20 #ifndef _COBALT_KERNEL_TIMER_H
21 #define _COBALT_KERNEL_TIMER_H
23 #include <cobalt/kernel/clock.h>
24 #include <cobalt/kernel/stat.h>
25 #include <cobalt/kernel/list.h>
26 #include <cobalt/kernel/assert.h>
27 #include <cobalt/kernel/ancillaries.h>
28 #include <asm/xenomai/wrappers.h>
34 #define XN_INFINITE ((xnticks_t)0)
35 #define XN_NONBLOCK ((xnticks_t)-1)
38 typedef enum xntmode {
45 #define XNTIMER_DEQUEUED 0x00000001
46 #define XNTIMER_KILLED 0x00000002
47 #define XNTIMER_PERIODIC 0x00000004
48 #define XNTIMER_REALTIME 0x00000008
49 #define XNTIMER_FIRED 0x00000010
50 #define XNTIMER_RUNNING 0x00000020
51 #define XNTIMER_KGRAVITY 0x00000040
52 #define XNTIMER_UGRAVITY 0x00000080
53 #define XNTIMER_IGRAVITY 0
55 #define XNTIMER_GRAVITY_MASK (XNTIMER_KGRAVITY|XNTIMER_UGRAVITY)
56 #define XNTIMER_INIT_MASK XNTIMER_GRAVITY_MASK
59 #define XNTIMER_SPARE0 0x01000000
60 #define XNTIMER_SPARE1 0x02000000
61 #define XNTIMER_SPARE2 0x04000000
62 #define XNTIMER_SPARE3 0x08000000
63 #define XNTIMER_SPARE4 0x10000000
64 #define XNTIMER_SPARE5 0x20000000
65 #define XNTIMER_SPARE6 0x40000000
66 #define XNTIMER_SPARE7 0x80000000
69 #define XNTIMER_LOPRIO (-999999999)
70 #define XNTIMER_STDPRIO 0
71 #define XNTIMER_HIPRIO 999999999
74 struct list_head link;
79 #define xntlholder_date(h) ((h)->key)
80 #define xntlholder_prio(h) ((h)->prio)
81 #define xntlist_init(q) INIT_LIST_HEAD(q)
82 #define xntlist_empty(q) list_empty(q)
84 static inline struct xntlholder *xntlist_head(
struct list_head *q)
89 return list_first_entry(q,
struct xntlholder, link);
92 static inline struct xntlholder *xntlist_next(
struct list_head *q,
95 if (list_is_last(&h->link, q))
98 return list_entry(h->link.next,
struct xntlholder, link);
101 static inline struct xntlholder *xntlist_second(
struct list_head *q,
102 struct xntlholder *h)
104 return xntlist_next(q, h);
107 static inline void xntlist_insert(
struct list_head *q,
struct xntlholder *holder)
109 struct xntlholder *p;
112 list_add(&holder->link, q);
121 list_for_each_entry_reverse(p, q, link) {
122 if ((xnsticks_t) (holder->key - p->key) > 0 ||
123 (holder->key == p->key && holder->prio <= p->prio))
127 list_add(&holder->link, &p->link);
130 #define xntlist_remove(q, h) \
133 list_del(&(h)->link); \
136 #if defined(CONFIG_XENO_OPT_TIMER_RBTREE)
138 #include <linux/rbtree.h>
141 unsigned long long date;
146 #define xntimerh_date(h) ((h)->date)
147 #define xntimerh_prio(h) ((h)->prio)
148 #define xntimerh_init(h) do { } while (0)
155 #define xntimerq_init(q) \
157 xntimerq_t *_q = (q); \
158 _q->root = RB_ROOT; \
162 #define xntimerq_destroy(q) do { } while (0)
163 #define xntimerq_empty(q) ((q)->head == NULL)
165 #define xntimerq_head(q) ((q)->head)
167 #define xntimerq_next(q, h) \
169 struct rb_node *_node = rb_next(&(h)->link); \
170 _node ? (container_of(_node, xntimerh_t, link)) : NULL; \
173 #define xntimerq_second(q, h) xntimerq_next(q, h)
175 void xntimerq_insert(xntimerq_t *q, xntimerh_t *holder);
177 static inline void xntimerq_remove(xntimerq_t *q, xntimerh_t *holder)
179 if (holder == q->head)
180 q->head = xntimerq_second(q, holder);
182 rb_erase(&holder->link, &q->root);
185 typedef struct { } xntimerq_it_t;
187 #define xntimerq_it_begin(q,i) ((void) (i), xntimerq_head(q))
188 #define xntimerq_it_next(q,i,h) ((void) (i), xntimerq_next((q),(h)))
192 typedef struct xntlholder xntimerh_t;
194 #define xntimerh_date(h) xntlholder_date(h)
195 #define xntimerh_prio(h) xntlholder_prio(h)
196 #define xntimerh_init(h) do { } while (0)
198 typedef struct list_head xntimerq_t;
200 #define xntimerq_init(q) xntlist_init(q)
201 #define xntimerq_destroy(q) do { } while (0)
202 #define xntimerq_empty(q) xntlist_empty(q)
203 #define xntimerq_head(q) xntlist_head(q)
204 #define xntimerq_second(q, h) xntlist_second((q),(h))
205 #define xntimerq_insert(q, h) xntlist_insert((q),(h))
206 #define xntimerq_remove(q, h) xntlist_remove((q),(h))
208 typedef struct { } xntimerq_it_t;
210 #define xntimerq_it_begin(q,i) ((void) (i), xntlist_head(q))
211 #define xntimerq_it_next(q,i,h) ((void) (i), xntlist_next((q),(h)))
221 static inline struct xntimerdata *
222 xnclock_percpu_timerdata(
struct xnclock *clock,
int cpu)
224 return per_cpu_ptr(clock->timerdata, cpu);
227 static inline struct xntimerdata *
228 xnclock_this_timerdata(
struct xnclock *clock)
230 return raw_cpu_ptr(clock->timerdata);
234 #ifdef CONFIG_XENO_OPT_EXTCLOCK
235 struct xnclock *clock;
239 struct list_head adjlink;
241 unsigned long status;
245 xnticks_t interval_ns;
247 xnticks_t periodic_ticks;
249 xnticks_t start_date;
251 xnticks_t pexpect_ticks;
255 void (*handler)(
struct xntimer *timer);
256 #ifdef CONFIG_XENO_OPT_STATS
257 #ifdef CONFIG_XENO_OPT_EXTCLOCK
258 struct xnclock *tracker;
261 char name[XNOBJECT_NAME_LEN];
263 struct list_head next_stat;
265 xnstat_counter_t scheduled;
267 xnstat_counter_t fired;
271 #ifdef CONFIG_XENO_OPT_EXTCLOCK
273 static inline struct xnclock *xntimer_clock(
struct xntimer *timer)
278 void xntimer_set_clock(
struct xntimer *timer,
279 struct xnclock *newclock);
283 static inline struct xnclock *xntimer_clock(
struct xntimer *timer)
288 static inline void xntimer_set_clock(
struct xntimer *timer,
289 struct xnclock *newclock)
291 XENO_BUG_ON(COBALT, newclock != &nkclock);
297 static inline struct xnsched *xntimer_sched(
struct xntimer *timer)
302 #define xntimer_sched(t) xnsched_current()
305 #define xntimer_percpu_queue(__timer) \
307 struct xntimerdata *tmd; \
308 int cpu = xnsched_cpu((__timer)->sched); \
309 tmd = xnclock_percpu_timerdata(xntimer_clock(__timer), cpu); \
313 static inline unsigned long xntimer_gravity(
struct xntimer *timer)
315 struct xnclock *clock = xntimer_clock(timer);
317 if (timer->status & XNTIMER_KGRAVITY)
318 return clock->gravity.kernel;
320 if (timer->status & XNTIMER_UGRAVITY)
321 return clock->gravity.user;
323 return clock->gravity.irq;
326 static inline void xntimer_update_date(
struct xntimer *timer)
328 xntimerh_date(&timer->aplink) = timer->start_date
329 + xnclock_ns_to_ticks(xntimer_clock(timer),
330 timer->periodic_ticks * timer->interval_ns)
331 - xntimer_gravity(timer);
334 static inline xnticks_t xntimer_pexpect(
struct xntimer *timer)
336 return timer->start_date +
337 xnclock_ns_to_ticks(xntimer_clock(timer),
338 timer->pexpect_ticks * timer->interval_ns);
341 static inline void xntimer_set_priority(
struct xntimer *timer,
344 xntimerh_prio(&timer->aplink) = prio;
347 static inline int xntimer_active_p(
struct xntimer *timer)
349 return timer->sched != NULL;
352 static inline int xntimer_running_p(
struct xntimer *timer)
354 return (timer->status & XNTIMER_RUNNING) != 0;
357 static inline int xntimer_fired_p(
struct xntimer *timer)
359 return (timer->status & XNTIMER_FIRED) != 0;
362 static inline int xntimer_periodic_p(
struct xntimer *timer)
364 return (timer->status & XNTIMER_PERIODIC) != 0;
367 void __xntimer_init(
struct xntimer *timer,
368 struct xnclock *clock,
369 void (*handler)(
struct xntimer *timer),
373 void xntimer_set_gravity(
struct xntimer *timer,
376 #ifdef CONFIG_XENO_OPT_STATS
378 #define xntimer_init(__timer, __clock, __handler, __sched, __flags) \
380 __xntimer_init(__timer, __clock, __handler, __sched, __flags); \
381 xntimer_set_name(__timer, #__handler); \
384 static inline void xntimer_reset_stats(
struct xntimer *timer)
386 xnstat_counter_set(&timer->scheduled, 0);
387 xnstat_counter_set(&timer->fired, 0);
390 static inline void xntimer_account_scheduled(
struct xntimer *timer)
392 xnstat_counter_inc(&timer->scheduled);
395 static inline void xntimer_account_fired(
struct xntimer *timer)
397 xnstat_counter_inc(&timer->fired);
400 static inline void xntimer_set_name(
struct xntimer *timer,
const char *name)
402 knamecpy(timer->name, name);
407 #define xntimer_init __xntimer_init
409 static inline void xntimer_reset_stats(
struct xntimer *timer) { }
411 static inline void xntimer_account_scheduled(
struct xntimer *timer) { }
413 static inline void xntimer_account_fired(
struct xntimer *timer) { }
415 static inline void xntimer_set_name(
struct xntimer *timer,
const char *name) { }
419 #if defined(CONFIG_XENO_OPT_EXTCLOCK) && defined(CONFIG_XENO_OPT_STATS)
420 void xntimer_switch_tracking(
struct xntimer *timer,
421 struct xnclock *newclock);
424 void xntimer_switch_tracking(
struct xntimer *timer,
425 struct xnclock *newclock) { }
447 return timer->interval_ns;
450 static inline xnticks_t xntimer_expiry(
struct xntimer *timer)
453 return xntimerh_date(&timer->aplink) + xntimer_gravity(timer);
461 void __xntimer_stop(
struct xntimer *timer);
465 xnticks_t __xntimer_get_timeout(
struct xntimer *timer);
467 xnticks_t xntimer_get_interval(
struct xntimer *timer);
469 int xntimer_heading_p(
struct xntimer *timer);
473 if (timer->status & XNTIMER_RUNNING)
474 __xntimer_stop(timer);
479 if (!xntimer_running_p(timer))
482 return __xntimer_get_timeout(timer);
485 static inline xnticks_t xntimer_get_timeout_stopped(
struct xntimer *timer)
487 return __xntimer_get_timeout(timer);
490 static inline void xntimer_enqueue(
struct xntimer *timer,
493 xntimerq_insert(q, &timer->aplink);
494 timer->status &= ~XNTIMER_DEQUEUED;
495 xntimer_account_scheduled(timer);
498 static inline void xntimer_dequeue(
struct xntimer *timer,
501 xntimerq_remove(q, &timer->aplink);
502 timer->status |= XNTIMER_DEQUEUED;
506 struct xnthread *waiter,
514 void xntimer_migrate(
struct xntimer *timer,
struct xnsched *sched)
516 if (timer->sched != sched)
520 int xntimer_setup_ipi(
void);
522 void xntimer_release_ipi(
void);
524 void __xntimer_set_affinity(
struct xntimer *timer,
527 static inline void xntimer_set_affinity(
struct xntimer *timer,
530 if (sched != xntimer_sched(timer))
531 __xntimer_set_affinity(timer, sched);
536 static inline void xntimer_migrate(
struct xntimer *timer,
539 timer->sched = sched;
542 static inline int xntimer_setup_ipi(
void)
547 static inline void xntimer_release_ipi(
void) { }
549 static inline void xntimer_set_affinity(
struct xntimer *timer,
552 xntimer_migrate(timer, sched);
557 char *xntimer_format_time(xnticks_t ns,
558 char *buf,
size_t bufsz);
unsigned long long xntimer_get_overruns(struct xntimer *timer, struct xnthread *waiter, xnticks_t now)
Get the count of overruns for the last tick.
Definition: timer.c:614
xnticks_t xntimer_get_date(struct xntimer *timer)
Return the absolute expiration date.
Definition: timer.c:242
int xntimer_start(struct xntimer *timer, xnticks_t value, xnticks_t interval, xntmode_t mode)
Arm a timer.
Definition: timer.c:113
static void xntimer_stop(struct xntimer *timer)
Disarm a timer.
Definition: timer.h:471
void xntimer_release_hardware(void)
Release hardware timers.
Definition: timer.c:930
void __xntimer_migrate(struct xntimer *timer, struct xnsched *sched)
Migrate a timer.
Definition: timer.c:496
void xntimer_destroy(struct xntimer *timer)
Release a timer object.
Definition: timer.c:462
int xntimer_grab_hardware(void)
Grab the hardware timer on all real-time CPUs.
Definition: timer.c:840
static xnticks_t xntimer_interval(struct xntimer *timer)
Return the timer interval value.
Definition: timer.h:445
static xnticks_t xntimer_get_timeout(struct xntimer *timer)
Return the relative expiration date.
Definition: timer.h:477
Scheduling information structure.
Definition: sched.h:58