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Keep track of FPGA time rollovers with 64-bit time.

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This allows both greater than 72 minute (2^32 * 1 us) timeouts and also
gracefully handles notifiers across the FPGA time counter rollover.

Change-Id: Ibde0b903155f60b618b0ca4d5f8f6dd49f90b020
This commit is contained in:
Peter Johnson
2015-12-30 19:06:47 -08:00
committed by Brad Miller (WPI)
parent 063925e737
commit e2ec34090a
13 changed files with 71 additions and 43 deletions
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33
hal/lib/Athena/Notifier.cpp
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@@ -12,12 +12,12 @@ static priority_mutex notifierInterruptMutex;
static priority_recursive_mutex notifierMutex;
static tAlarm *notifierAlarm = nullptr;
static tInterruptManager *notifierManager = nullptr;
static uint32_t closestTrigger = UINT32_MAX;
static uint64_t closestTrigger = UINT64_MAX;
struct Notifier {
Notifier *prev, *next;
void *param;
void (*process)(uint32_t, void*);
uint32_t triggerTime = UINT32_MAX;
void (*process)(uint64_t, void*);
uint64_t triggerTime = UINT64_MAX;
};
static Notifier *notifiers = nullptr;
static std::atomic_flag notifierAtexitRegistered = ATOMIC_FLAG_INIT;
@@ -28,19 +28,19 @@ static void alarmCallback(uint32_t, void*)
std::unique_lock<priority_recursive_mutex> sync(notifierMutex);
int32_t status = 0;
uint32_t currentTime = 0;
uint64_t currentTime = 0;
// the hardware disables itself after each alarm
closestTrigger = UINT32_MAX;
closestTrigger = UINT64_MAX;
// process all notifiers
Notifier *notifier = notifiers;
while (notifier) {
if (notifier->triggerTime != UINT32_MAX) {
if (notifier->triggerTime != UINT64_MAX) {
if (currentTime == 0)
currentTime = getFPGATime(&status);
if (notifier->triggerTime < currentTime) {
notifier->triggerTime = UINT32_MAX;
notifier->triggerTime = UINT64_MAX;
auto process = notifier->process;
auto param = notifier->param;
sync.unlock();
@@ -59,7 +59,7 @@ static void cleanupNotifierAtExit() {
notifierManager = nullptr;
}
void* initializeNotifier(void (*process)(uint32_t, void*), void *param, int32_t *status)
void* initializeNotifier(void (*process)(uint64_t, void*), void *param, int32_t *status)
{
if (!process) {
*status = NULL_PARAMETER;
@@ -124,22 +124,23 @@ void* getNotifierParam(void* notifier_pointer, int32_t *status)
return ((Notifier*)notifier_pointer)->param;
}
void updateNotifierAlarm(void* notifier_pointer, uint32_t triggerTime, int32_t *status)
void updateNotifierAlarm(void* notifier_pointer, uint64_t triggerTime, int32_t *status)
{
std::lock_guard<priority_recursive_mutex> sync(notifierMutex);
Notifier* notifier = (Notifier*)notifier_pointer;
notifier->triggerTime = triggerTime;
bool wasActive = (closestTrigger != UINT32_MAX);
bool wasActive = (closestTrigger != UINT64_MAX);
if (!notifierInterruptMutex.try_lock() || notifierRefCount == 0 ||
!notifierAlarm)
return;
if (!notifierInterruptMutex.try_lock() || notifierRefCount == 0 ||
!notifierAlarm)
return;
// Update alarm time if closer than current.
// Update alarm time if closer than current.
if (triggerTime < closestTrigger) {
closestTrigger = triggerTime;
notifierAlarm->writeTriggerTime(triggerTime, status);
// Simply truncate the hardware trigger time to 32-bit.
notifierAlarm->writeTriggerTime((uint32_t)triggerTime, status);
}
// Enable the alarm. The hardware disables itself after each alarm.
if (!wasActive) notifierAlarm->writeEnable(true, status);
@@ -151,5 +152,5 @@ void stopNotifierAlarm(void* notifier_pointer, int32_t *status)
{
std::lock_guard<priority_recursive_mutex> sync(notifierMutex);
Notifier* notifier = (Notifier*)notifier_pointer;
notifier->triggerTime = UINT32_MAX;
notifier->triggerTime = UINT64_MAX;
}