432 lines
12 KiB
C
432 lines
12 KiB
C
/****************************************************************************
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* sched/wdog/wd_start.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <sys/param.h>
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#include <unistd.h>
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#include <sched.h>
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#include <assert.h>
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#include <debug.h>
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#include <errno.h>
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#include <nuttx/irq.h>
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#include <nuttx/arch.h>
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#include <nuttx/wdog.h>
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#include "sched/sched.h"
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#include "wdog/wdog.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#ifndef CONFIG_SCHED_CRITMONITOR_MAXTIME_WDOG
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# define CONFIG_SCHED_CRITMONITOR_MAXTIME_WDOG 0
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#endif
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#if CONFIG_SCHED_CRITMONITOR_MAXTIME_WDOG > 0
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# define CALL_FUNC(func, arg) \
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do \
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{ \
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unsigned long start; \
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unsigned long elapsed; \
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start = up_perf_gettime(); \
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func(arg); \
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elapsed = up_perf_gettime() - start; \
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if (elapsed > CONFIG_SCHED_CRITMONITOR_MAXTIME_WDOG) \
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{ \
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CRITMONITOR_PANIC("WDOG %p, %s IRQ, execute too long %lu\n", \
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func, up_interrupt_context() ? \
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"IN" : "NOT", elapsed); \
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} \
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} \
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while (0)
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#else
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# define CALL_FUNC(func, arg) func(arg)
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#endif
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: wd_expiration
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*
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* Description:
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* Check if the timer for the watchdog at the head of list is ready to
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* run. If so, remove the watchdog from the list and execute it.
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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static inline void wd_expiration(void)
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{
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FAR struct wdog_s *wdog;
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wdentry_t func;
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/* Process the watchdog at the head of the list as well as any
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* other watchdogs that became ready to run at this time
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*/
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while (g_wdactivelist.head &&
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((FAR struct wdog_s *)g_wdactivelist.head)->lag <= 0)
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{
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/* Remove the watchdog from the head of the list */
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wdog = (FAR struct wdog_s *)sq_remfirst(&g_wdactivelist);
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/* If there is another watchdog behind this one, update its
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* its lag (this shouldn't be necessary).
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*/
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if (g_wdactivelist.head)
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{
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((FAR struct wdog_s *)g_wdactivelist.head)->lag += wdog->lag;
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}
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/* Indicate that the watchdog is no longer active. */
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func = wdog->func;
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wdog->func = NULL;
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/* Execute the watchdog function */
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up_setpicbase(wdog->picbase);
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CALL_FUNC(func, wdog->arg);
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}
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: wd_start
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*
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* Description:
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* This function adds a watchdog timer to the active timer queue. The
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* specified watchdog function at 'wdentry' will be called from the
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* interrupt level after the specified number of ticks has elapsed.
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* Watchdog timers may be started from the interrupt level.
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*
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* Watchdog timers execute in the address environment that was in effect
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* when wd_start() is called.
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*
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* Watchdog timers execute only once.
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*
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* To replace either the timeout delay or the function to be executed,
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* call wd_start again with the same wdog; only the most recent wdStart()
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* on a given watchdog ID has any effect.
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*
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* Input Parameters:
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* wdog - Watchdog ID
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* delay - Delay count in clock ticks
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* wdentry - Function to call on timeout
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* arg - Parameter to pass to wdentry
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*
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* NOTE: The parameter must be of type wdparm_t.
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*
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* Returned Value:
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* Zero (OK) is returned on success; a negated errno value is return to
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* indicate the nature of any failure.
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*
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* Assumptions:
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* The watchdog routine runs in the context of the timer interrupt handler
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* and is subject to all ISR restrictions.
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*
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****************************************************************************/
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int wd_start(FAR struct wdog_s *wdog, sclock_t delay,
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wdentry_t wdentry, wdparm_t arg)
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{
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FAR struct wdog_s *curr;
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FAR struct wdog_s *prev;
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FAR struct wdog_s *next;
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sclock_t now;
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irqstate_t flags;
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/* Verify the wdog and setup parameters */
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if (wdog == NULL || wdentry == NULL || delay < 0)
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{
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return -EINVAL;
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}
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/* Check if the watchdog has been started. If so, stop it.
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* NOTE: There is a race condition here... the caller may receive
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* the watchdog between the time that wd_start is called and
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* the critical section is established.
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*/
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flags = enter_critical_section();
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if (WDOG_ISACTIVE(wdog))
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{
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wd_cancel(wdog);
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}
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/* Save the data in the watchdog structure */
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wdog->func = wdentry; /* Function to execute when delay expires */
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up_getpicbase(&wdog->picbase);
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wdog->arg = arg;
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/* Calculate delay+1, forcing the delay into a range that we can handle.
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*
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* NOTE that one is added to the delay. This is correct and must not be
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* changed: The contract for the use wdog_start is that the wdog will
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* delay FOR AT LEAST as long as requested, but may delay longer due to
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* variety of factors. The wdog logic has no knowledge of the the phase
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* of the system timer when it is started: The next timer interrupt may
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* occur immediately or may be delayed for almost a full cycle. In order
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* to meet the contract requirement, the requested time is also always
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* incremented by one so that the delay is always at least as long as
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* requested.
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*
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* There is extensive documentation about this time issue elsewhere.
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*/
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if (delay <= 0)
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{
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delay = 1;
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}
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else if (++delay <= 0)
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{
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delay--;
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}
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#ifdef CONFIG_SCHED_TICKLESS
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/* Cancel the interval timer that drives the timing events. This will
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* cause wd_timer to be called which update the delay value for the first
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* time at the head of the timer list (there is a possibility that it
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* could even remove it).
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*/
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nxsched_cancel_timer();
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#endif
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/* Do the easy case first -- when the watchdog timer queue is empty. */
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if (g_wdactivelist.head == NULL)
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{
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#ifdef CONFIG_SCHED_TICKLESS
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/* Update clock tickbase */
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g_wdtickbase = clock_systime_ticks();
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#endif
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/* Add the watchdog to the head == tail of the queue. */
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sq_addlast((FAR sq_entry_t *)wdog, &g_wdactivelist);
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}
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/* There are other active watchdogs in the timer queue */
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else
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{
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now = 0;
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prev = curr = (FAR struct wdog_s *)g_wdactivelist.head;
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/* Advance to positive time */
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while ((now += curr->lag) < 0 && curr->next)
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{
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prev = curr;
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curr = curr->next;
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}
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/* Advance past shorter delays */
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while (now <= delay && curr->next)
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{
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prev = curr;
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curr = curr->next;
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now += curr->lag;
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}
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/* Check if the new wdog must be inserted before the curr. */
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if (delay < now)
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{
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/* The relative delay time is smaller or equal to the current delay
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* time, so decrement the current delay time by the new relative
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* delay time.
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*/
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delay -= (now - curr->lag);
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curr->lag -= delay;
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/* Insert the new watchdog in the list */
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if (curr == (FAR struct wdog_s *)g_wdactivelist.head)
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{
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/* Insert the watchdog at the head of the list */
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sq_addfirst((FAR sq_entry_t *)wdog, &g_wdactivelist);
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}
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else
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{
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/* Insert the watchdog in mid- or end-of-queue */
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sq_addafter((FAR sq_entry_t *)prev, (FAR sq_entry_t *)wdog,
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&g_wdactivelist);
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}
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}
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/* The new watchdog delay time is greater than the curr delay time,
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* so the new wdog must be inserted after the curr. This only occurs
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* if the wdog is to be added to the end of the list.
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*/
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else
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{
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delay -= now;
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if (!curr->next)
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{
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sq_addlast((FAR sq_entry_t *)wdog, &g_wdactivelist);
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}
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else
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{
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next = curr->next;
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next->lag -= delay;
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sq_addafter((FAR sq_entry_t *)curr, (FAR sq_entry_t *)wdog,
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&g_wdactivelist);
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}
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}
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}
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/* Put the lag into the watchdog structure and mark it as active. */
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wdog->lag = delay;
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#ifdef CONFIG_SCHED_TICKLESS
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/* Resume the interval timer that will generate the next interval event.
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* If the timer at the head of the list changed, then this will pick that
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* new delay.
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*/
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nxsched_resume_timer();
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#endif
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leave_critical_section(flags);
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return OK;
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}
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/****************************************************************************
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* Name: wd_timer
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*
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* Description:
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* This function is called from the timer interrupt handler to determine
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* if it is time to execute a watchdog function. If so, the watchdog
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* function will be executed in the context of the timer interrupt
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* handler.
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*
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* Input Parameters:
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* ticks - If CONFIG_SCHED_TICKLESS is defined then the number of ticks
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* in the interval that just expired is provided. Otherwise,
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* this function is called on each timer interrupt and a value of one
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* is implicit.
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* noswitches - True: Can't do context switches now.
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*
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* Returned Value:
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* If CONFIG_SCHED_TICKLESS is defined then the number of ticks for the
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* next delay is provided (zero if no delay). Otherwise, this function
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* has no returned value.
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*
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* Assumptions:
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* Called from interrupt handler logic with interrupts disabled.
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*
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****************************************************************************/
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#ifdef CONFIG_SCHED_TICKLESS
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unsigned int wd_timer(int ticks, bool noswitches)
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{
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FAR struct wdog_s *wdog;
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unsigned int ret;
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int decr;
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/* Check if there are any active watchdogs to process */
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wdog = (FAR struct wdog_s *)g_wdactivelist.head;
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while (wdog != NULL && ticks > 0)
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{
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/* Decrement the lag for this watchdog. */
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decr = MIN(wdog->lag, ticks);
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/* There are. Decrement the lag counter */
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wdog->lag -= decr;
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ticks -= decr;
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g_wdtickbase += decr;
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wdog = wdog->next;
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}
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/* Check if the watchdog at the head of the list is ready to run */
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if (!noswitches)
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{
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wd_expiration();
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}
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/* Update clock tickbase */
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g_wdtickbase += ticks;
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/* Return the delay for the next watchdog to expire */
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ret = g_wdactivelist.head ?
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MAX(((FAR struct wdog_s *)g_wdactivelist.head)->lag, 1) : 0;
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/* Return the delay for the next watchdog to expire */
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return ret;
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}
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#else
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void wd_timer(void)
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{
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/* Check if there are any active watchdogs to process */
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if (g_wdactivelist.head)
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{
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/* There are. Decrement the lag counter */
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--(((FAR struct wdog_s *)g_wdactivelist.head)->lag);
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/* Check if the watchdog at the head of the list is ready to run */
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wd_expiration();
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}
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}
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#endif /* CONFIG_SCHED_TICKLESS */
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