertions */ ticker_job_list_insert(instance, insert_head); } /* Detect change in head of the list */ if (instance->ticker_id_head != ticker_id_old_head) { flag_compare_update = 1U; } /* Process any list inquiries */ if (!pending) { /* Handle inquiries */ ticker_job_list_inquire(instance); } /* update compare if head changed */ if (flag_compare_update) { ticker_job_compare_update(instance, ticker_id_old_head); } /* Permit worker to run */ instance->job_guard = 0U; /* trigger worker if deferred */ if (instance->worker_trigger) { instance->sched_cb(TICKER_CALL_ID_JOB, TICKER_CALL_ID_WORKER, 1, instance); } DEBUG_TICKER_JOB(0); } /***************************************************************************** * Public Interface ****************************************************************************/ /** * @brief Initialize ticker instance * * @details Called by ticker instance client once to initialize the ticker. * * @param instance_index Index of ticker instance * @param count_node Number of ticker nodes in node array * @param node Pointer to ticker node array * @param count_user Number of users in user array * @param user Pointer to user array of size count_user * @param count_op Number of user operations in user_op array * @param user_op Pointer to user operations array of size count_op * @param caller_id_get_cb Pointer to function for retrieving caller_id from * user id * @param sched_cb Pointer to function for scheduling ticker_worker * and ticker_job * @param trigger_set_cb Pointer to function for setting the compare trigger * ticks value * * @return TICKER_STATUS_SUCCESS if initialization was successful, otherwise * TICKER_STATUS_FAILURE */ uint32_t ticker_init(uint8_t instance_index, uint8_t count_node, void *node, uint8_t count_user, void *user, uint8_t count_op, void *user_op, ticker_caller_id_get_cb_t caller_id_get_cb, ticker_sched_cb_t sched_cb, ticker_trigger_set_cb_t trigger_set_cb) { struct ticker_instance *instance = &_instance[instance_index]; struct ticker_user_op *user_op_ = (void *)user_op; struct ticker_user *users; if (instance_index >= TICKER_INSTANCE_MAX) { return TICKER_STATUS_FAILURE; } instance->count_node = count_node; instance->nodes = node; #if !defined(CONFIG_BT_TICKER_LOW_LAT) && \ !defined(CONFIG_BT_TICKER_SLOT_AGNOSTIC) while (count_node--) { instance->nodes[count_node].priority = 0; } #endif /* !CONFIG_BT_TICKER_LOW_LAT && * !CONFIG_BT_TICKER_SLOT_AGNOSTIC */ instance->count_user = count_user; instance->users = user; /** @todo check if enough ticker_user_op supplied */ users = &instance->users[0]; while (count_user--) { users[count_user].user_op = user_op_; user_op_ += users[count_user].count_user_op; count_op -= users[count_user].count_user_op; } if (count_op) { return TICKER_STATUS_FAILURE; } instance->caller_id_get_cb = caller_id_get_cb; instance->sched_cb = sched_cb; instance->trigger_set_cb = trigger_set_cb; instance->ticker_id_head = TICKER_NULL; instance->ticker_id_slot_previous = TICKER_NULL; instance->ticks_slot_previous = 0U; instance->ticks_current = 0U; instance->ticks_elapsed_first = 0U; instance->ticks_elapsed_last = 0U; return TICKER_STATUS_SUCCESS; } /** * @brief Check if ticker instance is initialized * * @param instance_index Index of ticker instance * * @return true if ticker instance is initialized, false otherwise */ bool ticker_is_initialized(uint8_t instance_index) { return !!(_instance[instance_index].count_node); } /** * @brief Trigger the ticker worker * * @details Schedules the ticker_worker upper half by invoking the * corresponding mayfly. * * @param instance_index Index of ticker instance */ void ticker_trigger(uint8_t instance_index) { struct ticker_instance *instance; DEBUG_TICKER_ISR(1); instance = &_instance[instance_index]; if (instance->sched_cb) { instance->sched_cb(TICKER_CALL_ID_TRIGGER, TICKER_CALL_ID_WORKER, 1, instance); } DEBUG_TICKER_ISR(0); } /** * @brief Start a ticker node * * @details Creates a new user operation of type TICKER_USER_OP_TYPE_START and * schedules the ticker_job. * * @param instance_index Index of ticker instance * @param user_id Ticker user id. Used for indexing user operations * and mapping to mayfly caller id * @param ticker_id Id of ticker node * @param ticks_anchor Absolute tick count as anchor point for * ticks_first * @param ticks_first Initial number of ticks before first timeout * @param ticks_periodic Number of ticks for a peridic ticker node. If 0, * ticker node is treated as one-shot * @param remainder_periodic Periodic ticks fraction * @param lazy Number of periods to skip (latency). A value of 1 * causes skipping every other timeout * @param ticks_slot Slot reservation ticks for node (air-time) * @param ticks_slot_window Window in which the slot reservation may be * re-scheduled to avoid collision. Set to 0 for * legacy behavior * @param fp_timeout_func Function pointer of function to call at timeout * @param context Context passed in timeout call * @param fp_op_func Function pointer of user operation completion * function * @param op_context Context passed in operation completion call * * @return TICKER_STATUS_BUSY if start was successful but not yet completed. * TICKER_STATUS_FAILURE is returned if there are no more user operations * available, and TICKER_STATUS_SUCCESS is returned if ticker_job gets to * run before exiting ticker_start */ #if defined(CONFIG_BT_TICKER_EXT) uint32_t ticker_start(uint8_t instance_index, uint8_t user_id, uint8_t ticker_id, uint32_t ticks_anchor, uint32_t ticks_first, uint32_t ticks_periodic, uint32_t remainder_periodic, uint16_t lazy, uint32_t ticks_slot, ticker_timeout_func fp_timeout_func, void *context, ticker_op_func fp_op_func, void *op_context) { return ticker_start_ext(instance_index, user_id, ticker_id, ticks_anchor, ticks_first, ticks_periodic, remainder_periodic, lazy, ticks_slot, fp_timeout_func, context, fp_op_func, op_context, NULL); } uint32_t ticker_start_ext(uint8_t instance_index, uint8_t user_id, uint8_t ticker_id, uint32_t ticks_anchor, uint32_t ticks_first, uint32_t ticks_periodic, uint32_t remainder_periodic, uint16_t lazy, uint32_t ticks_slot, ticker_timeout_func fp_timeout_func, void *context, ticker_op_func fp_op_func, void *op_context, struct ticker_ext *ext_data) #else uint32_t ticker_start(uint8_t instance_index, uint8_t user_id, uint8_t ticker_id, uint32_t ticks_anchor, uint32_t ticks_first, uint32_t ticks_periodic, uint32_t remainder_periodic, uint16_t lazy, uint32_t ticks_slot, ticker_timeout_func fp_timeout_func, void *context, ticker_op_func fp_op_func, void *op_context) #endif { struct ticker_instance *instance = &_instance[instance_index]; struct ticker_user_op *user_op; struct ticker_user *user; uint8_t last; user = &instance->users[user_id]; last = user->last + 1; if (last >= user->count_user_op) { last = 0U; } if (last == user->first) { return TICKER_STATUS_FAILURE; } user_op = &user->user_op[user->last]; user_op->op = TICKER_USER_OP_TYPE_START; user_op->id = ticker_id; user_op->params.start.ticks_at_start = ticks_anchor; user_op->params.start.ticks_first = ticks_first; user_op->params.start.ticks_periodic = ticks_periodic; user_op->params.start.remainder_periodic = remainder_periodic; #if !defined(CONFIG_BT_TICKER_SLOT_AGNOSTIC) user_op->params.start.ticks_slot = ticks_slot; #endif user_op->params.start.lazy = lazy; #if defined(CONFIG_BT_TICKER_EXT) user_op->params.start.ext_data = ext_data; #endif user_op->params.start.fp_timeout_func = fp_timeout_func; user_op->params.start.context = context; user_op->status = TICKER_STATUS_BUSY; user_op->fp_op_func = fp_op_func; user_op->op_context = op_context; user->last = last; instance->sched_cb(instance->caller_id_get_cb(user_id), TICKER_CALL_ID_JOB, 0, instance); return user_op->status; } /** * @brief Update a ticker node * * @details Creates a new user operation of type TICKER_USER_OP_TYPE_UPDATE and * schedules the ticker_job. * * @param instance_index Index of ticker instance * @param user_id Ticker user id. Used for indexing user operations * and mapping to mayfly caller id * @param ticker_id Id of ticker node * @param ticks_drift_plus Number of ticks to add for drift compensation * @param ticks_drift_minus Number of ticks to subtract for drift compensation * @param ticks_slot_plus Number of ticks to add to slot reservation * @param ticks_slot_minus Number of ticks to add subtract from slot * reservation * @param lazy Number of periods to skip (latency). A value of 0 * means no action. 1 means no latency (normal). A * value >1 means latency = lazy - 1 * @param force Force update to take effect immediately. With * force = 0, update is scheduled to take effect as * soon as possible * @param fp_op_func Function pointer of user operation completion * function * @param op_context Context passed in operation completion call * @param must_expire Disable, enable or ignore the must-expire state. * A value of 0 means no change, 1 means disable and * 2 means enable. * * @return TICKER_STATUS_BUSY if update was successful but not yet completed. * TICKER_STATUS_FAILURE is returned if there are no more user operations * available, and TICKER_STATUS_SUCCESS is returned if ticker_job gets to run * before exiting ticker_update */ uint32_t ticker_update(uint8_t instance_index, uint8_t user_id, uint8_t ticker_id, uint32_t ticks_drift_plus, uint32_t ticks_drift_minus, uint32_t ticks_slot_plus, uint32_t ticks_slot_minus, uint16_t lazy, uint8_t force, ticker_op_func fp_op_func, void *op_context) #if defined(CONFIG_BT_TICKER_EXT) { return ticker_update_ext(instance_index, user_id, ticker_id, ticks_drift_plus, ticks_drift_minus, ticks_slot_plus, ticks_slot_minus, lazy, force, fp_op_func, op_context, 0); } uint32_t ticker_update_ext(uint8_t instance_index, uint8_t user_id, uint8_t ticker_id, uint32_t ticks_drift_plus, uint32_t ticks_drift_minus, uint32_t ticks_slot_plus, uint32_t ticks_slot_minus, uint16_t lazy, uint8_t force, ticker_op_func fp_op_func, void *op_context, uint8_t must_expire) #endif /* CONFIG_BT_TICKER_EXT */ { struct ticker_instance *instance = &_instance[instance_index]; struct ticker_user_op *user_op; struct ticker_user *user; uint8_t last; user = &instance->users[user_id]; last = user->last + 1; if (last >= user->count_user_op) { last = 0U; } if (last == user->first) { return TICKER_STATUS_FAILURE; } user_op = &user->user_op[user->last]; user_op->op = TICKER_USER_OP_TYPE_UPDATE; user_op->id = ticker_id; user_op->params.update.ticks_drift_plus = ticks_drift_plus; user_op->params.update.ticks_drift_minus = ticks_drift_minus; #if !defined(CONFIG_BT_TICKER_SLOT_AGNOSTIC) user_op->params.update.ticks_slot_plus = ticks_slot_plus; user_op->params.update.ticks_slot_minus = ticks_slot_minus; #endif /* CONFIG_BT_TICKER_SLOT_AGNOSTIC */ user_op->params.update.lazy = lazy; user_op->params.update.force = force; #if defined(CONFIG_BT_TICKER_EXT) user_op->params.update.must_expire = must_expire; #endif /* CONFIG_BT_TICKER_EXT */ user_op->status = TICKER_STATUS_BUSY; user_op->fp_op_func = fp_op_func; user_op->op_context = op_context; user->last = last; instance->sched_cb(instance->caller_id_get_cb(user_id), TICKER_CALL_ID_JOB, 0, instance); return user_op->status; } /** * @brief Stop a ticker node * * @details Creates a new user operation of type TICKER_USER_OP_TYPE_STOP and * schedules the ticker_job. * * @param instance_index Index of ticker instance * @param user_id Ticker user id. Used for indexing user operations * and mapping to mayfly caller id * @param fp_op_func Function pointer of user operation completion * function * @param op_context Context passed in operation completion call * * @return TICKER_STATUS_BUSY if stop was successful but not yet completed. * TICKER_STATUS_FAILURE is returned if there are no more user operations * available, and TICKER_STATUS_SUCCESS is returned if ticker_job gets to run * before exiting ticker_stop */ uint32_t ticker_stop(uint8_t instance_index, uint8_t user_id, uint8_t ticker_id, ticker_op_func fp_op_func, void *op_context) { struct ticker_instance *instance = &_instance[instance_index]; struct ticker_user_op *user_op; struct ticker_user *user; uint8_t last; user = &instance->users[user_id]; last = user->last + 1; if (last >= user->count_user_op) { last = 0U; } if (last == user->first) { return TICKER_STATUS_FAILURE; } user_op = &user->user_op[user->last]; user_op->op = TICKER_USER_OP_TYPE_STOP; user_op->id = ticker_id; user_op->status = TICKER_STATUS_BUSY; user_op->fp_op_func = fp_op_func; user_op->op_context = op_context; user->last = last; instance->sched_cb(instance->caller_id_get_cb(user_id), TICKER_CALL_ID_JOB, 0, instance); return user_op->status; } /** * @brief Stop a ticker node with supplied absolute ticks reference * * @details Creates a new user operation of type TICKER_USER_OP_TYPE_STOP_ABS * and schedules the ticker_job. * * @param instance_index Index of ticker instance * @param user_id Ticker user id. Used for indexing user operations * and mapping to mayfly caller id * @param ticks_at_stop Absolute tick count at ticker stop request * @param fp_op_func Function pointer of user operation completion * function * @param op_context Context passed in operation completion call * * @return TICKER_STATUS_BUSY if stop was successful but not yet completed. * TICKER_STATUS_FAILURE is returned if there are no more user operations * available, and TICKER_STATUS_SUCCESS is returned if ticker_job gets to run * before exiting ticker_stop */ uint32_t ticker_stop_abs(uint8_t instance_index, uint8_t user_id, uint8_t ticker_id, uint32_t ticks_at_stop, ticker_op_func fp_op_func, void *op_context) { struct ticker_instance *instance = &_instance[instance_index]; struct ticker_user_op *user_op; struct ticker_user *user; uint8_t last; user = &instance->users[user_id]; last = user->last + 1; if (last >= user->count_user_op) { last = 0U; } if (last == user->first) { return TICKER_STATUS_FAILURE; } user_op = &user->user_op[user->last]; user_op->op = TICKER_USER_OP_TYPE_STOP_ABS; user_op->id = ticker_id; user_op->params.stop.ticks_at_stop = ticks_at_stop; user_op->status = TICKER_STATUS_BUSY; user_op->fp_op_func = fp_op_func; user_op->op_context = op_context; user->last = last; instance->sched_cb(instance->caller_id_get_cb(user_id), TICKER_CALL_ID_JOB, 0, instance); return user_op->status; } /** * @brief Get next ticker node slot * * @details Gets the next ticker which has slot ticks specified and * return the ticker id and accumulated ticks until expiration. If no * ticker nodes have slot ticks, the next ticker node is returned. * If no head id is provided (TICKER_NULL) the first node is returned. * * @param instance_index Index of ticker instance * @param user_id Ticker user id. Used for indexing user operations * and mapping to mayfly caller id * @param ticker_id Pointer to id of ticker node * @param ticks_current Pointer to current ticks count * @param ticks_to_expire Pointer to ticks to expire * @param fp_op_func Function pointer of user operation completion * function * @param op_context Context passed in operation completion call * * @return TICKER_STATUS_BUSY if request was successful but not yet completed. * TICKER_STATUS_FAILURE is returned if there are no more user operations * available, and TICKER_STATUS_SUCCESS is returned if ticker_job gets to run * before exiting ticker_next_slot_get */ uint32_t ticker_next_slot_get(uint8_t instance_index, uint8_t user_id, uint8_t *ticker_id, uint32_t *ticks_current, uint32_t *ticks_to_expire, ticker_op_func fp_op_func, void *op_context) { #if defined(CONFIG_BT_TICKER_LAZY_GET) return ticker_next_slot_get_ext(instance_index, user_id, ticker_id, ticks_current, ticks_to_expire, NULL, fp_op_func, op_context); } uint32_t ticker_next_slot_get_ext(uint8_t instance_index, uint8_t user_id, uint8_t *ticker_id, uint32_t *ticks_current, uint32_t *ticks_to_expire, uint16_t *lazy, ticker_op_func fp_op_func, void *op_context) { #endif /* CONFIG_BT_TICKER_LAZY_GET */ struct ticker_instance *instance = &_instance[instance_index]; struct ticker_user_op *user_op; struct ticker_user *user; uint8_t last; user = &instance->users[user_id]; last = user->last + 1; if (last >= user->count_user_op) { last = 0U; } if (last == user->first) { return TICKER_STATUS_FAILURE; } user_op = &user->user_op[user->last]; user_op->op = TICKER_USER_OP_TYPE_SLOT_GET; user_op->id = TICKER_NULL; user_op->params.slot_get.ticker_id = ticker_id; user_op->params.slot_get.ticks_current = ticks_current; user_op->params.slot_get.ticks_to_expire = ticks_to_expire; #if defined(CONFIG_BT_TICKER_LAZY_GET) user_op->params.slot_get.lazy = lazy; #endif /* CONFIG_BT_TICKER_LAZY_GET */ user_op->status = TICKER_STATUS_BUSY; user_op->fp_op_func = fp_op_func; user_op->op_context = op_context; user->last = last; instance->sched_cb(instance->caller_id_get_cb(user_id), TICKER_CALL_ID_JOB, 0, instance); return user_op->status; } /** * @brief Get a callback at the end of ticker job execution * * @details Operation completion callback is called at the end of the * ticker_job execution. The user operation is immutable. * * @param instance_index Index of ticker instance * @param user_id Ticker user id. Used for indexing user operations * and mapping to mayfly caller id * @param fp_op_func Function pointer of user operation completion * function * @param op_context Context passed in operation completion call * * @return TICKER_STATUS_BUSY if request was successful but not yet completed. * TICKER_STATUS_FAILURE is returned if there are no more user operations * available, and TICKER_STATUS_SUCCESS is returned if ticker_job gets to run * before exiting ticker_job_idle_get */ uint32_t ticker_job_idle_get(uint8_t instance_index, uint8_t user_id, ticker_op_func fp_op_func, void *op_context) { struct ticker_instance *instance = &_instance[instance_index]; struct ticker_user_op *user_op; struct ticker_user *user; uint8_t last; user = &instance->users[user_id]; last = user->last + 1; if (last >= user->count_user_op) { last = 0U; } if (last == user->first) { return TICKER_STATUS_FAILURE; } user_op = &user->user_op[user->last]; user_op->op = TICKER_USER_OP_TYPE_IDLE_GET; user_op->id = TICKER_NULL; user_op->status = TICKER_STATUS_BUSY; user_op->fp_op_func = fp_op_func; user_op->op_context = op_context; user->last = last; instance->sched_cb(instance->caller_id_get_cb(user_id), TICKER_CALL_ID_JOB, 0, instance); return user_op->status; } #if !defined(CONFIG_BT_TICKER_LOW_LAT) && \ !defined(CONFIG_BT_TICKER_SLOT_AGNOSTIC) /** * @brief Set ticker node priority * * @param instance_index Index of ticker instance * @param user_id Ticker user id. Used for indexing user operations * and mapping to mayfly caller id * @param ticker_id Id of ticker node to set priority on * @param priority Priority to set. Range [-128..127], default is 0. * Lover value equals higher priority. Setting * priority to -128 (TICKER_PRIORITY_CRITICAL) makes * the node win all collision challenges. Only one * node can have this priority assigned. * @param fp_op_func Function pointer of user operation completion * function * @param op_context Context passed in operation completion call * * @return TICKER_STATUS_BUSY if request was successful but not yet completed. * TICKER_STATUS_FAILURE is returned if there are no more user operations * available, and TICKER_STATUS_SUCCESS is returned if ticker_job gets to run * before exiting ticker_priority_set */ uint32_t ticker_priority_set(uint8_t instance_index, uint8_t user_id, uint8_t ticker_id, int8_t priority, ticker_op_func fp_op_func, void *op_context) { struct ticker_instance *instance = &_instance[instance_index]; struct ticker_user_op *user_op; struct ticker_user *user; uint8_t last; user = &instance->users[user_id]; last = user->last + 1; if (last >= user->count_user_op) { last = 0U; } if (last == user->first) { return TICKER_STATUS_FAILURE; } user_op = &user->user_op[user->last]; user_op->op = TICKER_USER_OP_TYPE_PRIORITY_SET; user_op->id = ticker_id; user_op->params.priority_set.priority = priority; user_op->status = TICKER_STATUS_BUSY; user_op->fp_op_func = fp_op_func; user_op->op_context = op_context; user->last = last; instance->sched_cb(instance->caller_id_get_cb(user_id), TICKER_CALL_ID_JOB, 0, instance); return user_op->status; } #endif /* !CONFIG_BT_TICKER_LOW_LAT && * !CONFIG_BT_TICKER_SLOT_AGNOSTIC */ /** * @brief Schedule ticker job * * @param instance_index Index of ticker instance * @param user_id Ticker user id. Maps to mayfly caller id */ void ticker_job_sched(uint8_t instance_index, uint8_t user_id) { struct ticker_instance *instance = &_instance[instance_index]; instance->sched_cb(instance->caller_id_get_cb(user_id), TICKER_CALL_ID_JOB, 0, instance); } /** * @brief Get current absolute tick count * * @return Absolute tick count */ uint32_t ticker_ticks_now_get(void) { return cntr_cnt_get(); } /** * @brief Get diffence between two tick counts * * @details Subtract two counts and truncate to correct HW dependent counter * bit width * * @param ticks_now Highest tick count (now) * @param ticks_old Tick count to subtract from ticks_now */ uint32_t ticker_ticks_diff_get(uint32_t ticks_now, uint32_t ticks_old) { return ((ticks_now - ticks_old) & HAL_TICKER_CNTR_MASK); }